The invention relates to a driving scene restoration method and system for an automatic driving vehicle, and the method comprises the following steps: obtaining full-dimensional scene data in the driving process of the automatic driving vehicle, and adding timestamps to the obtained data one by one; preprocessing the obtained full-dimensional scene data to obtain lightweight scene data, and realizing description of internal and external scene information in the same time dimension in the driving process of the automatic driving vehicle; constructing a scene database, and storing lightweight scene data; and constructing an off-line scene information base of the automatic driving vehicle, and reconstructing a driving scene of the automatic driving vehicle according to the lightweight scene data. According to the method, the driving external sensing environment information and position information of the automatic driving vehicle can be recorded concisely and efficiently in real time, and the in-vehicle sensing decision and driving state information can be recorded so that the overhead of scene recording is saved; and the recording, traceable and reducible functions of the full-dimensional information of the scenes inside and outside the vehicle in the driving process of the automatic driving vehicle are realized.
本发明为一种自动驾驶车辆行车场景还原方法及系统,方法包括以下步骤:获取自动驾驶车辆行车过程中的全维场景数据,并对获取的数据逐条添加时间戳;对获取的全维场景数据进行预处理,得到轻量级场景数据,实现自动驾驶车辆行车过程中内外场景信息在同一时间维度的描述;构建场景数据库,存储轻量级场景数据;构建自动驾驶车辆离线场景信息库,根据轻量级场景数据,重构自动驾驶车辆行车场景。本方法不仅能够简洁、高效、实时地记录自动驾驶车辆行车外部感知环境信息、位置信息,而且还记录车内感知决策及行驶状态信息,节约了场景记录的开销,并且实现了自动驾驶车辆行车过程中车内外场景全维信息的可记录、可追溯、可还原的功能。
Driving scene restoration method and system for automatic driving vehicle
一种自动驾驶车辆行车场景还原方法及系统
2022-01-18
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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