Automatic driving visual sensor data collection method, device, equipment and medium

Abstract

The embodiment of the present invention proposes a method for collecting data from visual sensors for automatic driving, including the following steps: building an initial simulation environment based on real scene modeling; setting the driving path and speed of the test vehicle in the simulation environment; setting the natural environment, traffic flow and Signs and obstacles; the test vehicle is tested and run in the simulation environment after setting, and the test data of the visual sensor is collected. The embodiment of the present invention solves the pain points of difficulty in collecting test data of visual sensors and less diversity by building a simulation scene editing platform; relying on three-dimensional graphics rendering, adopts the principle of ray tracing, and clicks the mouse to add or insert key points of the path Fitting the driving path of the test vehicle, adopting the WYSIWYG editing method, weakens the difficulty of using compared with other traditional industry software, and further improves the test efficiency.

Description

technical field [0001] The invention relates to the field of automatic driving, in particular to a method, device, equipment and medium for collecting data from a visual sensor for automatic driving. Background technique [0002] With the rapid development of the automobile industry, the research on autonomous driving technology has also developed rapidly. The division of functions of the automatic driving system can be divided into perception (environment perception and positioning), decision-making (intelligent planning and decision-making), execution (control execution ) three core systems, among which the accuracy of the perception system algorithm plays a decisive role in the subsequent decision-making and execution process. [0003] At present, most of the visual sensor test data in the perception system is collected manually, and the method of shooting video with photography and camera equipment in the real environment is time-consuming, labor-intensive, and data dive...

AI Technical Summary

Problems solved by technology

[0003] At present, most of the visual sensor test data in the perception system is collected manually, and the method of shooting video with photography and camera equipment in the real environment is time-consuming, labor-intensive, and data diversity is limited. It also requires a huge data storage space. To save the collected data, the amount of data and the diversity of data required for the perception system test are much higher than the existing manually collected data

Therefore, this manual data collection method has great limitations for visual sensor testing, and it also causes certain obstacles and troubles for the upgrade and optimization of the future perception system.

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