A scene-independent unmanned driving simulation test evaluation method and device
A technology for unmanned driving and simulation testing, which is applied in the field of unmanned driving simulation, and can solve the problems of unavailable other scene files, unmanned driving simulation test evaluation, poor robustness, etc.
Active Publication Date: 2021-04-20
北京赛目科技股份有限公司
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[0003] The existing unmanned driving simulation test evaluation methods are specially designed for specific types of scene files. Therefore, simulation test evaluation can only be implemented based on specific types of scene files, and are not compatible with other types of scene files. Therefore, it is impossible to Other scene files are used for unmanned driving simulation test evaluation, and the robustness is poor
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[0076] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0077] It should be noted that the terms "include" and "have" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally further includes For other steps or units inhe...
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The embodiment of the present invention discloses a scene-independent unmanned driving simulation test evaluation method and device. In this method, for each frame of data in the data to be tested, the safety evaluation score of the frame is obtained according to the preset RSS model, and the legality of the frame is obtained according to the information of the traffic sign object and the position information and driving information of the vehicle to be tested. Evaluation score results, for each target time period in the data to be tested, calculate the comfort evaluation score results according to the acceleration of the vehicle to be tested in the target time period, and carry out cyclic testing on the test data until the preset simulation times are reached, and the obtained The results of all the evaluation points are sorted out to obtain the total results of the safety evaluation, regulatory evaluation and comfort evaluation of the vehicle to be tested. Therefore, the type of data-independent scene used for evaluation is not limited to a specific type of scene file, and simulation test evaluation can be performed on any scene file, with high compatibility and good robustness.
Description
technical field [0001] The present invention relates to the technical field of unmanned driving simulation, in particular to a scene-independent unmanned driving simulation test evaluation method and device. Background technique [0002] At present, unmanned driving simulation technology is generally used in the test and evaluation of unmanned driving algorithms set for unmanned vehicles. In the process of using unmanned driving simulation technology to test and evaluate unmanned driving algorithms, it is generally necessary to use manually set scene data or use scene data collected for actual driving scenes to simulate the driving scene of the self-driving vehicle, and then carry out Simulation test evaluation. [0003] The existing unmanned driving simulation test evaluation methods are specially designed for specific types of scene files. Therefore, simulation test evaluation can only be implemented based on specific types of scene files, and are not compatible with othe...
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IPC IPC(8): G06F11/36
CPCG06F11/3688Y02T10/40
Inventor 何丰胡大林杨强丁佳佳
Owner 北京赛目科技股份有限公司