CN109829395A - Data processing method, device, equipment and storage medium based on unmanned vehicle - Google Patents
Data processing method, device, equipment and storage medium based on unmanned vehicle Download PDFInfo
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Abstract
Data processing method based on unmanned vehicle, device, equipment and storage medium provided in an embodiment of the present invention, by obtaining generated data in unmanned vehicle driving process；At least one label information is determined each described data, wherein the label information includes the unmanned vehicle action message and/or unmanned vehicle perception information for being used to indicate the data characterization；According to the label information of each data, it is determined for compliance with the data of target travel scene, wherein, corresponding at least two label informations of the target travel scene, it realizes and the data generated in unmanned vehicle driving process handle by the excavation of target and analysis of scene, to improve the efficiency and accuracy of scene extraction, the efficiency of unmanned vehicle data processing is further improved.
Description
Technical field
The present embodiments relate to unmanned vehicle technology field more particularly to a kind of data processing method based on unmanned vehicle,
Device, equipment and storage medium.
Background technique
With the development of automotive engineering, unmanned vehicle starts to be applied and develop.Unmanned vehicle has a variety of driving scenes.
However in the prior art, it how to the data in the driving scene and driving process of unmanned vehicle, carries out going deep into identification
And analysis is analyzed and is optimized with the automatic Pilot to unmanned vehicle to determine to meet the data of different driving scenes, is to need
It solves the problems, such as.
Summary of the invention
The embodiment of the present invention provides a kind of data processing method based on unmanned vehicle, device, equipment and storage medium, right
The data generated in unmanned vehicle driving process handle by the excavation of target and analysis of scene, to improve scene extraction
Efficiency and accuracy further improve the efficiency of unmanned vehicle data processing.
First aspect present invention provides a kind of data processing method based on unmanned vehicle, comprising:
Obtain generated data in unmanned vehicle driving process；
At least one label information is determined each described data, wherein the label information includes to be used to indicate institute
State the unmanned vehicle action message and/or unmanned vehicle perception information of data characterization；
According to the label information of each data, it is determined for compliance with the data of target travel scene, wherein the target travel
Scene corresponds at least two label informations.
In some embodiments, according to the label information of each data, the data of target travel scene are determined for compliance with, are wrapped
It includes:
According to target travel scene, the corresponding label information of the target travel scene is obtained；
According to the corresponding label information of the target travel scene, data corresponding with the label information are obtained；
According to the target travel scene and data corresponding with the label information, it is determined for compliance with target travel scene
Data.
In some embodiments, it according to the target travel scene and data corresponding with the label information, determines
Meet the data of target travel scene, comprising:
According to the target travel scene, label operation rule is obtained；
Will data corresponding with the label information, according to the label information be unit with the label operation rule into
Row processing obtains the data for meeting target travel scene.
In some embodiments, the label operation rule includes the combination of one or more of:
Intersection operation, union operation, set difference operation.
In some embodiments, the label information also includes: timestamp information；
The target travel scene includes: time-interleaving class scene and/or time order and function class scene；
Wherein, label information corresponding with the time-interleaving class scene is mark corresponding with identical timestamp information
Sign information；Label information corresponding with the time order and function class scene is corresponding with adjacent one or more timestamp informations
Label information.
In some embodiments, in the label information according to each data, the data of target travel scene are determined for compliance with
Before, further includes:
Receive search instruction, wherein include the target travel scene in the search instruction.
In some embodiments, the unmanned vehicle action message includes any of the following or a variety of:
Driving mode, driving behavior, drive speed.
In some embodiments, the unmanned vehicle perception information includes any of the following or a variety of:
Map element perception information, traffic lights perception information, weather perception information, barrier perception information.
