CN111967124A - Generation method for universal amplification of intelligent automobile recombination scene - Google Patents
Generation method for universal amplification of intelligent automobile recombination scene Download PDFInfo
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- CN111967124A CN111967124A CN202010615614.6A CN202010615614A CN111967124A CN 111967124 A CN111967124 A CN 111967124A CN 202010615614 A CN202010615614 A CN 202010615614A CN 111967124 A CN111967124 A CN 111967124A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000003321 amplification Effects 0.000 title claims abstract description 20
- 238000003199 nucleic acid amplification method Methods 0.000 title claims abstract description 20
- 230000006798 recombination Effects 0.000 title claims abstract description 19
- 238000005215 recombination Methods 0.000 title claims abstract description 19
- 230000003068 static effect Effects 0.000 claims abstract description 12
- 238000007619 statistical method Methods 0.000 claims abstract description 9
- 238000012360 testing method Methods 0.000 claims abstract description 6
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000003416 augmentation Effects 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The invention provides a generating method for the general amplification of an intelligent automobile recombination scene, which determines key elements of scene generation according to test requirements, wherein the key elements comprise static elements and dynamic elements, and each information is provided with a relevant field; based on the historical data of the natural driving database, determining whether the value-taking domain of each element field and the element fields have correlation by using a statistical analysis method, and randomly selecting and traversing the value-taking domain for elements without correlation; and for the elements with the correlation, obtaining a constraint condition by using a statistical analysis method, and selecting the elements in a value domain corresponding to the constraint condition of the field. The generation method for the universal amplification of the recombination scene of the intelligent automobile can quickly generate the recombination scene, realize the amplification of the scene and achieve the aim of covering all possible working conditions.
Description
Technical Field
The invention belongs to the field of research and development of automatic driving automobiles, and particularly relates to a generation method for universal amplification of an intelligent automobile recombination scene.
Background
The driving scene data is a basic data resource for research and development and testing of the intelligent networked automobile, is an important case library and a problem set for evaluating the functional safety of the intelligent networked automobile, and is a key data basis for redefining the grade of the intelligent automobile. The driving scenario test case is mainly reproduced through a virtual simulation environment and a tool chain, so that the establishment of a virtual scenario database is a key bridge for connecting scenario data and scenario application. Under the prior art, due to the lack of a systematic driving scene generation method, the problems that the scene library is not completely built and all possible working conditions cannot be completely covered exist.
Disclosure of Invention
In view of this, the present invention aims to provide a generating method for general amplification of an intelligent vehicle recombination scene, which can rapidly generate the recombination scene, realize the amplification of the scene, and achieve the purpose of covering all possible working conditions.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a generation method for general amplification of an intelligent automobile recombination scene comprises the following steps:
step 1: determining key elements generated by a scene according to the test requirement, wherein the key elements comprise static elements and dynamic elements, and each information is provided with a relevant field;
step 2: based on the historical data of the natural driving database, determining whether the value-taking domain of each element field and the element fields have correlation by using a statistical analysis method, and randomly selecting and traversing the value-taking domain for elements without correlation; for the elements with correlation, obtaining constraint conditions by using a statistical analysis method, and selecting the elements in the value domain corresponding to the constraint conditions of the fields;
and step 3: and (3) arranging and recombining the scene elements according to the static element information and the dynamic element information obtained by traversing in the step (2) to generate more recombined scenes, thereby realizing the automatic amplification of the recombined scenes.
Further, in step 1, the static element includes: road information and environmental information.
Further, in step 1, the dynamic element includes: the vehicle information and the traffic participant information.
Compared with the prior art, the generation method for the universal amplification of the recombination scene of the intelligent automobile has the following advantages:
the generation method for the universal amplification of the recombination scene of the intelligent automobile can quickly generate the recombination scene, realize the amplification of the scene and fulfill the aim of covering all possible working conditions.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
FIG. 1 is a schematic diagram illustrating target vehicle speed generation by a generation method for general augmentation of an intelligent vehicle recombination scene according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a relative distance-based generation method for a generic augmentation of an intelligent vehicle recombination scenario according to an embodiment of the present invention;
fig. 3 is a schematic diagram of relative distance generation of a generation method for smart car recombination scene general amplification according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
A generation method for general amplification of an intelligent automobile recombination scene comprises the following steps:
step 1: determining key elements generated by a scene according to the test requirement, wherein the key elements comprise static elements and dynamic elements, and each information is provided with a relevant field;
step 2: based on the historical data of the natural driving database, determining whether the value-taking domain of each element field and the element fields have correlation by using a statistical analysis method, and randomly selecting and traversing the value-taking domain for elements without correlation; for the elements with correlation, obtaining constraint conditions by using a statistical analysis method, and selecting the elements in the value domain corresponding to the constraint conditions of the fields;
and step 3: and (3) arranging and recombining the scene elements according to the static element information and the dynamic element information obtained by traversing in the step (2) to generate more recombined scenes, thereby realizing the automatic amplification of the recombined scenes.
