The invention discloses an automatic driving simulation track generation method, which comprises the steps of generating an action set for a vehicle track point set, and obtaining the vehicle track point set by downsampling original vehicle track data; on the basis of a word list generation algorithm, sub-action sets meeting distance conditions are selected from the action set, the sub-action sets are coded, a vocabulary set is generated, and the distance conditions include that the distance between any actions is not smaller than a preset threshold value; searching lexical elements corresponding to the target action and codes of the lexical elements in a vocabulary set; and inputting the lexical elements of the target action and the codes of the lexical elements into an autoregression model for track reconstruction to obtain simulation track points. According to the method, the efficient motion word list is generated by sampling a large amount of vehicle motion data for track simulation generation, so that the dynamic simulation degree of the model is improved.
本申请公开了一种自动驾驶仿真轨迹生成方法,包括:针对车辆轨迹点集生成动作集合,所述车辆轨迹点集通过对原始车辆轨迹数据降采样获取;基于词表生成算法,从所述动作集合中选择满足距离条件的子动作集,将所述子动作集进行编码,生成词汇集合,其中所述距离条件包括任意动作之间的距离不小于预设阈值;在词汇集合中查找目标动作对应的词元及其编码;将所述目标动作的词元及其编码输入至自回归模型进行轨迹重建,得到仿真轨迹点。本申请通过采样大量车辆运动数据生成高效的运动词表进行轨迹模拟生成,从而提升了模型的动力学拟真程度。
Automatic driving simulation track generation method and computer program product
一种自动驾驶仿真轨迹生成方法及计算机程序产品
10.01.2025
Patent
Elektronische Ressource
Chinesisch
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