Patent ID: 11904892
Assignee: GM CRUISE HOLDINGS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A computer-implemented method for training a machine-learning algorithm that contributes to piloting an autonomous vehicle using a velocity grid generated from a simulation, the method comprising:
simulating a scene comprising a simulated autonomous vehicle and at least one simulated object moving in the scene;
recording image data collected from a camera sensor, the image data comprising a first 2D image frame comprising the at least one simulated object made up of a plurality of pixels at a first location, and a second 2D image frame comprising the at least one simulated object made up of a plurality of pixels at a second location;
identifying a first 3D point on a first simulated object in a 3D view of the simulated scene, wherein the first 3D point corresponds to the first pixel in the first 2D image frame;
identifying a second 3D point on the first simulated object in a 3D view of the simulated scene, wherein the second 3D point corresponds to a first pixel in the second 2D image frame;
determining a distance between the first pixel in the first 2D image frame at the first location and the first pixel in the second 2D image frame at the second location during a simulated movement of the at least one simulated object;
predicting a velocity of the first point on the at least one simulated object based upon the determined distance;
comparing the predicted velocity of the first point on the at least one simulated object to velocities in the velocity grid generated from the simulation; and
adjusting the machine-learning algorithm to more accurately predict velocity of at least one point on the at least one simulated object as it moves in the scene based on a difference in the predicted velocity compared to the velocity grid, which yields a trained machine-learning algorithm.