[미국특허]
Systems and methods to test an autonomous vehicle
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G07C-005/00
G05D-001/00
G07C-005/08
출원번호
15697044
(2017-09-06)
등록번호
10431023
(2019-10-01)
발명자
/ 주소
Watson, Adam
MacIntosh, Chad David
Bembic, Anthony
Leja, Joseph Richard
출원인 / 주소
Uber Technologies, Inc.
대리인 / 주소
Dority & Manning, P.A.
인용정보
피인용 횟수 :
0인용 특허 :
0
초록▼
The present disclosure provides systems and methods to test an autonomous vehicle. In particular, the systems and methods of the present disclosure can receive, from one or more test nodes of a preconfigured test track, log data indicating positions of elements of the test track over a period of tim
The present disclosure provides systems and methods to test an autonomous vehicle. In particular, the systems and methods of the present disclosure can receive, from one or more test nodes of a preconfigured test track, log data indicating positions of elements of the test track over a period of time. Log data indicating parameters of an autonomous vehicle over the period of time can be received from the autonomous vehicle. The log data indicating the positions of the elements of the test track over the period of time can be compared with the log data indicating the parameters of the autonomous vehicle over the period of time to determine a performance metric of the autonomous vehicle on the test track over the period of time.
대표청구항▼
1. One or more non-transitory computer-readable media that collectively store instructions that, when executed by one or more processors, cause a computing system to perform operations, the operations comprising: comparing log data indicating positions of elements of a test track over a first period
1. One or more non-transitory computer-readable media that collectively store instructions that, when executed by one or more processors, cause a computing system to perform operations, the operations comprising: comparing log data indicating positions of elements of a test track over a first period of time with log data indicating positions of the elements of the test track over a second period of time;comparing log data indicating parameters of an autonomous vehicle over the first period of time with log data indicating the parameters of the autonomous vehicle over the second period of time; anddetermining an effect of operations of the autonomous vehicle over a period of time between the first period of time and the second period of time, the effect caused by modifying software configured to control operations of the autonomous vehicle, wherein determining the effect comprises determining a difference in a measure of smoothness in transition from a first state to a second state of the autonomous vehicle. 2. The one or more non-transitory computer-readable media of claim 1, wherein the elements of the test track comprise at least one of a simulated vehicle, a simulated pedestrian, or a simulated cyclist. 3. The one or more non-transitory computer-readable media of claim 1, wherein the parameters of the autonomous vehicle comprise one or more of a rate of acceleration of the autonomous vehicle, a rate of deceleration of the autonomous vehicle, a speed of the autonomous vehicle, or a heading of the autonomous vehicle. 4. The one or more non-transitory computer-readable media of claim 1, wherein determining the effect comprises determining the effect based at least in part on feedback, received from a user device, describing performance of the autonomous vehicle over the first period of time and the second period of time. 5. The one or more non-transitory computer-readable media of claim 1, wherein: the log data indicating the positions of the elements of the test track over the first period of time indicates a position or status of one or more actuators associated with the elements of the test track over the first period of time; andthe log data indicating the positions of the elements of the test track over the second period of time indicates a position or status of the one or more actuators associated with the elements of the test track over the second period of time. 6. The one or more non-transitory computer-readable media of claim 1, wherein: the log data indicating the positions of the elements of the test track over the first period of time comprises data from one or more global positioning system (GPS) receivers attached to the elements; andthe log data indicating the positions of the elements of the test track over the second period of time comprises data from the one or more GPS receivers attached to the elements. 7. The one or more non-transitory computer-readable media of claim 1, wherein: the first state comprises a state in which the autonomous vehicle is moving; andthe second state comprises a state in which the autonomous vehicle is stationary. 8. One or more non-transitory computer-readable media that collectively store instructions that, when executed by one or more processors, cause a computing system to perform operations, the operations comprising: comparing log data indicating positions of elements of a test track over a first period of time with log data indicating positions of the elements of the test track over a second period of time;comparing log data indicating parameters of an autonomous vehicle over the first period of time with log data indicating the parameters of the autonomous vehicle over the second period of time; anddetermining an effect of operations of the autonomous vehicle over a period of time between the first period of time and the second period of time, the effect caused by modifying software configured to control the operations of the autonomous vehicle, wherein determining the effect of the operations comprises determining the effect of the operations based at least in part on feedback, received from a user device, describing performance of the autonomous vehicle over the first period of time and the second period of time. 9. The one or more non-transitory computer-readable media of claim 8, wherein the elements of the test track comprise at least one of a simulated vehicle, a simulated pedestrian, or a simulated cyclist. 