The invention relates to the field of automatic driving, and discloses an automatic driving scene screening method, device and equipment and a storage medium, which are used for improving the scene screening efficiency and precision. The method comprises the following steps: acquiring road test data, and extracting information of a main vehicle, a key area and a non-motorized object from each video frame of the road test data; according to the main vehicle information and the key area information, screening out video frames of the key area passed by the main vehicle in the road test data, and obtaining an initial key area scene; identifying a non-motorized object having a collision risk with the main vehicle in each frame of the initial key area scene, and determining the identified non-motorized object as a candidate object; determining the distance between the candidate object and the main vehicle according to the main vehicle information and the candidate object information, recording the minimum distance in each video frame and the candidate object information corresponding to the minimum distance, and obtaining at least one candidate key area scene; and removing a scene in which the main vehicle deviates from the original route from the at least one candidate key area scene.
本发明涉及自动驾驶领域,公开了一种自动驾驶场景筛选方法、装置、设备及存储介质,用于提高场景筛选的效率和精准度。该方法包括:采集路测数据,从路测数据的每个视频帧中提取主车、关键区域和非机动物体的信息;根据主车信息和关键区域信息筛选出路测数据中主车经过关键区域的视频帧,得到初始关键区域场景;识别初始关键区域场景的每一帧中与主车有碰撞风险的非机动物体,将识别到的非机动物体确定为候选物体;根据主车信息和候选物体信息确定候选物体与主车的距离,记录每个视频帧中的最小距离以及最小距离对应的候选物体信息,得到至少一个候选关键区域场景;从至少一个候选关键区域场景中移除主车偏离原始路线的场景。
Automatic driving scene screening method and device, equipment and storage medium
自动驾驶场景筛选方法、装置、设备及存储介质
2022-12-09
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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