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Scene-based vehicle driving track generation method and readable storage medium

A vehicle driving and trajectory generation technology, which is applied in complex mathematical operations, design optimization/simulation, probabilistic CAD, etc., can solve the problems of not being able to match the initial state of the scene, reduce the authenticity of the driving trajectory, and easily generate simulation scenes, etc., to improve the real effectiveness, ensuring effectiveness and accuracy, and improving efficiency

Pending Publication Date: 2022-06-21
CHONGQING CHANGAN AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the applicant found that the existing trajectory generation method based on the scene target vehicle has the following limitations: 1) It greatly simplifies the real The process of drivers braking or changing lanes in the world reduces the authenticity of driving trajectory generation; 2) It collects driving trajectory through road mining equipment to generate a behavior model library, resulting in high cost of driving trajectory generation, and there may be The driving trajectory in the behavior model library cannot match the initial state set by the scene, making it easy to generate an invalid simulation scene

Method used

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  • Scene-based vehicle driving track generation method and readable storage medium
  • Scene-based vehicle driving track generation method and readable storage medium
  • Scene-based vehicle driving track generation method and readable storage medium

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Experimental program
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Embodiment 1

[0031] This embodiment discloses a scene-based vehicle driving trajectory generation method.

[0032] like figure 1 As shown, the scene-based vehicle driving trajectory generation method includes the following steps:

[0033] S1: Generate a corresponding specific scene parameter list based on the parameter logical space sampling of the scene;

[0034] S2: Read the driving data of the target vehicle at the initial time and the end time in a certain scene in the specific scene parameter list;

[0035] S3: Find the corresponding driving trajectory based on the driving data at the initial time and the end time of the target vehicle;

[0036] S4: Sampling the driving trajectory to generate the corresponding trajectory point data, and perform a simulation test based on the trajectory point data;

[0037] S5: Repeat steps S2 to S4 until the generation of driving trajectories for all the scenarios in the specific scenario parameter list is completed. Specifically, it is determined...

Embodiment 2

[0059] This embodiment discloses a readable storage medium.

[0060] A readable storage medium on which a computer management program is stored, and when the computer management program is executed by a processor, implements the steps of the scene-based vehicle driving trajectory generation method of the present invention. The readable storage medium may be a device with a readable storage function, such as a USB flash drive or a computer.

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Abstract

The invention relates to the technical field of automatic driving, in particular to a scene-based vehicle driving track generation method and a readable storage medium. The method comprises the following steps: sampling and generating a corresponding specific scene parameter list based on a parameter logic space of a scene; reading the driving data of the target vehicle at the initial moment and the end moment in a certain scene in the specific scene parameter list; solving a corresponding driving track based on the driving data of the initial moment and the end moment of the target vehicle; sampling the driving track to generate corresponding track point data, and performing a simulation test based on the track point data; and repeating the steps until the driving tracks of all scenes in the specific scene parameter list are generated. The invention further discloses a readable storage medium. According to the vehicle driving track generation method, the efficiency and authenticity of driving track generation can be considered, and the cost of track generation and simulation testing can be reduced, so that the effect of automatic driving scene simulation can be improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a scene-based vehicle driving trajectory generation method and a readable storage medium. Background technique [0002] In the iterative process of autonomous driving technology research and development, autonomous driving testing is an indispensable link, and autonomous driving vehicles must undergo a large number of simulations and road tests to verify their safety and reliability. Considering the issues of testing efficiency and testing cost, simulation testing can support automated testing of tens of thousands of scenarios, greatly reducing testing costs and improving testing efficiency. Among them, the driving trajectory of the vehicle has a very important reference role for the calculation of road conditions. [0003] Existing methods for generating the driving trajectory of the target vehicle based on the scene. On the one hand, it is assumed that the ta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F17/11G06F111/08
CPCG06F30/20G06F17/11G06F2111/08
Inventor 陈磊杨果舒德伟唐诚成张鑫廖浪淘
Owner CHONGQING CHANGAN AUTOMOBILE CO LTD