CN117272648A - Automatic driving simulation scene generation method and device and electronic equipment - Google Patents
Automatic driving simulation scene generation method and device and electronic equipment Download PDFInfo
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Abstract
The invention provides a method and a device for generating an automatic driving simulation scene and electronic equipment, wherein the method comprises the following steps: acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information; acquiring vehicle model information, and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information; acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information; acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information; and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene. The invention can solve the technical problems that the automatic driving simulation scene in the prior art is relatively single in scene, weak in customization and incapable of being automatically processed and generated.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a device for generating an automatic driving simulation scene and electronic equipment.
Background
The ongoing development of autopilot technology makes field testing costly and potentially safe, and simulation-based autopilot system testing becomes very important.
The existing automatic driving simulation scene generation method adopts a traditional scene generator and an editing tool, and usually has specific scene description language or standard, so that the flexibility and expandability of the generated scene are limited, the scene is relatively single, and the customization is weak; these tools typically require manual operations and user input to create and edit the scene, lacking automated processing capabilities.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a method, a device and an electronic device for generating an autopilot simulation scene, which are used for solving the technical problems that the autopilot simulation scene in the prior art is relatively single, has weak customization and cannot be automatically processed and generated.
In order to achieve the above object, the present invention provides a method for generating an autopilot simulation scene, including:
acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
acquiring vehicle model information, and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information;
and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
Further, the generating the vehicle driving scene description information into a scene description language meeting OpenSCENARIO standards includes:
carrying out semantic analysis and information extraction on the vehicle driving scene description information based on natural language text to obtain data elements, and constructing scene preliminary description information based on the data elements and a preset data structure;
mapping the scene preliminary description information into an OpenSCENARIO standard based on a preset mapping standard to generate an initial description language;
and verifying the initial description language, and taking the initial description language as a scene description language meeting the OpenSCENARIO standard under the condition that the grammar of the initial description language meets the Ope nSCENARIO standard.
Further, the verifying the initial description language includes:
and verifying the initial description language based on a mode matching or grammar analysis mode.
Further, the method for generating the automatic driving simulation scene further comprises the following steps:
under the condition that the grammar of the initial description language does not meet the OpenSCENARIO standard, determining the information entropy of the initial description language;
finding new words based on the information entropy, searching a confusion set of the new words, and carrying out candidate recall processing on the confusion set to obtain a candidate set;
and sequencing the candidate sets based on the N-Gram model, generating a new initial description language, and taking the new initial description language as a scene description language meeting the OpenSCENARIO standard.
Further, the scene description language includes: vehicle starting position, vehicle driving path, road selection information and traffic flow requirement;
combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene, wherein the automatic driving simulation scene comprises the following steps of:
and associating the vehicle model with the vehicle starting position and the vehicle driving path, associating the road environment model with the road selection information, and associating the traffic flow model with the traffic flow requirement to obtain an automatic driving simulation scene.
Further, the acquiring traffic flow information includes:
and simulating the behaviors of participants in the vehicle running environment, and generating diversified traffic flow information in the simulation scene.
Further, the vehicle driving scene description information includes: vehicle start position, vehicle target position, road selection information, and traffic flow information;
the vehicle model information includes: appearance and dynamics parameters of the vehicle;
the road environment information includes: road marking, road condition and scene information;
the traffic flow information includes: vehicle type, vehicle density, and vehicle speed profile information.
The invention also provides a device for generating the automatic driving simulation scene, which comprises the following steps:
the first generation module is used for acquiring vehicle driving scene description information and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
the second generation module is used for acquiring vehicle model information and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
the third generation module is used for acquiring road environment information and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
a fourth generation module, configured to obtain traffic flow information, and generate a traffic flow model that meets an openscenetwork standard based on the traffic flow information;
and the synthesis module is used for combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
The invention also provides an electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor is coupled to the memory and is configured to execute the program stored in the memory, so as to implement the steps in the method for generating an autopilot simulation scene according to any one of the above.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of generating an autopilot simulation scenario as described in any one of the above.
