Method and device for generating vehicle simulation trajectory, computer device and storage medium

A trajectory and simulation technology, applied in the field of trajectory simulation, can solve the problems that traffic vehicles cannot reflect the characteristics of human driving and do not meet the constraints of vehicle dynamics.

Pending Publication Date: 2019-03-08
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In the process of realizing the present invention, the inventor found that the prior art has the following defects: the artificially set trajectory sometimes does not conform to the vehicle dynamics constraints, and...

Method used

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  • Method and device for generating vehicle simulation trajectory, computer device and storage medium
  • Method and device for generating vehicle simulation trajectory, computer device and storage medium
  • Method and device for generating vehicle simulation trajectory, computer device and storage medium

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Embodiment 1

[0027] figure 1 It is a flow chart of a method for generating a vehicle simulation trajectory provided by Embodiment 1 of the present invention. The method of this embodiment can be executed by a device for generating a vehicle simulation trajectory, which can be implemented by means of hardware and / or software, and Generally can be integrated in computer equipment. The method of this embodiment specifically includes:

[0028] S101. Acquire time data of a simulated trajectory of a target road.

[0029] It is known that when unmanned vehicles are tested in the automatic driving simulation scene, multiple unmanned vehicles will be set as traffic vehicles on the test road, and each traffic vehicle will drive according to the driving trajectory input in advance. Since the function of the traffic car is to provide a real driving environment for the unmanned vehicle under test, if the driving trajectory of the traffic car is closer to that of a human being, then the road test of t...

Embodiment 2

[0048] figure 2 It is a flow chart of a method for generating a vehicle simulation trajectory provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments. In this embodiment, a specific implementation manner of adding a process of checking the simulation trajectory and adding a step of retraining the stochastic process model is given.

[0049] Correspondingly, the method in this embodiment specifically includes:

[0050] S201. Acquire time data of a simulated trajectory of a target road.

[0051] S202. Input the time data of the simulation trajectory into the random process model, obtain the position coordinate data of the simulation trajectory, and the position coordinate data and the time data correspond to form a simulation trajectory, wherein, in the random process model, at least two drivers drive the vehicle on the target road Acquired by driving trajectory training.

[0052] S203. Acquire vehicle control data...

Embodiment 3

[0075] image 3 It is a structural diagram of a device for generating a vehicle simulation trajectory provided by Embodiment 3 of the present invention. Such as image 3 As shown, the device includes: a time data acquisition module 301 and a simulation trajectory generation module 302, wherein:

[0076] Time data acquisition module 301, used to obtain the time data of the simulated trajectory of the target road;

[0077] The simulation trajectory generation module 302 is used to input the time data of the simulation trajectory into the random process model, obtain the position coordinate data of the simulation trajectory, and the position coordinate data and the time data correspond to form the simulation trajectory;

[0078] Wherein, the stochastic process model is obtained by at least two drivers performing vehicle driving trajectory training on the target road.

[0079] The embodiment of the present invention provides a device for generating a simulated trajectory of a v...

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Abstract

The embodiment of the invention discloses a method and device for generating a vehicle simulation trajectory, a computer device and a storage medium. The method comprises the following steps of acquiring time data of simulation trajectory of a target road; inputting the time data of simulation trajectory into the stochastic process model, and obtaining the position coordinate data of simulation trajectory, wherein the position coordinate data and time data correspond to form simulation trajectory, and the stochastic process model is obtained by training at least two drivers in a driving trajectory of a vehicle on a target road. The technical proposal of the embodiment of the invention solves the problem that in the prior art, so that the driving trajectory of the traffic vehicle does not conform to the vehicle dynamics constraint, as a result, it is difficult to provide an effective test environment for unmanned vehicles, which makes the driving trajectory of traffic vehicles more consistent with vehicle dynamics constraints, more personified, and improves the correctness and effectiveness of the test results of unmanned vehicle driving simulation scenarios.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of trajectory simulation, and in particular to a method and device for generating a vehicle simulation trajectory, computer equipment, and a storage medium. Background technique [0002] An unmanned vehicle is a new type of smart car. It mainly perceives the surrounding environment of the vehicle and the state information of the vehicle itself through various sensors, and makes corresponding decision-making plans. Realize the fully automatic operation of the vehicle and achieve the purpose of unmanned driving. [0003] Unmanned vehicles need to go through various rigorous tests before leaving the factory, including the project of testing the driving level of unmanned vehicles on the actual road with other traffic vehicles, that is, the autonomous driving simulation scene test . The driving trajectory of the traffic vehicle has a great influence on the accuracy of the results of th...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20
Inventor 李建平
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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