Autonomous vehicle simulation system for analyzing motion planners
An autonomous vehicle simulation system for analyzing motion planners is disclosed. A particular embodiment includes: receiving map data corresponding to a real world driving environment; obtaining perception data and configuration data including pre-defined parameters and executables defining a specific driving behavior for each of a plurality of simulated dynamic vehicles; generating simulated perception data for each of the plurality of simulated dynamic vehicles based on the map data, the perception data, and the configuration data; receiving vehicle control messages from an autonomous vehicle control system; and simulating the operation and behavior of a real world autonomous vehicle based on the vehicle control messages received from the autonomous vehicle control system.
1. A vehicle simulation system, comprising:
a processor configured to:
perform a simulation in which simulation data indicative of a movement of a vehicle is generated based on a message received from the vehicle and modeling data of the vehicle,
wherein the message includes a first information with which the vehicle is controlled, and
wherein the modeling data is received from the vehicle and includes one or more characteristics of the vehicle;
collect, during the simulation, vehicle motion data related to a simulated motion of the vehicle;
perform a playback of the vehicle motion data;
receive perception data that indicates a presence, a position, and a velocity for each of a plurality of vehicles in a vicinity of or proximate to the vehicle; and
generate, based on the perception data, a target position, a speed, and a heading for each vehicle from the plurality of vehicles and at specific points in time.
2. The vehicle simulation system of claim 1 , wherein the perception data includes a second information indicative of another presence and another position of an obstacle.
3. The vehicle simulation system of claim 1 , wherein the perception data includes a third information indicative of a location of an available roadway.
4. The vehicle simulation system of claim 1 , wherein the perception data includes a fourth information indicative of traffic or environmental information.
5. The vehicle simulation system of claim 1 , wherein the plurality of vehicles includes a first vehicle and a second vehicle,
wherein a first heading is generated for the first vehicle having a first pre-configured behavior associated with an aggressive driver,
wherein a second heading is generated for the second vehicle having a second pre-configured behavior associated with a conservative driver, and
wherein a probability of the first heading of the first vehicle being associated with a lane change is greater than that of the second heading of the second vehicle.
6. A method comprising:
performing a simulation in which simulation data indicative of a movement of a vehicle is generated based on a message received from the vehicle and modeling data of the vehicle,
wherein the message includes a first information with which the vehicle is controlled, and
wherein the modeling data is received from the vehicle and includes one or more characteristics of the vehicle;
collecting, during the simulation, vehicle motion data related to a simulated motion of the vehicle;
performing a playback of the vehicle motion data;
receiving perception data that indicates a presence, a position, and a velocity for each of a plurality of vehicles in a vicinity of or proximate to the vehicle; and
generating, based on the perception data, a target position, a speed, and a heading for each vehicle from the plurality of vehicles and at specific points in time.
7. The method of claim 5 , wherein the modeling data of the vehicle includes a type of the vehicle.
8. The method of claim 5 , wherein the modeling data of the vehicle includes characteristics of a control system of the vehicle.
9. The method of claim 5 , wherein the modeling data of the vehicle includes engine performance characteristics.
10. The method of claim 6 , further comprising:
collecting, during the simulation, analytics data, vehicle state information, and timing and configuration information.
11. The method of claim 6 , wherein the first information in the message causes the vehicle to traverse a trajectory with an acceleration or a speed that is generated.
12. The method of claim 6 , wherein the movement includes an action or an effect of throttle, brake, or steering applied on the vehicle.
13. The method of claim 6 , wherein the vehicle motion data includes a time sequenced set of map data, the perception data and one or more messages produced by one or more systems in the vehicle.
14. A non-transitory machine-useable storage medium embodying instructions which, when executed by a machine, causes the machine to perform a method, comprising:
performing a simulation in which simulation data indicative of a movement of a vehicle is generated based on a message received from the vehicle and modeling data of the vehicle,
wherein the message includes a first information with which the vehicle is controlled, and
wherein the modeling data is received from the vehicle and includes one or more characteristics of the vehicle;
collecting, during the simulation, vehicle motion data related to a simulated motion of the vehicle;
performing a playback of the vehicle motion data;
receiving perception data that indicates a presence, a position, and a velocity for each of a plurality of vehicles in a vicinity of or proximate to the vehicle; and
generating, based on the perception data, a target position, a speed, and a heading for each vehicle from the plurality of vehicles and at specific points in time.
15. The non-transitory machine-useable storage medium of claim 14 , wherein the modeling data of the vehicle includes a type of the vehicle.
16. The non-transitory machine-useable storage medium of claim 14 , wherein the modeling data of the vehicle includes characteristics of a control system of the vehicle.
17. The non-transitory machine-useable storage medium of claim 14 , wherein the modeling data of the vehicle includes engine performance characteristics.
18. The non-transitory machine-useable storage medium of claim 14 , wherein the method further comprises:
collecting, during the simulation, analytics data, vehicle state information, and timing and configuration information.
19. The non-transitory machine-useable storage medium of claim 14 , wherein the first information in the message causes the vehicle to traverse a trajectory with an acceleration or a speed of the vehicle that is generated.
20. The non-transitory machine-useable storage medium of claim 14 , wherein the perception data includes another information indicative of a location of an available roadway.