The beneficial effects of the implementation mode are that: according to the method and device for generating the automatic driving simulation scene and the electronic equipment, the automatic driving simulation scene is obtained by constructing the scene description language, the vehicle model, the road environment model and the traffic flow model which meet the OpenSCENARIO standard, and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model. According to actual needs, scene environment and vehicle parameters required by simulation can be set and adjusted, and model construction and scene synthesis are performed. For example, the friction coefficient of the road, weather conditions, illumination, etc., as well as the dynamics of the vehicle, sensor parameters, etc., are defined. Through proper parameter setting, the richness and the variability of the actual driving scene can be reflected by the simulation scene, and the storyline meeting the OpenSCENARIO standard is designed and written. In the story line, the behaviors, interactions, tasks, trigger events and the like of participants can be defined through a scene description language, a vehicle model, a road environment model and a traffic flow model, so that coherent scene experience is created, various situations and challenges in a real driving scene are simulated, and the problem that the scene of an automatic driving simulation scene is relatively single in the prior art is solved; the user can automatically realize the generation of the automatic driving simulation scene only by inputting the vehicle driving scene description information, the vehicle model information, the road environment information and the traffic flow information, and the customization is high.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the drawings needed in the description of the embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an embodiment of a method for generating an autopilot simulation scenario provided by the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of an apparatus for generating an autopilot simulation scene according to the present invention;
fig. 3 is a schematic structural diagram of an embodiment of an electronic device according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or device.
The naming or numbering of the steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed according to the time/logic sequence indicated by the naming or numbering, and the named or numbered flow steps may change the execution order according to the technical purpose to be achieved, so long as the same or similar technical effects can be achieved.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention provides a method and a device for generating an automatic driving simulation scene and electronic equipment, and the method and the device are respectively described below.
As shown in fig. 1, the present invention provides a method for generating an autopilot simulation scene, which includes:
acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
acquiring vehicle model information, and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information;
and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
Wherein the vehicle driving scene description information includes: vehicle start position, vehicle target position, road selection information, and traffic flow information;
the vehicle model information includes: appearance and dynamics parameters of the vehicle;
the road environment information includes: road marking, road condition and scene information;
the traffic flow information includes: vehicle type, vehicle density, and vehicle speed profile information.
It will be appreciated that the openscenorio standard is a data format for describing dynamic scenes, and the vehicle driving scene description information may include information such as a starting position, a target position, a road selection, a traffic flow, and the like of the vehicle. The user can provide the vehicle driving scene description information through a graphical interface or a text input mode, so that the generated simulation scene is ensured to meet the user requirement.
And converting the vehicle driving scene description information input by the user into a description language of an OpenSCENARIO standard, including RoadNetwork, entities, storyboard and the like. Openscenetwork is an open standard for describing autopilot scenarios with good scalability and compatibility. The scene description information is converted into the OpenSCENARIO format by analyzing the scene description information, so that the processing and the generation of subsequent steps are facilitated.
The vehicle model generation step comprises the following steps: and generating a vehicle model based on the OpenSCENARIO standard according to the vehicle model information input by the user. The vehicle model includes information such as appearance and dynamics parameters of the vehicle, and can be customized according to the characteristics and requirements of the actual vehicle. The generated vehicle model is associated with the starting position and the path in the scene description information, so that the vehicle is ensured to run along the prescribed route.
Generating a road environment model: and generating a road environment model based on the OpenS CENARIO standard according to the road environment information provided by the user. The road environment model comprises information such as road marks, road conditions, landscapes and the like, and can be customized according to actual road conditions and requirements. The generated road environment model is associated with road selection in the scene description information, so that the vehicle is ensured to run in a proper road environment.
In some embodiments, the generating the vehicle driving scene description information into a scene description language meeting openscenario standards includes:
carrying out semantic analysis and information extraction on the vehicle driving scene description information based on natural language text to obtain data elements, and constructing scene preliminary description information based on the data elements and a preset data structure;
mapping the scene preliminary description information into an OpenSCENARIO standard based on a preset mapping standard to generate an initial description language;
and verifying the initial description language, and taking the initial description language as a scene description language meeting the OpenSCENARIO standard under the condition that the grammar of the initial description language meets the Ope nSCENARIO standard.
Further, the verifying the initial description language includes:
and verifying the initial description language based on a mode matching or grammar analysis mode.
It can be understood that the process of generating the vehicle driving scene description information into the scene description language meeting the OpenSCENARIO standard, namely the scene description parsing conversion can be automatically implemented, includes the following steps:
and (3) data extraction: first, semantic analysis and information extraction are performed on the input scene description information using natural language processing or other related techniques. This includes extracting elements such as keywords, entities, actions, conditions, etc. from natural language text and building corresponding data structures to represent the scene information.
