Techniques for extraction from vehicle driving log files to simulation scenarios
Vehicle advanced driver assistance (ADAS) and autonomous driving feature simulation and verification systems and method receive a driving log file and map data corresponding to an on-road driving scenario by a vehicle and overlay the driving log file and the map data to generate combined data that localizes a position of the vehicle. A whitelist comprising a set of included objects for an ADAS/autonomous driving feature simulation and (ii) a blacklist comprising a set of excluded objects for the ADAS/autonomous driving feature simulation and a template for the ADAS/autonomous driving feature simulation are then obtained. Finally, an ADAS/autonomous driving feature simulation scenario is generated in a desired format using the white and blacklists and the template and executed using a corresponding simulation tool and a result of the executed simulation of the ADAS/autonomous driving feature simulation scenario is verified.
1 . A vehicle advanced driver assistance (ADAS) or autonomous driving feature simulation and verification system, the system comprising:
a set of sensors configured to generate a driving log file and map data corresponding to an on-road driving scenario by a vehicle;
a computing device comprising one or more processors and configured to:
receive the driving log file and the map data;
overlay the driving log file and the map data to generate combined data that localizes a position of the vehicle;
using the combined data, obtain (i) a whitelist comprising a set of included objects for an ADAS/autonomous driving feature simulation and (ii) a blacklist comprising a set of excluded objects for the ADAS/autonomous driving feature simulation;
obtain a template for the ADAS/autonomous driving feature simulation, wherein the template defines a desired file format for an ADAS/autonomous driving feature simulation scenario;
generate the ADAS/autonomous driving feature simulation scenario in the desired file format using the white and blacklists and the template;
execute a simulation of the ADAS/autonomous driving feature simulation scenario using a simulation tool that is designed to process the desired file format to obtain a result;
evaluate the result of the executed simulation of the ADAS/autonomous driving feature simulation scenario;
update the ADAS/autonomous driving feature based on the evaluating to obtain a final ADAS/autonomous driving feature; and
upload, to a controller of the vehicle, the final ADAS/autonomous driving feature to the vehicle; and
the controller of the vehicle is configured to execute the final ADAS/autonomous driving feature during operation of the vehicle.
2 . The system of claim 1 , wherein the computing device is further configured to update the blacklist when the result of the executed simulation of the ADAS/autonomous driving simulation scenario is not verified by the evaluating.
3 . The system of claim 1 , wherein the driving log file is based on the World Geodetic System 1984 (WSG84) global positioning satellite (GPS) coordinate standard.
4 . The system of claim 3 , wherein the driving log file comprises a set of objects including at least one of (i) the vehicle, (ii) another traffic vehicle, (iii) a current route of the vehicle, (iv) a road speed limit, and (iv) a landmark, and respective WSG84 GPS coordinates of each object of the set of objects.
5 . The system of claim 3 , wherein the driving log file comprises a set of objects including (i) the vehicle, (ii) another traffic vehicle, (iii) a current route of the vehicle, (iv) a road speed limit, and (iv) a landmark, and respective WSG84 GPS coordinates of each object of the set of objects.
6 . The system of claim 3 , wherein the simulation tool is any virtual ADAS/autonomous driving simulation tool compatible with the WSG84 GPS coordinate standard.
7 . The system of claim 6 , wherein the driving log file and the on-road driving scenario do not have a predefined maximum duration.
8 . The system of claim 1 , wherein the template is obtained from a database comprising a plurality of predefined templates.
9 . The system of claim 8 , wherein each of the plurality of predefined templates is one or more comma separated value (CSV) files.
10 . The system of claim 1 , wherein the desired file format for the ADAS/autonomous driving feature simulation scenario is JavaScript Object Notation (JSON).
11 . A simulation and verification method for an advanced driver assistance (ADAS) or autonomous driving feature of a vehicle, the method comprising:
receiving, by a computing device comprising one or more processors and from a controller of the vehicle, a driving log file and map data corresponding to an on-road driving scenario by the vehicle captured by a set of sensors of the vehicle;
overlaying, by the computing device, the driving log file and the map data to generate combined data that localizes a position of the vehicle;
using, by the computing device, the combined data, obtain (i) a whitelist comprising a set of included objects for an ADAS/autonomous driving feature simulation and (ii) a blacklist comprising a set of excluded objects for the ADAS/autonomous driving feature simulation;
obtaining, by the computing device, a template for the ADAS/autonomous driving feature simulation, wherein the template defines a desired file format for an ADAS/autonomous driving feature simulation scenario;
generating, by the computing device, the ADAS/autonomous driving feature simulation scenario in the desired file format using the white and blacklists and the template;
executing, by the computing device, a simulation of the ADAS/autonomous driving feature simulation scenario using a simulation tool that is designed to process the desired file format to obtain a result;
evaluating, by the computing device, the result of the executed simulation of the ADAS/autonomous driving feature simulation scenario;
updating, by the computing device, the ADAS/autonomous driving feature based on the evaluating to obtain a final ADAS/autonomous driving feature;
uploading, by the computing device and to a controller of the vehicle, the final ADAS/autonomous driving feature to the vehicle; and
executing, by the controller of the vehicle, the final ADAS/autonomous driving feature during operation of the vehicle.
12 . The method of claim 11 , further comprising updating, by the computing device, the blacklist when the result of the executed simulation of the ADAS/autonomous driving simulation scenario is not verified by the evaluating.
13 . The method of claim 11 , wherein the driving log file is based on the World Geodetic System 1984 (WSG84) global positioning satellite (GPS) coordinate standard.
14 . The method of claim 13 , wherein the driving log file comprises a set of objects including at least one of (i) the vehicle, (ii) another traffic vehicle, (iii) a current route of the vehicle, (iv) a road speed limit, and (iv) a landmark, and respective WSG84 GPS coordinates of each object of the set of objects.
15 . The method of claim 13 , wherein the driving log file comprises a set of objects including (i) the vehicle, (ii) another traffic vehicle, (iii) a current route of the vehicle, (iv) a road speed limit, and (iv) a landmark, and respective WSG84 GPS coordinates of each object of the set of objects.
16 . The method of claim 13 , wherein the simulation tool is any virtual ADAS/autonomous driving simulation tool compatible with the WSG84 GPS coordinate standard.
17 . The method of claim 16 , wherein the driving log file and the on-road driving scenario do not have a predefined maximum duration.
18 . The method of claim 11 , wherein the template is obtained from a database comprising a plurality of predefined templates.
19 . The method of claim 18 , wherein each of the plurality of predefined templates is one or more comma separated value (CSV) files.
20 . The method of claim 11 , wherein the desired file format for the ADAS/autonomous driving feature simulation scenario is JavaScript Object Notation (JSON).