Further, in step 1, the static element includes: road information and environmental information.
Further, in step 1, the dynamic element includes: the vehicle information and the traffic participant information.
The road information includes the following specific information:
road information table
The environment information includes the following specific information:
environmental information table
The vehicle information includes specific information as follows:
vehicle information table
| Name (R) | Selectable item |
| Type of vehicle | Large-sized automobile, small-sized automobile and motorcycle |
| Vehicle color | Black, white, blue, etc |
| On the lane | |
| Turn signal status | The left turn lamp is on, the right turn lamp is on, and the lamp is adjusted in two ways and is not turned on |
| Status of the lamp | High beam, low beam, not turned on |
| Brake light status | Open, not open |
| Longitudinal acceleration | |
| Lateral acceleration | |
| Vehicle width | |
| Vehicle length | |
| Transmission ratio | |
| Wheelbase | |
| Track width | |
| Steering wheel corner | |
| Front suspension | |
| Vehicle speed (horizontal) | |
| Vehicle speed (longitudinal) | |
| Angular velocity |
The traffic participant information comprises the following specific information:
traffic participant information sheet
In one embodiment of the invention, the lane change of the vehicle-the front circulation scene of the target vehicle is recombined and amplified:
the static elements include: road classification: an expressway; weather: in cloudy days;
the dynamic elements are as follows:
as shown in fig. 1, values are traversed in a vehicle speed value range; after the speed of the vehicle is obtained, obtaining a value-taking domain of the speed of the target vehicle according to a constraint condition obtained by using a statistical analysis method, and traversing and taking values in the range;
as shown in fig. 2, a first relative distance is generated according to the speed of the vehicle;
as shown in fig. 3, a relative distance two is generated from the difference between the vehicle speed and the target vehicle speed; and the first relative distance and the second relative distance generate a longitudinal relative distance of the two vehicles, and the value is taken in the range.
Therefore, the dynamic elements in the lane-changing target vehicle front following line scene are obtained, and the lane-changing target vehicle front following line scene is obtained by traversing values and matching with static elements.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A generation method for intelligent automobile recombination scene general amplification is characterized by comprising the following steps:
step 1: determining key elements generated by a scene according to the test requirement, wherein the key elements comprise static elements and dynamic elements, and each information is provided with a relevant field;
step 2: based on the historical data of the natural driving database, determining whether the value-taking domain of each element field and the element fields have correlation by using a statistical analysis method, and randomly selecting and traversing the value-taking domain for elements without correlation; for the elements with correlation, obtaining constraint conditions by using a statistical analysis method, and selecting the elements in the value domain corresponding to the constraint conditions of the fields;
and step 3: and (3) arranging and recombining the scene elements according to the static element information and the dynamic element information obtained by traversing in the step (2) to generate more recombined scenes, thereby realizing the automatic amplification of the recombined scenes.
2. The generation method for the intelligent automobile recombination scene universal amplification as claimed in claim 1, wherein the generation method comprises the following steps: in step 1, the static elements include: road information and environmental information.
3. The generation method for the intelligent automobile recombination scene universal amplification as claimed in claim 1, wherein the generation method comprises the following steps: in step 1, the dynamic elements include: the vehicle information and the traffic participant information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010615614.6A CN111967124A (en) | 2020-06-30 | 2020-06-30 | Generation method for universal amplification of intelligent automobile recombination scene |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010615614.6A CN111967124A (en) | 2020-06-30 | 2020-06-30 | Generation method for universal amplification of intelligent automobile recombination scene |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112799964A (en) * | 2021-03-17 | 2021-05-14 | 中汽数据有限公司 | Test scene generation method, device, equipment and storage medium |
| CN113408061A (en) * | 2021-07-08 | 2021-09-17 | 中汽院智能网联科技有限公司 | Virtual driving scene element recombination method based on improved Latin hypercube sampling |
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2020
- 2020-06-30 CN CN202010615614.6A patent/CN111967124A/en active Pending
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112799964A (en) * | 2021-03-17 | 2021-05-14 | 中汽数据有限公司 | Test scene generation method, device, equipment and storage medium |
| CN113408061A (en) * | 2021-07-08 | 2021-09-17 | 中汽院智能网联科技有限公司 | Virtual driving scene element recombination method based on improved Latin hypercube sampling |
| CN113408061B (en) * | 2021-07-08 | 2023-05-05 | 中汽院智能网联科技有限公司 | Virtual driving scene element recombination method based on improved Latin hypercube sampling |
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Application publication date: 20201120 |