Data mapping: the data extracted from the scene description information is mapped into the description language of the openscenetwork standard. This may be accomplished by creating mapping rules or templates. Rules may be defined based on semantics and structure of the scene description information to determine how to map each element to a corresponding element in the openscenetwork O standard. For example, an action script that maps actions to openscenetwork, a condition to trigger conditions of openscenetwork, etc.
Grammar generation: on the basis of the data mapping, a description language conforming to the OpenS CENARIO grammar rule is generated by using a developed automation tool. This may be achieved by a rule-based grammar generator that will generate a standard openscenetwork description language file from the mapped data structure.
Verification and revision: the generated OpenSCENARIO description language file should be verified to ensure the grammar correctness and accord with the OpenSCENARIO standard. The verification tool may use pattern matching, parsing, etc. techniques to check whether the generated file meets the standard specification. If an error or incomplete portion occurs, an error report may be generated and revised accordingly.
In some embodiments, the method for generating an autopilot simulation scene further includes:
under the condition that the grammar of the initial description language does not meet the OpenSCENARIO standard, determining the information entropy of the initial description language;
finding new words based on the information entropy, searching a confusion set of the new words, and carrying out candidate recall processing on the confusion set to obtain a candidate set;
and sequencing the candidate sets based on the N-Gram model, generating a new initial description language, and taking the new initial description language as a scene description language meeting the OpenSCENARIO standard.
It is understood that the information entropy refers to the average information amount of specific information excluding redundancy, and the new word discovery based on the information entropy does not depend on any existing word stock, and only extracts all text fragments which can form words in a large-scale corpus according to the common characteristics of the words, whether the text fragments are new words or old words. And then comparing all the extracted words with the existing word stock to find out new words.
Specifically, word segmentation is carried out on all text sentences contained in a corpus corresponding to the initial description language, and all word strings which are different from each other and are segmented are used as candidate word strings; and calculating the internal aggregation degree and the external discrete information entropy of the candidate word strings with the occurrence frequency exceeding a fixed threshold value in the corpus, and further judging whether the candidate target word strings are target new words according to the internal aggregation degree and the external discrete information entropy of the candidate word strings. The method adopts the internal aggregation degree and the external discrete information entropy of the candidate strings, considers the stability, the independence and the integrity of the candidate strings, and can effectively discover new words appearing on the network.
In some embodiments, the scene description language comprises: vehicle starting position, vehicle driving path, road selection information and traffic flow requirement;
combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene, wherein the automatic driving simulation scene comprises the following steps of:
and associating the vehicle model with the vehicle starting position and the vehicle driving path, associating the road environment model with the road selection information, and associating the traffic flow model with the traffic flow requirement to obtain an automatic driving simulation scene.
It can be appreciated that the generated vehicle model, road environment model and traffic flow model are combined and synthesized according to the openscenetwork standard to generate the complete automatic driving simulation scene. The software program executing the step automatically generates a scene example according to the information of the starting position, the path, the road environment, the traffic flow and the like of the vehicle, and outputs a corresponding simulation scene file.
In some embodiments, the acquiring traffic flow information includes:
and simulating the behaviors of participants in the vehicle running environment, and generating diversified traffic flow information in the simulation scene.
It can be understood that the specific steps of traffic flow generation are as follows: and generating a traffic flow model based on the OpenSCENARIO standard according to the traffic flow information input by the user. The traffic flow model comprises information such as vehicle type, vehicle density, vehicle speed distribution and the like, and can be customized according to actual traffic conditions and requirements. The generated traffic flow model is associated with traffic flow requirements in the scene description information to ensure that an appropriate number and type of vehicles are engaged in the scene.
