Patent ID: 11919529
Assignee: AURORA OPERATIONS, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A system including one or more processors that execute instructions, stored in an associated memory, the instructions when executed by the one or more processors evaluate an autonomous vehicle control system using previously captured manual driving data, comprising:
capturing multiple instances of manual driving data captured from a vehicle which is manually driven;
storing the multiple instances of manual driving data;
subsequent to the storing of the multiple instances of manual driving data, for each of a plurality of iterations:
identifying a corresponding first instance of manual driving data captured at a first time step, the corresponding first instance of manual driving data being previously captured during control of a corresponding vehicle by a corresponding manual driver and comprising:
corresponding current vehicle trajectory data that defines one or more aspects of a trajectory of the corresponding vehicle controlled by the corresponding manual driver at the first time step for the corresponding first instance, and
corresponding current environmental data that defines one or more aspects of an environment of the corresponding vehicle controlled by the corresponding manual driver at the first time step for the corresponding first instance;

processing the corresponding first instance of the manual driving data at the first time step, using the autonomous vehicle control system, to generate a corresponding predicted next instance of autonomous vehicle control system trajectory data defining one or more aspects of a predicted trajectory that would be implemented by the autonomous vehicle control system at a second time step right after the first time step;
comparing (a) the corresponding predicted next instance of autonomous vehicle control system trajectory data at the second time step to (b) a corresponding next instance of manual driver trajectory data, the corresponding next instance of manual driver trajectory data being previously captured at the second time step during the control of the corresponding vehicle by the corresponding manual driver, and following the corresponding first instance of manual driving data at the first time step;
determining a difference measure based on the comparing; and
evaluating the autonomous vehicle control system based on the difference measure from the plurality of iterations;
modifying at least one cost function of the autonomous vehicle control system based on the evaluation.