Automatic driving lane changing scene classification method and recognition method based on clustering

Abstract

The invention discloses a clustering-based automatic driving lane changing scene classification method and a clustering-based automatic driving lane changing scene identification method. The classification method comprises the following steps: 1) collecting data of each sample point needing lane changing scene classification; 2) preprocessing the data in the step 1); (3) taking each preprocessed sample point as a cluster, calculating the distance between the sample point of each cluster and the sample points of all other clusters by adopting an agglomerated hierarchical clustering algorithm, and carrying out combined clustering on two clusters with the closest distance; and 4) taking the clusters which are combined and clustered together as lane changing scenes, and outputting clustering results. According to the automatic lane changing scene classification method and the automatic lane changing scene identification method, an accurate and reliable basis is provided for further improving an automatic lane changing algorithm and an optimization function, and scene classification identification with high efficiency, low cost and high scene coverage rate is realized.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a cluster-based automatic driving lane changing scene classification method and identification method. Background technique [0002] With the continuous improvement of the level of automatic driving and the continuous enrichment of functions, in order to ensure the safe and reliable implementation of automatic driving technology, it is necessary to identify and classify the lane changing scenarios of automatic driving. Scene recognition and classification are usually performed directly by manual expert experience, which is labor-intensive, and may cause problems such as inaccurate scene division and incomplete consideration of scenes. [0003] The application number CN202010707401.6 discloses an automatic driving scene classification and identification system and method. The system is provided with a scene data acquisition module, a driving scene identification module, ...

AI Technical Summary

Problems solved by technology

The above method realizes the automatic recognition of driving scenes, but it still cannot automatically classify the scenes according to the recognition information, so the above method also has the problem of requiring manual classification, which is labor-intensive

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