Autonomous vehicle scene data system and scene format conversion method

Abstract

The present invention relates to an autonomous vehicle scene data system, comprising: a sensor unit; a data fusion industrial personal computer which is used for processing real scene data acquired bya laser radar and a camera, extracting position, speed, size and type information of an object in a real scene, and obtaining a road range, a lane position and lane type information of a road condition; and a format conversion industrial personal computer which is used for filling the object information, the road condition information, the environment information and the behavior information output by the data fusion industrial personal computer into a road condition matrix, an object matrix, a transverse velocity matrix, a longitudinal velocity matrix, an environment vector and a behavior vector according to a predefined format. The invention further discloses a scene format conversion method of the automatic driving vehicle scene data system. According to the invention, a platform is provided for collection of a real scene of the autonomous vehicle and conversion of a scene format; key information can be automatically extracted from a large number of collected real scenes, and the key information is recombined into a scene format defined in the invention.

Description

technical field [0001] The invention relates to the technical field of automatic driving vehicles, in particular to an automatic driving vehicle scene data system and a scene format conversion method. Background technique [0002] The scene of an autonomous vehicle mainly includes four aspects: objects, road conditions, environment, and behavior. Among them, objects refer to objects or animals that affect driving decisions or all possible autonomous movements. Objects include object types, speeds, positions, etc.; road conditions are Refers to road characteristics and traffic control characteristics that do not change with environmental changes. Road conditions include the number of lanes, lane lines, speed limit, etc.; environment refers to all environmental factors that may change, and the environment includes weather, light, temperature, etc.; behavior Refers to the behavior of the self-driving car itself, including driving direction, speed, acceleration, etc. [0003] N...

AI Technical Summary

Problems solved by technology

[0004] When the self-driving vehicle is driving, the raw data collected by various sensors have different formats, and the unprocessed raw data is not convenient for the decision-making layer to analyze the scene, nor is it convenient for the feature element extraction and influencing factor analysis of the scene

At present, the internationally accepted scene data format is OpenScenario, which is an XML-based scene format. XML type scene data is convenient for storage and display, but it is not convenient as a data input format for scene processing algorithms.

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