Waymo LLC

Google Inc.

Yang-Hua Chu

Aleksandar Gabrovski

Xiaoyi Liu

Menghui Wang

James Stout

Wesley Heung

Kavi J Goel

Satoru Stephen Yamauchi

Hidetoshi Shimokawa

Slaven Bilac

Toshihiro Yoshino

Mingmin Xie

The disclosure relate to determining a realism metric for testing software for operating a vehicle in an autonomous driving mode. For instance, a plurality of versions of a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The plurality of versions may be run using the software to control a simulated vehicle, and each of the plurality of versions may have a set of timing requirements different from the set of timing requirements of other of the plurality of versions. Results of the plurality of versions may be compared to the log data. A realism metric defining timing requirements for one or more future simulations may be generated based on the comparison.

Realism metric for testing software for controlling autonomous vehicles

The disclosure relates to running simulations in order to test software used to control a vehicle in an autonomous driving mode. For instance, logged data may be identified for a simulation. The logged data may have been collected by a first vehicle and may identifying an agent that is a road user. The logged data may be analyzed to identify one or more signals of intent of the agent including a logged path of the agent. One or more characteristics may be identified based on the one or more signals. The simulation may be run using the logged data by replacing the agent with an interactive agent having the one or more characteristics. The interactive agent may be capable of responding to actions performed by a simulated vehicle in the simulation using software for controlling a vehicle in an autonomous driving mode.

Extracting agent intent from log data for running log-based simulations for evaluating autonomous vehicle software

The disclosure relates to testing software for operating an autonomous vehicle. In one instance, a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The simulation may be run using the software to control a simulated vehicle and by modifying a characteristic of an agent identified in the log data. During the running of the simulation, that a first type of interaction between the first simulated vehicle and the modified agent will occur may be determined. In response to determining that the particular type of interaction will occur, the modified agent may be replaced by a interactive agent that simulates a road user corresponding to the modified agent that is capable of responding to actions performed by simulated vehicles. That the particular type of interaction between the simulated vehicle and the interactive agent has occurred in the simulation may be determined.

Simulations with modified agents for testing autonomous vehicle software

Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for ranking events. One of the methods includes receiving data identifying a physical location; obtaining data identifying a plurality of events occurring in the physical location during a particular time period; computing a respective plurality of signal scores for each of the events, wherein computing the respective plurality of signal scores for each of the events comprises computing a first signal score for each of the events based at least in part on a count of Internet sites that include at least one mention of the event; computing a respective popularity score for each of the plurality of events by combining the respective plurality of signal scores for the event; and generating a ranking of events occurring in the physical location during the particular time period based at least in part on the popularity scores.

Ranking events

Growing community of inventors

Menlo Park, CA, United States of America

Yang-Hua Chu