Simulated-driving-environment generation

Abstract

A method may include obtaining HD mapping data including multiple data topics with one or more distinct instances. The method may include creating multiple meshes from corresponding distinct instances. The method may include defining multiple textures for each data topic. The method may include selecting a first data topic and a first distinct instance of the first data topic. The method may include selecting a first texture for the first data topic and applying the first texture to a first mesh corresponding with the first distinct instance. The method may include selecting a second distinct instance of the first data topic. The method may include selecting a second texture and applying the second texture to a second mesh corresponding with the second distinct instance. The method may also include combining the first mesh and the first texture with the second mesh and the second texture to generate a combined mesh.

1 . (canceled) 
     
     
         2 . A computer-implemented method, comprising:
 accessing map data of a region, the map data of the region including at least one of: image data, vehicle sensor data, or global positioning data;   separating the map data into a plurality of data topics; and   storing the plurality of data topics in a data storage, the data storage being accessible by one or more simulation environment generation systems, the one or more simulation environment generation systems capable to access the plurality of data topics in the data storage to generate a simulation environment.   
     
     
         3 . The computer-implemented method of  claim 2 , further comprising defining a respective texture for each data topic in the plurality of data topics. 
     
     
         4 . The computer-implemented method of  claim 2 , further comprising defining a second texture for a first data topic in the plurality of data topics such that the first data topic has at least two defined textures, including generating instructions for how to apply the textures to data topics. 
     
     
         5 . The computer-implemented method of  claim 4 , further comprising defining a plurality of textures available to a second data topic, wherein the simulation environment includes multiple instances of the second data topic, wherein when rendering the simulation environment, a decision is made to select at least one texture for each instance of the second data topic. 
     
     
         6 . The computer-implemented method of  claim 2 , wherein the image data includes information obtained by a vehicle that traveled in the region and captured images of the region. 
     
     
         7 . The computer-implemented method of  claim 2 , wherein the vehicle sensor data includes sensor information captured by one or more sensors of one or more vehicles in the region. 
     
     
         8 . The computer-implemented method of  claim 2 , wherein the vehicle sensor data includes data in a point-cloud format. 
     
     
         9 . The computer-implemented method of  claim 2 , wherein the map data is captured substantially in real-time by a vehicle travelling in the region. 
     
     
         10 . The computer-implemented method of  claim 2 , wherein separating the map data into the plurality of data topics included creating at least one nested data topic. 
     
     
         11 . The computer-implemented method of  claim 10 , wherein the at least one nested data topic includes a top-level data topic and at least one subtopic, wherein each subtopic of the at least one subtopic is to define at least one variation of the top-level data topic. 
     
     
         12 . The computer-implemented method of  claim 2 , wherein each data topic of the plurality of data topics is stored as a separate file in the data storage. 
     
     
         13 . The computer-implemented method of  claim 21 , wherein the simulation environment includes a plurality of layers. 
     
     
         14 . The computer-implemented method of  claim 13 , wherein the plurality of layers include a first layer for the image data, a second layer for the vehicle sensor data, and a third layer for the global positioning data. 
     
     
         15 . The computer-implemented method of  claim 14 , the vehicle sensor data including a first vehicle sensor data type and a second vehicle sensor data type, the second layer being for the first vehicle sensor data type, the plurality of layers including a fourth layer for the second vehicle sensor data type. 
     
     
         16 . The computer-implemented method of  claim 2 , wherein the map data includes at least one of terrain data and road data. 
     
     
         17 . The computer-implemented method of  claim 2 , wherein a first data topic of the plurality of data topics is generated by grouping a plurality of points within a point cloud based on intensity information of the plurality of points within the point cloud. 
     
     
         18 . A computer-implemented method, comprising:
 accessing a data storage for data topics;   identifying, within the data storage, one or more data topics for inclusion in a simulation environment;   identifying a first texture for the data topic and a second texture for the data topic, including instructions for applying the first texture for the data topic and the second texture for the data topic in the simulation environment;   generating the simulation environment with the data topic including applying the first texture to the data topic and the second texture to the data topic in the simulation environment according to the instructions.   
     
     
         19 . The computer-implemented method of  claim 18 , further comprising supplementing the simulation environment with an object that is not included in a set of map data that was used when creating the data topic. 
     
     
         20 . The computer-implemented method of  claim 18 , wherein generating the simulation environment includes generating a mesh based on two or more data topics. 
     
     
         21 . The computer-implemented method of  claim 18 , wherein the first texture and the second texture are representative of different real-world examples of the data topic.