High-fidelity variation of detected obstacles in autonomous vehicle logs

Abstract

Method includes inputting log data to perception, including sensor data of objects around AV and information about events occurring with respect to AV and obstacle, information including obstacle parameters, each having actual value detected by sensors; detecting, by perception from sensor data, coordinate region within which obstacle appears; outputting, by perception, data including values for obstacle parameters, each associated with actual or synthetic value; inputting values into planner, to generate values for parameters of AV; during re-run of perception, detecting, by perception, coordinate region in log data and detecting obstacle, as object overlapping coordinate region; outputting, by perception, updated data including updated values for obstacle parameters, each associated with actual value or updated synthetic value; inputting updated values into planner, to generate updated values for parameters of AV; and generating validation result based on values for parameters for AV and updated values for parameters for AV.