Abstract: 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.

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for autonomous vehicle operation are provided. For example, a computing system can obtain a scene that includes simulated objects associated with simulated physical properties. The computing system can generate sensor data, which can include simulated sensor interactions for the scene. The simulated sensor interactions can include simulated sensors detecting the simulated objects. Further, the simulated sensors can include simulated sensor properties. The simulated sensor interactions that satisfy one or more perception criteria of an autonomous vehicle perception system can be determined, based at least in part on the sensor data. Furthermore, changes for the autonomous vehicle perception system can be generated, based at least in part on the simulated sensor interactions that satisfy the one or more perception criteria.

Abstract: The present disclosure provides systems and methods for detecting, localizing, and classifying objects that are proximate to an autonomous vehicle. A sensor system can include one or more ranging systems and a plurality of cameras. The plurality of cameras can be positioned such that a field of view for each camera of the plurality of cameras overlaps a field of view of at least one adjacent camera. The one or more ranging systems can be configured to transmit ranging data to a perception system for detecting objects of interest and the plurality of cameras can be configured to transmit image data to the perception system for classifying the objects of interest.