Patent attributes
Safety metrics and/or statistical system assurance of a particular package of autonomy driving software may be substantially measured using data collected from manually driving a vehicle in the real word, simulations of scenarios which may be faced by a vehicle in the real world, simulations executed with actual software and/or hardware on a vehicle, and/or end-to-end testing of a vehicle in a test environment. Safety metrics and performance of AV software and hardware may be further evaluated through vehicle-in-the-loop testing. During each test scenario, a corresponding set of simulated perception data may be injected to the systems of the autonomous vehicle to cause the autonomous vehicle to react and behave as if one or more simulated objects described by the set of simulated perception data were in the environment of the autonomous vehicle. Each test scenario may be triggered to be performed based on, for example, the autonomous vehicle's location within a real-world vehicle testing space.
