公开(公告)号：US11847869B1

公开(公告)日：2023-12-19

申请号：US18172912

申请日：2023-02-22

Applicant: Aurora Operations, Inc.

Inventor： Ivona Andrzejewski ,  Steven Capell ,  Ryusuke Villemin ,  Carl Magnus Wrenninge

IPC: G06T15/06 ,  G07C5/00

CPC classification number: G07C5/008 ,  G06T15/06 ,  G06T2210/21 ,  G06T2210/61

Abstract: A concurrent simulation of multiple sensor modalities includes identifying the multiple sensor modalities in association with a simulation scenario, determining a timeline interleaving a publishing or operating frequency of each of the multiple sensor modalities relative to each other, determining a current time interval of a sliding window in the timeline, determining a simulation segment of the simulation scenario using the current time interval of the sliding window, rendering a scene based on the simulation segment, executing a simulation to concurrently simulate the multiple sensor modalities using ray tracing in the rendered scene, and generating simulated sensor data of the multiple sensor modalities based on executing the simulation.