SIMULATION IN AUTONOMOUS DRIVING

A driving scenario is extracted from real-world driving data captured within a road layout. A simulation is run based on the extracted driving scenario, in which an ego agent and a simulated non-ego agent each exhibit closed-loop behaviour. The closed-loop behaviour of the ego agent is determined by autonomous decisions taken in an AV stack under testing in response to simulated inputs, reactive to the simulated agent. The closed-loop behaviour of the non-ego agent is determined by implementing an inferred goal or behaviour, reactive to the ego agent. The goal or behaviour is inferred from an observed trace of a real-world agent extracted from the real-world driving data.