Second aspect of the present invention provides a kind of data processing equipment based on unmanned vehicle, comprising:
Module is obtained, for obtaining generated data in unmanned vehicle driving process；
Mark module, for determining at least one label information each described data, wherein the label information packet
Containing the unmanned vehicle action message and/or unmanned vehicle perception information for being used to indicate the data characterization；
Processing module is determined for compliance with the data of target travel scene for the label information according to each data,
In, corresponding at least two label informations of the target travel scene.
In some embodiments, processing module, for it is corresponding to obtain the target travel scene according to target travel scene
Label information；According to the corresponding label information of the target travel scene, data corresponding with the label information are obtained；
According to the target travel scene and data corresponding with the label information, it is determined for compliance with the data of target travel scene.
In some embodiments, processing module, for obtaining label operation rule according to the target travel scene；It will
Data corresponding with the label information are handled with the label operation rule for unit according to the label information, are obtained
To the data for meeting target travel scene.
In some embodiments, module is obtained, is also used to be determined for compliance with target in the label information according to each data
Before the data of driving scene, search instruction is received, wherein include the target travel scene in the search instruction.
Third aspect present invention provides a kind of equipment, comprising: memory, processor and computer program, the calculating
Machine program stores in the memory, and the processor runs the computer program execution first aspect any embodiment and mentions
The data processing method based on unmanned vehicle supplied.
Fourth aspect present invention provides a kind of storage medium, and computer program, institute are stored in the readable storage medium storing program for executing
It states at the data based on unmanned vehicle provided when computer program is executed by processor for realizing first aspect any embodiment
Reason method.
Data processing method based on unmanned vehicle, device, equipment and storage medium provided in an embodiment of the present invention, pass through
Obtain generated data in unmanned vehicle driving process；At least one label information is determined each described data, wherein institute
Stating label information includes the unmanned vehicle action message and/or unmanned vehicle perception information for being used to indicate the data characterization；According to each
The label information of the data is determined for compliance with the data of target travel scene, wherein the target travel scene corresponding at least two
A label information, realization handle by the excavation of target and analysis of scene to the data generated in unmanned vehicle driving process,
To improve the efficiency and accuracy of scene extraction, the efficiency of unmanned vehicle data processing is further improved.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow diagram of the data processing method based on unmanned vehicle provided in an embodiment of the present invention；
Fig. 2 is the label information schematic diagram under a kind of straight trip turning scene provided in an embodiment of the present invention；
Fig. 3 is the label information schematic diagram that a kind of barrier provided in an embodiment of the present invention stops under scene；
Fig. 4 is a kind of structural schematic diagram of the data processing equipment based on unmanned vehicle provided in an embodiment of the present invention；
Fig. 5 is a kind of hardware structural diagram of equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
It should be appreciated that in various embodiments of the present invention, the size of the serial number of each process is not meant to execute sequence
It is successive, the execution of each process sequence should be determined by its function and internal logic, the implementation without coping with the embodiment of the present invention
Journey constitutes any restriction.
It should be appreciated that in the present invention, " comprising " and " having " and their any deformation, it is intended that covering is not arranged
His includes, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly
Those of list step or unit, but may include be not clearly listed or for these process, methods, product or equipment
Intrinsic other step or units.
It should be appreciated that in the present invention, " multiple " refer to two or more."and/or" is only a kind of description pass
Join object incidence relation, indicate may exist three kinds of relationships, for example, and/or B, can indicate: individualism A is existed simultaneously
These three situations of A and B, individualism B.Character "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or".It " include A, B
And C ", " include A, B, C " refer to that A, B, C three include, " including A, B or C " refers to comprising A, B, C thrin, " comprising A,
B and/or C " refers to comprising wantonly 1 in A, B, C three or 2 or 3 wantonly.
It should be appreciated that in the present invention, " B corresponding with A ", " B corresponding with A ", " A and B are corresponding " or " B and A
It is corresponding ", it indicates that B is associated with A, B can be determined according to A.It determines that B is not meant to determine B only according to A according to A, may be used also
To determine B according to A and/or other information.The matching of A and B is that the similarity of A and B is greater than or equal to preset threshold value.
