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Scene description method in autonomous unmanned system

A scene description and scene technology, which is applied in anti-collision systems, traffic control systems, aircraft traffic control, etc., can solve the problem of effective recording of scenes that lack understanding, achieve rapid capture and recording, and improve robustness and safety assurance , the effect of reducing costs

Active Publication Date: 2020-06-05
SHANGHAI UNIV +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, effective documentation of the understood scene is still lacking

Method used

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  • Scene description method in autonomous unmanned system
  • Scene description method in autonomous unmanned system
  • Scene description method in autonomous unmanned system

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Embodiment Construction

[0034] Specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0035] Such as figure 1 As shown, a scene description method in an autonomous unmanned system includes the following steps:

[0036] (1) Build the external scene library and internal scene library of the autonomous unmanned system offline, such as figure 2 Shown:

[0037] (1.1) Establish a category library of external scene elements for autonomous unmanned systems, including static scene elements and dynamic scene elements. The static scene elements refer to stationary objects in the environment and their attribute feature values, such as roads and Information such as the number of lanes of the road, road boundaries, traffic lights and their color status, etc.; the dynamic scene elements refer to objects in the environment and their attribute feature values, such as vehicles, pedestrians and other moving objects and their three-dimensional in...

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Abstract

The invention discloses a scene description method in an autonomous unmanned system. The method comprises the following steps: constructing an external scene library and an internal scene library of the autonomous unmanned system offline; wherein the external scene library comprises a static scene element and dynamic scene element library, an operation scene library and an abnormal event library and the internal scene library comprises behavior decision information, execution information of equipment such as a motion controller and the like, and internal state information of the control systemand the execution system; and when the autonomous unmanned system runs, obtaining environmental perception data of the autonomous unmanned system, extracting key static scene elements and dynamic scene elements in an external scene, carrying out definition through predefined classes, carrying out description in a structured language mode, and recording corresponding internal scene state information. Meanwhile, the occurrence of an abnormal event is monitored, and when the abnormal event occurs, full-information storage is performed on perception data within a fixed time period before and after the occurrence of the event. According to the invention, the robustness and safety guarantee of the autonomous unmanned system can be effectively improved.

Description

technical field [0001] The invention relates to a scene description method in an autonomous unmanned system. Background technique [0002] Autonomous unmanned systems are one of the important applications of artificial intelligence and a landmark achievement in the development of artificial intelligence. Autonomous unmanned systems can replace humans to perform predetermined tasks in a variety of environments, and are widely used in drones, unmanned vehicles, rail transit automatic driving projects, and in the field of service robots such as housekeeping cleaning robots and nursing robots. For autonomous unmanned systems, scene understanding is the core of autonomous movement. On the basis of the existing scene understanding technology, if the external effective scene and internal decision-making and operation of the autonomous unmanned system are quickly captured and recorded in real time, it will be able to effectively assist in evaluating the safety performance of the au...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/16G08G5/04G06K9/00G06K9/62
CPCG08G1/16G08G5/04G06V20/56G06F18/25Y02P90/02
Inventor 李玉峰曹晨红朱泓艺陆肖元王鹏李江涛姜超张瑰琦岳玲马启皓
Owner SHANGHAI UNIV