The method for generating the automatic driving simulation scene provided by the invention comprises the following steps: acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information; acquiring vehicle model information, and generating a vehicle model meeting the OpenSCE NARIO standard based on the vehicle model information; acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information; acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information; and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
In the method for generating the automatic driving simulation scene, provided by the invention, the automatic driving simulation scene is obtained by constructing a scene description language, a vehicle model, a road environment model and a traffic flow model which meet the OpenSCE NARIO standard, and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model. According to actual needs, scene environment and vehicle parameters required by simulation can be set and adjusted, and model construction and scene synthesis are performed. For example, the friction coefficient of the road, weather conditions, illumination, etc., as well as the dynamics of the vehicle, sensor parameters, etc., are defined. Through proper parameter setting, the richness and the variability of the actual driving scene can be reflected by the simulation scene, and the storyline meeting the OpenSCENARIO standard is designed and written. In the story line, the behaviors, interactions, tasks, trigger events and the like of participants can be defined through a scene description language, a vehicle model, a road environment model and a traffic flow model, so that coherent scene experience is created, various situations and challenges in a real driving scene are simulated, and the problem that the scene of an automatic driving simulation scene is relatively single in the prior art is solved; the user can automatically realize the generation of the automatic driving simulation scene only by inputting the vehicle driving scene description information, the vehicle model information, the road environment information and the traffic flow information, and the customization is high.
As shown in fig. 2, the present invention further provides a device 200 for generating an autopilot simulation scene, which includes:
a first generation module 210, configured to obtain vehicle driving scene description information, and generate a scene description language that meets OpenSCENARIO standards from the vehicle driving scene description information;
a second generating module 220, configured to obtain vehicle model information, and generate a vehicle model that meets an openscenetwork standard based on the vehicle model information;
a third generating module 230, configured to obtain road environment information, and generate a road environment model that meets OpenSCENARIO standards based on the road environment information;
a fourth generation module 240, configured to obtain traffic flow information, and generate a traffic flow model that meets an openscenetwork standard based on the traffic flow information;
and the synthesis module 250 is used for combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
The device for generating the autopilot simulation scene provided in the foregoing embodiment may implement the technical solution described in the foregoing embodiment of the method for generating the autopilot simulation scene, and the specific implementation principle of each module or unit may refer to the corresponding content in the foregoing embodiment of the method for generating the autopilot simulation scene, which is not described herein again.
As shown in fig. 3, the present invention further provides an electronic device 300 accordingly. The electronic device 300 comprises a processor 301, a memory 302 and a display 303. Fig. 3 shows only some of the components of the electronic device 300, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
The memory 302 may be an internal storage unit of the electronic device 300 in some embodiments, such as a hard disk or memory of the electronic device 300. The memory 302 may also be an external storage device of the electronic device 300 in other embodiments, such as a plug-in hard disk provided on the electronic device 300, a smart memory Card (Smart Med ia Card, SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), etc.
Further, the memory 302 may also include both internal storage units and external storage devices of the electronic device 300. The memory 302 is used for storing application software and various types of data for installing the electronic device 300.
The processor 301 may in some embodiments be a central processing unit (Central Processing Uni t, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 302, such as the method of generating an autopilot simulation scenario of the present invention.
The display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like in some embodiments. The display 303 is used for displaying information at the electronic device 300 and for displaying a visual user interface. The components 301-303 of the electronic device 300 communicate with each other via a system bus.
In some embodiments of the present invention, when the processor 301 executes the generation program of the autopilot simulation scenario in the memory 302, the following steps may be implemented:
acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
acquiring vehicle model information, and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information;
and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
It should be understood that: the processor 301 may perform other functions in addition to the above functions when executing the generation program of the autopilot simulation scenario in the memory 302, see in particular the description of the corresponding method embodiments above.
Further, the type of the electronic device 300 is not particularly limited, and the electronic device 300 may be a mobile phone, a tablet computer, a personal digital assistant (personal digitalassistant, PDA), a wearable device, a laptop (laptop), or other portable electronic devices. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices that carry IOS, android, microsoft or other operating systems. The portable electronic device described above may also be other portable electronic devices, such as a laptop computer (laptop) or the like having a touch-sensitive surface, e.g. a touch panel. It should also be appreciated that in other embodiments of the invention, the electronic device 300 may not be a portable electronic device, but rather a desktop computer having a touch-sensitive surface (e.g., a touch panel).
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for generating an autopilot simulation scene provided by the above methods, the method comprising:
acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
acquiring vehicle model information, and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information;
and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program that instructs associated hardware, and that the program may be stored in a computer readable storage medium. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The method, the device and the electronic equipment for generating the automatic driving simulation scene provided by the invention are described in detail, and specific examples are applied to the description of the principle and the implementation mode of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present invention, the present description should not be construed as limiting the present invention.
