Patent ID: 11897502
Assignee: GM CRUISE HOLDINGS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 7:
8. A system for creating a velocity grid using a simulated environment for use by an autonomous vehicle, the system comprising:
one or more processors;
a computer-readable medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to:
simulate a road scenario with simulated non-player characters,
collect first LiDAR data from simulated LiDAR sensors in the simulated road scenario, wherein the collected first LiDAR data comprises a first plurality of points that are representative of a first simulated object at a first three-dimensional (3D) location and a first time, a first point representative of a portion of the first simulated object,
transform the first plurality of points from a simulated-scene frame-of-reference to a first simulated object frame-of-reference,
simulate the first simulated object to move from the first 3D location to a second 3D location within the simulated road scenario between the first time and a second time,
collect second LiDAR data from the simulated LiDAR sensors in the simulated road scenario at the second time, wherein the collected second LiDAR data comprises a second plurality of points representative of the first simulated object at the second 3D location and a second time, a second point representative of a portion of the first simulated object,
transform the second plurality of points from the first simulated object frame-of-reference back to the simulated-scene frame-of-reference,
determine a distance between the first point representative of a portion of the first simulated object and the second point representative of a portion of the first simulated object during the simulated movement of the first simulated object
calculate the velocity of the portion on the first simulated object in the simulated-scene frame-of-reference during a simulated movement of the first simulated object from the first 3D location to the second 3D location based upon the determined distance, and
encode the velocity in association with the first point prior to the simulated movement of the simulated object with respect to a second point after the simulated movement of the first simulated object in a 3D velocity grid for the simulated objects.