Depending on context, as used in this " if " can be construed to " ... when " or " when ... " or
" in response to determination " or " in response to detection ".
In order to which unmanned vehicle driving is optimized or upgraded, the state to unmanned vehicle under various scenes is needed to divide
Analysis, so that it is determined that can optimize a little, and then takes corresponding technological means to improve unmanned vehicle.In this process, it needs
The unmanned car data of target scene is extracted in the unmanned car data of magnanimity, and performing corresponding processing could be that can optimize a little
It searches and data basis is provided.But the scene that existing data processing method is difficult to meet unmanned vehicle extracts requirement.For above-mentioned
There are the problem of, the present invention proposes a kind of data processing method based on unmanned vehicle, device, equipment and storage medium, can be with
Data generated in unmanned vehicle driving process handle by the excavation of target and analysis of scene, to improve scene pumping
The efficiency and accuracy taken, further improves the efficiency of unmanned vehicle data processing.Below by several specific embodiments to this
Scheme is described in detail.
Fig. 1 is a kind of flow diagram of the data processing method based on unmanned vehicle provided in an embodiment of the present invention, such as Fig. 1
It is shown, the executing subject of the program can optimize for unmanned vehicle TT&C system, unmanned vehicle server or other with data at
The equipment for managing function.To simplify the description, it will be illustrated in the examples below that by server of executing subject.Shown in Fig. 1
The data processing method based on unmanned vehicle include the following steps S101 to step S103.
S101 obtains generated data in unmanned vehicle driving process.
In unmanned vehicle driving process, the control system of unmanned vehicle acquires the data of unmanned vehicle generation in real time, and in real time
Or periodically or according to user indicate for these data of acquisition to be uploaded in server, so that server carries out at possible data
Reason.
In unmanned vehicle driving process generated data can there are many kinds of, such as instruction driving mode data (such as
Automatic driving mode, pilot steering mode, safe driving mode etc.), indicate driving behavior data (such as steering wheel control number
According to, indicator light control data etc.), indicate data (such as braking amount data, gear data, the throttle amount data of drive speed
Deng).
In another example generated data can also refer to the data of pictorial map element perception information in unmanned vehicle driving process
(such as real-time map station location marker data, GPS location data), indicate traffic lights perception information data (such as camera clap
The traffic lights image data taken the photograph), indicate data (such as the temperature sensor data, humidity sensor number of weather perception information
According to, the weather data that is received externally), indicate data (such as the barrier that camera takes of barrier perception information
Image data, radar or the equidistant barrier data sensed of ultrasonic wave).
The acquisition process of above-mentioned data can be online acquisition, be also possible to obtain offline, and the present embodiment is not to this progress
It limits.
S102 determines at least one label information each described data.
The data that unmanned vehicle generates can reflect the various states of unmanned vehicle at that time, and the present embodiment characterizes this with label information
A little states have associated label information with scene to being converted to the data unrelated with scene.Wherein, the label information
Unmanned vehicle action message and/or unmanned vehicle perception information comprising being used to indicate the data characterization.
In some embodiments, the unmanned vehicle action message includes any of the following or a variety of: driving mode, driving
Behavior, drive speed.For example, available label information can have: automatic Pilot mould according to the data of instruction driving mode
Formula, pilot steering mode, safe driving mode, unknown pattern or mode conversion time stamp.In another example driving row according to instruction
For data, available label information can have: straight trip turns left, turns right, u-turn, lane change to the left, to the right lane change or a left side
Fight continuity lane change.In another example available label information can have according to the data of instruction drive speed: stopping, traveling
In, it drives at a constant speed, non-drive over the speed limit or drive over the speed limit.Fig. 2 is that a kind of straight trip provided in an embodiment of the present invention is turned under scene
Label information schematic diagram.In the embodiment shown in Figure 2, timestamp t11 to t12 is the first stage, obtained label letter
It ceases to drive at a constant speed, keeping straight on, automatic driving mode；Timestamp t12 to t13 is second stage, and obtained label information is row
In sailing, turn left, automatic driving mode；Timestamp t13 to t14 is the phase III, and obtained label information is to drive at a constant speed, directly
Row, automatic driving mode.It can reflect out the action process that unmanned vehicle turns left in the process of moving by label information.