Claims (10)
1. The method for generating the automatic driving simulation scene is characterized by comprising the following steps of:
acquiring vehicle driving scene description information, and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
acquiring vehicle model information, and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
acquiring road environment information, and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
acquiring traffic flow information, and generating a traffic flow model meeting an OpenSCENARIO standard based on the traffic flow information;
and combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
2. The method for generating an autopilot simulation scene according to claim 1, wherein generating the vehicle driving scene description information into a scene description language satisfying openscenetwork standards comprises:
carrying out semantic analysis and information extraction on the vehicle driving scene description information based on natural language text to obtain data elements, and constructing scene preliminary description information based on the data elements and a preset data structure;
mapping the scene preliminary description information into an OpenSCENARIO standard based on a preset mapping standard to generate an initial description language;
and verifying the initial description language, and taking the initial description language as a scene description language meeting the OpenSCENARIO standard under the condition that the grammar of the initial description language meets the Ope nSCENARIO standard.
3. The method for generating an autopilot simulation scenario of claim 2 wherein said validating the initial description language comprises:
and verifying the initial description language based on a mode matching or grammar analysis mode.
4. The method for generating an autopilot simulation scene of claim 2 further comprising:
under the condition that the grammar of the initial description language does not meet the OpenSCENARIO standard, determining the information entropy of the initial description language;
finding new words based on the information entropy, searching a confusion set of the new words, and carrying out candidate recall processing on the confusion set to obtain a candidate set;
and sequencing the candidate sets based on the N-Gram model, generating a new initial description language, and taking the new initial description language as a scene description language meeting the OpenSCENARIO standard.
5. The method for generating an autopilot simulation scene as set forth in claim 1, wherein the scene description language includes: vehicle starting position, vehicle driving path, road selection information and traffic flow requirement;
combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene, wherein the automatic driving simulation scene comprises the following steps of:
and associating the vehicle model with the vehicle starting position and the vehicle driving path, associating the road environment model with the road selection information, and associating the traffic flow model with the traffic flow requirement to obtain an automatic driving simulation scene.
6. The method for generating an autopilot simulation scenario of claim 1 wherein the acquiring traffic flow information comprises:
and simulating the behaviors of participants in the vehicle running environment, and generating diversified traffic flow information in the simulation scene.
7. The method for generating an automated driving simulation scene according to any one of claims 1 to 6, wherein the vehicle driving scene description information includes: vehicle start position, vehicle target position, road selection information, and traffic flow information;
the vehicle model information includes: appearance and dynamics parameters of the vehicle;
the road environment information includes: road marking, road condition and scene information;
the traffic flow information includes: vehicle type, vehicle density, and vehicle speed profile information.
8. An automatic driving simulation scene generation device is characterized by comprising:
the first generation module is used for acquiring vehicle driving scene description information and generating a scene description language meeting the OpenSCENARIO standard from the vehicle driving scene description information;
the second generation module is used for acquiring vehicle model information and generating a vehicle model meeting the OpenSCENARIO standard based on the vehicle model information;
the third generation module is used for acquiring road environment information and generating a road environment model meeting the OpenSCENARIO standard based on the road environment information;
a fourth generation module, configured to obtain traffic flow information, and generate a traffic flow model that meets an openscenetwork standard based on the traffic flow information;
and the synthesis module is used for combining and synthesizing the scene description language, the vehicle model, the road environment model and the traffic flow model to obtain an automatic driving simulation scene.
9. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor is coupled to the memory for executing the program stored in the memory to implement the steps in the method of generating an autopilot simulation scenario as claimed in any one of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the method of generating an autopilot simulation scenario according to any one of claims 1 to 7.
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| CN117473879A (en) * | 2023-12-27 | 2024-01-30 | 万物镜像(北京)计算机系统有限公司 | Automatic driving simulation scene generation method, device and equipment |
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| CN117473879A (en) * | 2023-12-27 | 2024-01-30 | 万物镜像(北京)计算机系统有限公司 | Automatic driving simulation scene generation method, device and equipment |
| CN117473879B (en) * | 2023-12-27 | 2024-04-02 | 万物镜像(北京)计算机系统有限公司 | Automatic driving simulation scene generation method, device and equipment |
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