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1. WO2021245200 - SIMULATION IN AUTONOMOUS DRIVING

Publication Number WO/2021/245200
Publication Date 09.12.2021
International Application No. PCT/EP2021/064937
International Filing Date 03.06.2021
IPC
G06F 11/36 2006.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
11Error detection; Error correction; Monitoring
36Preventing errors by testing or debugging of software
G06F 30/20 2020.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
FELECTRIC DIGITAL DATA PROCESSING
30Computer-aided design
20Design optimisation, verification or simulation
B60W 60/00 2020.1
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
60Drive control systems specially adapted for autonomous road vehicles
G05B 13/04 2006.1
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
04involving the use of models or simulators
G05D 1/00 2006.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
CPC
B60W 2050/0018
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit ; , e.g. process diagnostic or vehicle driver interfaces
0001Details of the control system
0002Automatic control, details of type of controller or control system architecture
0018Method for the design of a control system
G05B 17/02
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
17Systems involving the use of models or simulators of said systems
02electric
G06F 11/3668
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
11Error detection; Error correction; Monitoring
36Preventing errors by testing or debugging software
3668Software testing
G06F 11/3684
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
11Error detection; Error correction; Monitoring
36Preventing errors by testing or debugging software
3668Software testing
3672Test management
3684for test design, e.g. generating new test cases
G06F 11/3692
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
11Error detection; Error correction; Monitoring
36Preventing errors by testing or debugging software
3668Software testing
3672Test management
3692for test results analysis
G06F 30/15
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
FELECTRIC DIGITAL DATA PROCESSING
30Computer-aided design [CAD]
10Geometric CAD
15Vehicle, aircraft or watercraft design
Applicants
  • FIVE AI LIMITED [GB]/[GB]
Inventors
  • REDFORD, John
  • ANTONELLO, Morris
  • LYONS, Simon
  • PENKOV, Svet
  • RAMAMOORTHY, Subramanian
Agents
  • WOODHOUSE, THOMAS DUNCAN
Priority Data
2008353.103.06.2020GB
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) SIMULATION IN AUTONOMOUS DRIVING
(FR) SIMULATION EN CONDUITE AUTONOME
Abstract
(EN) A driving scenario is extracted from real-world driving data captured within a road layout. A simulation is run based on the extracted driving scenario, in which an ego agent and a simulated non-ego agent each exhibit closed-loop behaviour. The closed-loop behaviour of the ego agent is determined by autonomous decisions taken in an AV stack under testing in response to simulated inputs, reactive to the simulated agent. The closed-loop behaviour of the non-ego agent is determined by implementing an inferred goal or behaviour, reactive to the ego agent. The goal or behaviour is inferred from an observed trace of a real-world agent extracted from the real-world driving data.
(FR) Selon l'invention, un scénario de conduite est extrait de données de conduite du monde réel capturées à l'intérieur d'un agencement routier. Une simulation est menée sur la base du scénario de conduite extrait, dans laquelle un agent ego et un agent non-ego simulé présentent chacun un comportement en boucle fermée. Le comportement en boucle fermée de l'agent ego est déterminé par des décisions autonomes prises dans un empilement de véhicule autonome testé en réponse à des entrées simulées, réactives à l'agent simulé. Le comportement en boucle fermée de l'agent non-ego est déterminé par la mise en œuvre d'un objectif ou d'un comportement déduit, réactif à l'agent ego. L'objectif ou le comportement est déduit à partir d'une trace observée d'un agent du monde réel extraite des données de conduite du monde réel.
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