In further embodiments, the unmanned vehicle perception information includes any of the following or a variety of: map element sense
Know information, traffic lights perception information, weather perception information, barrier perception information.For example, according to instruction map element perception letter
The data of breath, obtained label information can have: in crossroad, T-shaped road junction, stop line or map area.In another example
According to the data of instruction traffic lights perception information, obtained label information can have: red light, green light, green light redden lamp or red
Lamp greening lamp.In another example obtained label information can have according to the data of instruction weather perception information: foggy weather rains
Weather, strong wind weather or hot weather etc..In another example obtained label is believed according to the data of instruction barrier perception information
Breath can have: obstacle identity (such as pedestrian, stationary body, bicycle, motorcycle), Obstacle Position (such as opposite side lane,
Other lanes, front lane, rear lane), barrier relative to car body relationship (such as speed change situation, speed conditions, variation feelings
Condition) or barrier behavior (such as cut/cut out, drive in the wrong direction, reverse end for end) etc..Fig. 3 is a kind of barrier provided in an embodiment of the present invention
Hinder the label information schematic diagram under object parking scene.In the embodiment shown in Figure 2, timestamp t21 to t22 is the first stage,
Its obtained label information is foggy weather, drives at a constant speed, keeps straight on, automatic driving mode；Timestamp t22 to t23 is second-order
Section, obtained label information be foggy weather, in traveling, brake deceleration, pilot steering mode；Timestamp t23 to t24 is the
Three stages, obtained label information are foggy weather, stopping, unknown pattern.It can reflect out unmanned vehicle by label information
Barrier is encountered by the action process brought to a halt after manually taking in foggy weather.
S103 is determined for compliance with the data of target travel scene according to the label information of each data, wherein the mesh
Mark corresponding at least two label informations of driving scene.
Target travel scene can be the information that server pre-sets, such as barrier incision scene and drive at a constant speed
The test of scene is that unmanned vehicle requires to carry out in each optimization process, therefore server can preset the two scenes
It sets, additional input operation is carried out without user.Optionally, target travel scene is also possible to user's input.For example, in root
It according to the label information of each data, is determined for compliance with before the data of target travel scene, first receives search instruction, wherein institute
Stating includes the target travel scene in search instruction.
Specifically, according to the label information of each data, it is determined for compliance with the implementation of the data of target travel scene
Can there are many, in some implementations, server can obtain the target travel scene first according to target travel scene
Corresponding label information.For example, for target scene be straight trip turning scene embodiment in, can be according to pre-stored scene
With the corresponding relationship of label, obtaining the corresponding label information of straight trip turning scene includes: " straight trip " and " turning ".And for obstacle
Object parking scene, then the label information obtained includes: " barrier " and " stopping ".Wherein " barrier " label information can be with
All label informations obtained according to the data of instruction barrier perception information are all corresponding.
Then, server obtains opposite with the label information according to the corresponding label information of the target travel scene
The data answered.For example, being got according to label information " straight trip " and " turning " comprising t11 shown in Fig. 2 to the data between t14.
In another example being got according to label information " barrier " and " stopping " comprising t21 shown in Fig. 3 to the data between t24.
