The invention relates to a method for calculating the complexity of traffic participants in an automatic driving test scene. The method comprises the following steps: S1, obtaining kinetic parameter thresholds Rtype of all types of traffic participants in the test scene; s2, performing calculating to obtain a corresponding longitudinal sampling distance set Stype according to the initial state ofeach traffic participant and a kinetic parameter threshold Rtype; s3, obtaining an optimal longitudinal control quantity corresponding to each sampling distance in the longitudinal sampling distance set Stype through an optimization search algorithm; s4, calculating the reachable domain omega type of each traffic participant in the prediction time t according to the sampling distance and the optimal longitudinal control quantity; and S5, calculating the traffic participant complexity H of the test scene according to the reachable domain omega type of each traffic participant. Compared with theprior art, the method provides a basis for the state and parameter design of the dynamic traffic participant in the automatic driving test scene, and has the advantages of improving the automatic driving automobile test efficiency and the like.
本发明涉及一种自动驾驶测试场景中交通参与者复杂度的计算方法,包括以下步骤:S1:获取测试场景中所有类型交通参与者的动力学参数阈值Rtype;S2:根据各交通参与者的初始状态和动力学参数阈值Rtype,计算得到对应的纵向采样距离集Stype;S3:通过优化搜索算法得到纵向采样距离集Stype中每个采样距离对应的最优纵向控制量;S4:根据采样距离和最优纵向控制量,计算预测时间t内各交通参与者的可达域Ωtype;S5:根据各交通参与者的可达域Ωtype计算测试场景的交通参与者复杂度H,与现有技术相比,本发明为自动驾驶测试场景中动态交通参与者的状态和参数设计提供依据,具有提高自动驾驶汽车测试效率等优点。
Method for calculating complexity of traffic participants in automatic driving test scene
一种自动驾驶测试场景中交通参与者复杂度的计算方法
2020-11-10
Patent
Electronic Resource
Chinese
Method for evaluating traffic scene having plurality of traffic participants
European Patent Office | 2024
|Scene complexity model construction method based on automatic driving
European Patent Office | 2023
|Method for calculating automatic driving takeover prompt time in car-following scene
European Patent Office | 2022
|Awareness of Road Scene Participants for Autonomous Driving
Springer Verlag | 2012
|