Zoox, Inc.

Minsu Jang

Antonio Prioletti

Subhasis Das

Peng Wang

Clement Besson

He Yi

Techniques for correlating perception system errors with unwanted vehicle behavior. The techniques may include receiving log data associated with a vehicle traversing an environment. Based at least in part on the log data, an error associated with an output received from a perception component of the vehicle may be identified. The output of the perception component may be associated with a detection of an object in the environment. The techniques may also include determining that the error contributed to an unwanted behavior of the vehicle. In some examples, a simulation of a planner component of the vehicle may be ran using ground truth data to determine that the error contributed to the unwanted behavior. Based at least in part on the error contributing to the unwanted behavior, a parameter of the perception component may be updated to minimize the error and the unwanted behavior.

Correlating perception errors with vehicle behavior

Techniques for validating operation of a perception system that is configured to detect objects in an environment of a vehicle are described herein. The techniques may include receiving log data representing a real scenario in which the vehicle was traversing an environment. Based at least in part on the log data, an error may be identified that is associated with an output received from the perception system while the vehicle was traversing the environment. In some examples, a determination may be made that a magnitude of the error violates a perception system requirement, the requirement established based on a determination that the magnitude of the error would contribute to an adverse event in an alternative scenario. Based on the magnitude of the error contributing to the adverse event, data associated with the error may be output for use in updating the perception system to at least meet the requirement.

Vehicle perception system validation

Techniques for determining error models for use in simulations are discussed herein. Ground truth perception data and vehicle perception data can be determined from vehicle log data. Further, objects in the log data can be identified as relevant objects by signals output by a planner system or based on the object being located in a driving corridor. Differences between the ground truth perception data and the vehicle perception data can be determined and used to generate error models for the relevant objects. The error models can be applied to objects during simulation to increase realism and test vehicle components.

Growing community of inventors

San Mateo, CA, United States of America

Minsu Jang