After getting data according to label information, server according to the target travel scene and with the label information
Corresponding data are determined for compliance with the data of target travel scene.Specifically, it can be first according to the target travel scene,
Obtain label operation rule, then will data corresponding with the label information, according to the label information be unit with described
Label operation rule is handled, and the data for meeting target travel scene are obtained.For example, according to label information " barrier "
The available data arrived with " barrier " and other label informations, but it is also desirable to have in barrier parking scene
The label information of " stopping ", then searching the number with " stopping " label information in the corresponding data of " barrier " label information
According to can be with " barrier " corresponding data acquisition system data acquisition system corresponding with " stopping " only intersection operation, operating structure is then
It is the data for meeting barrier parking scene.
In some embodiments, the label operation rule includes the combination of one or more of:
Intersection operation, union operation, set difference operation.
In some embodiments, the label information can also include: timestamp information.Such as t11 shown in Fig. 2 is extremely
T14 and t21 shown in Fig. 3 to t24.The target travel scene includes: time-interleaving class scene and/or time order and function class
Scene.Wherein, label information corresponding with the time-interleaving class scene is label letter corresponding with identical timestamp information
Breath.Label information corresponding with the time order and function class scene is mark corresponding with adjacent one or more timestamp informations
Sign information.The data that unmanned vehicle generates have time attribute, and with the propulsion of time, data may correspond to different labels
(referring to figs. 2 and 3), it can be understood as reflect the variation of car body movement in these data.Such as the first stage shown in Fig. 2
The label information of data be drive at a constant speed, keep straight on, automatic driving mode.But the label information of second stage data is traveling
In, turn left, automatic driving mode.That is, label information becomes travelling from driving at a constant speed in two sections of adjacent timestamps
In, it also turns from straight to left, thus meets a time order and function class scene (straight trip turning scene).
Data processing method provided in an embodiment of the present invention based on unmanned vehicle, by obtaining institute in unmanned vehicle driving process
The data of generation；At least one label information is determined each described data, wherein the label information includes to be used to indicate
The unmanned vehicle action message and/or unmanned vehicle perception information of the data characterization；According to the label information of each data, determine
Meet the data of target travel scene, wherein corresponding at least two label informations of the target travel scene are realized to unmanned vehicle
The data that generate in driving process handle by the excavation of target and analysis of scene, thus improve scene extraction efficiency and
Accuracy further improves the efficiency of unmanned vehicle data processing.
Fig. 4 is a kind of structural schematic diagram of the data processing equipment based on unmanned vehicle provided in an embodiment of the present invention, such as Fig. 4
It is shown, the data processing equipment 40 provided in this embodiment based on unmanned vehicle, comprising:
Module 41 is obtained, for obtaining generated data in unmanned vehicle driving process；
Mark module 42, for determining at least one label information each described data, wherein the label information
Unmanned vehicle action message and/or unmanned vehicle perception information comprising being used to indicate the data characterization；
Processing module 43 is determined for compliance with the data of target travel scene for the label information according to each data,
In, corresponding at least two label informations of the target travel scene.
Data processing equipment provided in an embodiment of the present invention based on unmanned vehicle, by obtaining institute in unmanned vehicle driving process
The data of generation；At least one label information is determined each described data, wherein the label information includes to be used to indicate
The unmanned vehicle action message and/or unmanned vehicle perception information of the data characterization；According to the label information of each data, determine
Meet the data of target travel scene, wherein corresponding at least two label informations of the target travel scene are realized to unmanned vehicle
The data that generate in driving process handle by the excavation of target and analysis of scene, thus improve scene extraction efficiency and
Accuracy further improves the efficiency of unmanned vehicle data processing.
In some embodiments, processing module 43, for obtaining the target travel scene pair according to target travel scene
The label information answered；According to the corresponding label information of the target travel scene, number corresponding with the label information is obtained
According to；According to the target travel scene and data corresponding with the label information, it is determined for compliance with the number of target travel scene
According to.
In some embodiments, processing module 43, for obtaining label operation rule according to the target travel scene；
Will data corresponding with the label information, be that unit is handled with the label operation rule according to the label information,
Obtain the data for meeting target travel scene.
