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Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://www.retrospectav.com/blog/message-on-the-cruise-crash monthly 0.5 2022-12-01 https://www.retrospectav.com/blog/unacceptably-risky-part-1-safety-report-on-cruises-crash monthly 0.5 2022-11-30 https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/9ed00a1e-cd1b-46e7-9976-06db38e05dfd/image_05.png Autonomous Vehicles and Functional Safety Blog - Unacceptably Risky - Part 1 - Safety Report on Cruise's Crash - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/d779a231-e8e4-4677-ac99-44b425c058a1/image_06_small.png Autonomous Vehicles and Functional Safety Blog - Unacceptably Risky - Part 1 - Safety Report on Cruise's Crash - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/05756798-9e76-4809-a954-61a5f0a022a1/image_07.png Autonomous Vehicles and Functional Safety Blog - Unacceptably Risky - Part 1 - Safety Report on Cruise's Crash - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/10e731d9-c68d-45b3-930d-8ce0489c2eb0/image_08.png Autonomous Vehicles and Functional Safety Blog - Unacceptably Risky - Part 1 - Safety Report on Cruise's Crash - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/c7bd774a-cea3-4804-9bbc-5e4bdbb928db/image_08_09_table_02.png Autonomous Vehicles and Functional Safety Blog - Unacceptably Risky - Part 1 - Safety Report on Cruise's Crash - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/6979cb9a-a6b3-46ec-b61b-85827ab986e8/image_09.png Autonomous Vehicles and Functional Safety Blog - 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Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251812222-K2N2MPA8IFGX3S9B5GE9/Slide4.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251812595-B92EJVM5160FPRLQLRDY/Slide5.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251812809-8U9P2CC8S73FG0Z3BJEN/Slide6.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251813162-PRFXBCFXZ18CLH5OHZB4/Slide7.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251813344-AE39EAHB6GDTOXA2G6TS/Slide8.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251813701-VCPWBA0WUERUKBF602X7/Slide9.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251814278-CSRA5LLHY3C5LLUN352P/Slide10.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251814442-XV60V35NVZFDY0048XHI/Slide11.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251814871-IMCH8TSDEXZEY52ALJ20/Slide12.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251815044-AWU0JR3MMNWGXWWUIBNI/Slide13.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251815493-9Y18U6G8JRGHC27KZQVT/Slide14.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251815640-BZQMR25OAY92H4NDLGMI/Slide15.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251816110-6OOEEIXFD9RRWVXDFG88/Slide16.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251816210-0WH1Y4UF0T775U53NERC/Slide17.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251816599-4J1N8MENY6U4VWFAUO5W/Slide18.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251816778-557WBK3KNTEDFR4Q77DS/Slide19.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251817148-RTUOBF34PHN2TA1YGYYA/Slide20.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251817335-DKGQ1TSZFUQCGJQ5TLLW/Slide21.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251817748-V7TAM2UDGBPZ58C1RTNK/Slide22.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251817895-425GTZ381EY36XZIO1S0/Slide23.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251818358-IP3SIQVR4FWYCOZZ9A42/Slide24.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251818451-9KYIWA6ZDIJJI3AWEZRS/Slide25.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1649251819147-9765JHYD0OTMNDP894K9/Slide26.PNG Autonomous Vehicles and Functional Safety Blog - Presentation - Improving AV Safety with Dynamic Runtime SPI Improvement Mechanisms https://www.retrospectav.com/blog/accessing-the-motional-nuplan-data monthly 0.5 2024-06-18 https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/77ba0bcd-5cc5-45b8-aae2-8e22291d0887/output_data.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/128d1310-9124-48ca-a336-3cd4489a8a88/plotToolDemo.GIF Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/cf050747-9ff6-4ebe-b1c5-932ad45c26a5/simulation+simple+plan+config+notebook.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/175d3ea7-0dc7-4e1b-83a9-199306211ec0/launchsim_nuplan.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/d2f32448-038a-4d6e-929e-dbb19bfe4825/run_simulation_function.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/5f77d10d-ab4a-48f6-b1be-8691725cbb20/run_simulation_markedup.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data build_worker which handles distribution of processing (multi threading and GPU stuff - I won’t dive in but know that’s the direction to go if you are curious about how processes are distributed. And yes this means that there will be multiple processing threads running simultaneously.) build_scenario_builder which builds a builder (yes it sounds funny) of scenarios. This data structure is the link to the data being imported for the simulation. If you dive deep enough into this rabbit hole you start to see database structures (NuPlanDB). I went down this path to try to get the raw data but I haven’t directly worked with databases so I steered clear. If you’re comfortable with database stuff you can look into it. The custom database and blob storage classes are all there if you want to try. Anyway - This scenario_builder object will be used to help build the simulations in… build_simulations which builds a list of simulation objects that will be iterated through. Think of these as a list of simulations to be run. Each of these simulation objects contains / links to the necessary parts of the simulation. Things like what Planner to use, what Scenarios to run through, manager structures to manage the simulation through its paces, and so-called Observation objects that house the perception data. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/0a4ef5de-a2a3-4130-b1c3-332f4c4d0b60/pythonicon.jpeg Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out mike sim call.py https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/f51911ed-9d98-45a4-9f1f-f7fc1b6f33a3/mike_sim_config_hilites.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/9f7324aa-5dbd-43cd-863c-8a9f8c43485b/mikes_run_simulation_call.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/2bacc180-e92e-48e4-832e-ce85bcb70b6b/sim_py_mike_1.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/891eef04-19eb-4abf-93be-e9e1ebcb9591/sim_py_mike_2.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Excerpts from the modified simulation.py https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/0a4ef5de-a2a3-4130-b1c3-332f4c4d0b60/pythonicon.jpeg Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out modified simulation.py https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/77ba0bcd-5cc5-45b8-aae2-8e22291d0887/output_data.png Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/0a4ef5de-a2a3-4130-b1c3-332f4c4d0b60/pythonicon.jpeg Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out mike nuplan plot.py https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/128d1310-9124-48ca-a336-3cd4489a8a88/plotToolDemo.GIF Autonomous Vehicles and Functional Safety Blog - Accessing the Motional nuPlan Data - Make it stand out Attached plot tool with basic object data positions from nuPlan dataset, mind the the formatting https://www.retrospectav.com/blog/drspi-paper monthly 0.5 2024-06-18 https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/21910730-be00-4414-9878-b2331a32a87d/drspi.png Autonomous Vehicles and Functional Safety Blog - Research Paper - A Framework for Preserving Automated Vehicle Safety Claims by Unknown Unknowns Recognition and Dynamic Runtime Safety Performance Indicator Improvement - Make it stand out Whatever it is, the way you tell your story online can make all the difference. https://www.retrospectav.com/blog/solutions-before-standards monthly 0.5 2022-04-12 https://images.squarespace-cdn.com/content/v1/5db6f2b6f991e52a4915d879/1648234090326-U80DOS766VOMJS0D19P8/Slide1.PNG Autonomous Vehicles and Functional Safety Blog - 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