10. The one or more non-transitory computer-readable media of claim 8, wherein the parameters of the autonomous vehicle comprise one or more of a rate of acceleration of the autonomous vehicle, a rate of deceleration of the autonomous vehicle, a speed of the autonomous vehicle, or a heading of the autonomous vehicle. 11. The one or more non-transitory computer-readable media of claim 8, wherein: the log data indicating the positions of the elements of the test track over the first period of time indicates a position or status of one or more actuators associated with the elements of the test track over the first period of time; andthe log data indicating the positions of the elements of the test track over the second period of time indicates a position or status of the one or more actuators associated with the elements of the test track over the second period of time. 12. The one or more non-transitory computer-readable media of claim 8, wherein: the log data indicating the positions of the elements of the test track over the first period of time comprises data from one or more global positioning system (GPS) receivers attached to the elements; andthe log data indicating the positions of the elements of the test track over the second period of time comprises data from the one or more GPS receivers attached to the elements. 13. The one or more non-transitory computer-readable media of claim 8, wherein: the log data indicating the parameters of the autonomous vehicle over the first period of time comprises data from a global positioning system (GPS) receiver of the autonomous vehicle; andthe log data indicating the parameters of the autonomous vehicle over the second period of time comprises data from the GPS receiver of the autonomous vehicle. 14. A computing system comprising: one or more processors; andone or more non-transitory computer-readable media that collectively store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising: comparing log data indicating positions of elements of a test track over a first period of time with log data indicating positions of the elements of the test track over a second period of time;comparing log data indicating parameters of an autonomous vehicle over the first period of time with log data indicating the parameters of the autonomous vehicle over the second period of time; anddetermining an effect of operations of the autonomous vehicle over a period of time between the first period of time and the second period of time, the effect caused by modifying software configured to control operations of the autonomous vehicle, wherein determining the effect comprises determining a difference in a measure of smoothness in transition from a first state to a second state of the autonomous vehicle. 15. The computing system of claim 14, wherein the elements of the test track comprise at least one of a simulated vehicle, a simulated pedestrian, or a simulated cyclist. 16. The computing system of claim 14, wherein the parameters of the autonomous vehicle comprise one or more of a rate of acceleration of the autonomous vehicle, a rate of deceleration of the autonomous vehicle, a speed of the autonomous vehicle, or a heading of the autonomous vehicle. 17. The computing system of claim 14, wherein determining the effect comprises determining the effect based at least in part on feedback, received from a user device, describing performance of the autonomous vehicle over the first period of time and the second period of time. 18. The computing system of claim 14, wherein: the log data indicating the positions of the elements of the test track over the first period of time indicates a position or status of one or more actuators associated with the elements of the test track over the first period of time; andthe log data indicating the positions of the elements of the test track over the second period of time indicates a position or status of the one or more actuators associated with the elements of the test track over the second period of time. 19. The computing system of claim 14, wherein: the log data indicating the positions of the elements of the test track over the first period of time comprises data from one or more global positioning system (GPS) receivers attached to the elements; andthe log data indicating the positions of the elements of the test track over the second period of time comprises data from the one or more GPS receivers attached to the elements. 20. The computing system of claim 14, wherein: the log data indicating the parameters of the autonomous vehicle over the first period of time comprises data from a global positioning system (GPS) receiver of the autonomous vehicle; andthe log data indicating the parameters of the autonomous vehicle over the second period of time comprises data from the GPS receiver of the autonomous vehicle.
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