In some embodiments, the label operation rule includes the combination of one or more of:
Intersection operation, union operation, set difference operation.
In some embodiments, the label information also includes: timestamp information.
The target travel scene includes: time-interleaving class scene and/or time order and function class scene.
Wherein, label information corresponding with the time-interleaving class scene is mark corresponding with identical timestamp information
Sign information；Label information corresponding with the time order and function class scene is corresponding with adjacent one or more timestamp informations
Label information.
In some embodiments, module 41 is obtained, is also used to be determined for compliance with mesh in the label information according to each data
Before the data for marking driving scene, search instruction is received, wherein include the target travel scene in the search instruction.
In some embodiments, the unmanned vehicle action message includes any of the following or a variety of:
Driving mode, driving behavior, drive speed.
In some embodiments, the unmanned vehicle perception information includes any of the following or a variety of:
Map element perception information, traffic lights perception information, weather perception information, barrier perception information.
Data processing equipment provided in this embodiment based on unmanned vehicle is same as realizing the base that aforementioned any embodiment provides
Technical solution in the data processing method of unmanned vehicle, realization principle is similar, repeats no more.
Fig. 5 is a kind of hardware structural diagram of equipment provided in an embodiment of the present invention, which includes: processor
51, memory 52 and computer program；Wherein
Memory 52, for storing the computer program, which can also be flash memory (flash).The calculating
Machine program is, for example, to realize application program, the functional module etc. of the above method.
Processor 51, for executing the computer program of the memory storage, to realize the above-mentioned number based on unmanned vehicle
The each step executed according to server in processing method.It specifically may refer to the associated description in previous methods embodiment.
Optionally, memory 52 can also be integrated with processor 51 either independent.
When the memory 52 is independently of the device except processor 51, the equipment can also include:
Bus 53, for connecting the memory 52 and processor 51.
The present invention also provides a kind of readable storage medium storing program for executing, computer program is stored in the readable storage medium storing program for executing, it is described
The data processing based on unmanned vehicle provided when computer program is executed by processor for realizing above-mentioned various embodiments
Method.
Wherein, readable storage medium storing program for executing can be computer storage medium, be also possible to communication media.Communication media includes just
In from a place to any medium of another place transmission computer program.Computer storage medium can be general or special
Any usable medium enough accessed with computer capacity.For example, readable storage medium storing program for executing is coupled to processor, to enable a processor to
Information is read from the readable storage medium storing program for executing, and information can be written to the readable storage medium storing program for executing.Certainly, readable storage medium storing program for executing can also be with
It is the component part of processor.Processor and readable storage medium storing program for executing can be located at specific integrated circuit (Application
Specific Integrated Circuits, referred to as: ASIC) in.In addition, the ASIC can be located in user equipment.Certainly,
Processor and readable storage medium storing program for executing can also be used as discrete assembly and be present in communication equipment.Readable storage medium storing program for executing can be read-only
Memory (ROM), random access memory (RAM), CD-ROM, tape, floppy disk and optical data storage devices etc..
The present invention also provides a kind of program product, the program product include execute instruction, this execute instruction be stored in it is readable
In storage medium.At least one processor of equipment can read this from readable storage medium storing program for executing and execute instruction, at least one processing
Device executes this and executes instruction so that equipment implements the data processing method based on unmanned vehicle that above-mentioned various embodiments provide.
The embodiment of the present invention, by obtaining generated data in unmanned vehicle driving process；It is true each described data
At least one fixed label information, wherein the label information includes the unmanned vehicle action message for being used to indicate the data characterization
And/or unmanned vehicle perception information；According to the label information of each data, it is determined for compliance with the data of target travel scene, wherein
Corresponding at least two label informations of the target travel scene, realize and carry out the data generated in unmanned vehicle driving process with field
Scape is that the excavation of target and analysis are handled, to improve the efficiency and accuracy of scene extraction, further improves unmanned vehicle number
According to the efficiency of processing.
