公开(公告)号：US12214801B2

公开(公告)日：2025-02-04

申请号：US17528549

申请日：2021-11-17

Applicant: Aurora Operations, Inc.

Inventor： Jingkang Wang ,  Ava Alison Pun ,  Xuanyuan Tu ,  Mengye Ren ,  Abbas Sadat ,  Sergio Casas ,  Sivabalan Manivasagam ,  Raquel Urtasun

IPC: B60W60/00 ,  G06N3/086

Abstract: Techniques for generating testing data for an autonomous vehicle (AV) are described herein. A system can obtain sensor data descriptive of a traffic scenario. The traffic scenario can include a subject vehicle and actors in an environment. Additionally, the system can generate a perturbed trajectory for a first actor in the environment based on perturbation values. Moreover, the system can generate simulated sensor data. The simulated sensor data can include data descriptive of the perturbed trajectory for the first actor in the environment. Furthermore, the system can provide the simulated sensor data as input to an AV control system. The AV control system can be configured to process the simulated sensor data to generate an updated trajectory for the subject vehicle in the environment. Subsequently, the system can evaluate an adversarial loss function based on the updated trajectory for the subject vehicle to generate an adversarial loss value.