Synchronous Simulation of Asynchronous Autonomous Driving Data
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Solution Overview
Problem
Existing simulation methods for autonomous driving struggle to reproduce asynchronous runtime data, either by discarding reproducibility in synchronous simulations or realism in asynchronous simulations.
Innovation Solution
The proposed solution involves a simulation system that includes a distiller module, a temporal call procedure manager, and an assembler. This system organizes node data into data units labeled with temporal timestamps, synthesizes node data into simulation data packets based on a simulation frequency different from the refresh frequencies of the nodes, and simulates the operation of an autonomous vehicle over time based on these simulation data packets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If synchronous simulation is used to reproduce runtime data, then reproducibility is improved, but realism deteriorates because asynchronous characteristics are lost
Solution Approach 1:
The patent segments the simulation process into distinct modules: a distiller module that extracts asynchronous data characteristics, a temporal call procedure manager that handles timing relationships, and an assembler that reconstructs simulation data packets. This segmentation allows each module to specialize in preserving specific aspects of asynchronous behavior while maintaining overall reproducibility.
Solution Approach 2:
The patent introduces simulation data packets as an intermediary structure that bridges synchronous simulation frameworks and asynchronous runtime data. These packets contain timestamp information and data units from multiple nodes, allowing the simulation to reproduce asynchronous characteristics without requiring the entire simulation framework to be asynchronous.
2Measurement precision
If asynchronous simulation is used to preserve runtime characteristics, then realism is improved, but reproducibility deteriorates due to lack of synchronization
Solution Approach 1:
The patent performs preliminary organization of runtime data into structured simulation data packets before simulation execution. The temporal call procedure manager pre-processes timestamp information and data unit relationships, creating a reproducible framework that preserves asynchronous characteristics. This preliminary structuring allows subsequent simulations to reproduce the same asynchronous behavior consistently.
Solution Approach 2:
The patent changes the parameter representation by introducing timestamp fields and time interval calculations into the simulation data structure. By explicitly tracking acquisition times and simulating time intervals between data units from different nodes, the system maintains asynchronous realism while enabling reproducible simulation through consistent parameter handling.
3Adaptability or versatility
If multiple nodes with different refresh frequencies are simulated synchronously, then system integration is improved, but time synchronization accuracy deteriorates
Solution Approach 1:
The patent applies local quality by allowing each node in the simulation to maintain its own refresh frequency characteristics through individual data units with specific timestamps. The temporal call procedure manager handles each node's timing locally rather than forcing global synchronization, preserving time synchronization accuracy while integrating multiple nodes with different frequencies.
Solution Approach 2:
The patent adds a time dimension to the simulation data structure by incorporating timestamp fields and time interval calculations. This dimensional enhancement allows the system to track and preserve the timing relationships between nodes with different refresh frequencies, maintaining both system integration and time synchronization accuracy through explicit temporal representation.
Data Source
AI summary
Devices, systems, and methods for simulating an operation of an autonomous vehicle over time are described. An example method includes obtaining runtime data of an operation of modules of an autonomous vehicle during the operation, the runtime data including first module data having a first refresh frequency and second module data having a second refresh frequency, compiling a plurality of simulation data packets based on the runtime data according to a simulation frequency that is different from at least one of the first refresh frequency or the second refresh frequency, and simulating the operation of the autonomous vehicle over time based on the plurality of simulation data packets.