In the embodiment of above equipment, it should be appreciated that processor can be central processing unit (English: Central
Processing Unit, referred to as: CPU), it can also be other general processors, digital signal processor (English: Digital
Signal Processor, referred to as: DSP), specific integrated circuit (English: Application Specific Integrated
Circuit, referred to as: ASIC) etc..General processor can be microprocessor or the processor is also possible to any conventional place
Manage device etc..It can be embodied directly in hardware processor in conjunction with the step of the method disclosed in the present and execute completion or use
Hardware and software module combination in reason device execute completion.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (11)
1. a kind of data processing method based on unmanned vehicle characterized by comprising
Obtain generated data in unmanned vehicle driving process；
At least one label information is determined each described data, wherein the label information includes to be used to indicate the number
According to the unmanned vehicle action message and/or unmanned vehicle perception information of characterization；
According to the label information of each data, it is determined for compliance with the data of target travel scene, wherein the target travel scene
Corresponding at least two label informations.
2. the method according to claim 1, wherein being determined for compliance with mesh according to the label information of each data
Mark the data of driving scene, comprising:
According to target travel scene, the corresponding label information of the target travel scene is obtained；
According to the corresponding label information of the target travel scene, data corresponding with the label information are obtained；
According to the target travel scene and data corresponding with the label information, it is determined for compliance with the number of target travel scene
According to.
3. according to the method described in claim 2, it is characterized in that, according to the target travel scene and with the label information
Corresponding data are determined for compliance with the data of target travel scene, comprising:
According to the target travel scene, label operation rule is obtained；
Will data corresponding with the label information, according to the label information be unit with the label operation rule at
Reason obtains the data for meeting target travel scene.
4. according to the method described in claim 3, it is characterized in that, the label operation rule includes one or more of
Combination:
Intersection operation, union operation, set difference operation.
5. method according to any one of claims 1 to 4, which is characterized in that the label information also includes: timestamp letter
Breath；
The target travel scene includes: time-interleaving class scene and/or time order and function class scene；
Wherein, label information corresponding with the time-interleaving class scene is label letter corresponding with identical timestamp information
Breath；Label information corresponding with the time order and function class scene is mark corresponding with adjacent one or more timestamp informations
Sign information.
6. method according to claim 1-4, which is characterized in that in the label information according to each data,
It is determined for compliance with before the data of target travel scene, further includes:
Receive search instruction, wherein include the target travel scene in the search instruction.
7. method according to claim 1-4, which is characterized in that the unmanned vehicle action message includes following
It anticipates one or more:
Driving mode, driving behavior, drive speed.
8. method according to claim 1-4, which is characterized in that the unmanned vehicle perception information includes following
It anticipates one or more:
Map element perception information, traffic lights perception information, weather perception information, barrier perception information.
9. a kind of data processing equipment based on unmanned vehicle characterized by comprising
Module is obtained, for obtaining generated data in unmanned vehicle driving process；
Mark module, for determining at least one label information each described data, wherein the label information includes to use
In the unmanned vehicle action message and/or unmanned vehicle perception information that indicate the data characterization；
Processing module is determined for compliance with the data of target travel scene for the label information according to each data, wherein institute
State corresponding at least two label informations of target travel scene.
10. a kind of equipment characterized by comprising memory, processor and computer program, the computer program are deposited
Storage in the memory, the processor run the computer program perform claim require it is 1~8 any described based on nothing
The data processing method of people's vehicle.
11. a kind of readable storage medium storing program for executing, which is characterized in that be stored with computer program, the meter in the readable storage medium storing program for executing
For realizing any data processing method based on unmanned vehicle of claim 1~8 when calculation machine program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910036390.0A CN109829395B (en) | 2019-01-15 | 2019-01-15 | Data processing method, device and equipment based on unmanned vehicle and storage medium |
Applications Claiming Priority (1)
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