The invention discloses a dangerous lane changing scene generalization generation method and system for an automatic driving test, and the method comprises the steps: designing a generative adversarial model for the generation of an emergency lane changing track, employing the emergency lane changing track in a public automatic driving data set as original data, inputting the original data into the model, and generating the emergency lane changing track; and transverse and longitudinal kinematics constraints of the automatic driving vehicle are decoupled, and a safety constraint model in the lane changing process is established, so that the initial state of the tested automatic driving vehicle corresponding to each generated emergency lane changing track is calculated, and an automatic driving test dangerous lane changing scene is generated. According to the method, the emergency lane changing track conforming to the real lane changing characteristics can be generated, and the problems of how to generate the emergency lane changing tracks of different cut-in angles conforming to the human driving vehicle characteristics and how to construct the theoretically avoided risk critical test scene by using the background vehicle lane changing tracks of different risks are solved; an automatic driving test dangerous lane changing scene can be effectively generated.

    本发明公开了面向自动驾驶测试的危险变道场景泛化生成方法及系统,本发明设计了面向紧急变道轨迹生成的生成对抗模型,使用公开自动驾驶数据集中紧急变道轨迹作为原始数据输入到该模型并生成紧急变道轨迹;解耦自动驾驶车辆的横纵向运动学约束,建立换道过程中的安全约束模型,从而计算每条生成的紧急变道轨迹对应的被测自动驾驶车辆的初始状态,生成自动驾驶测试危险变道场景。本发明能够生成符合真实变道特征的紧急变道轨迹,解决了如何生成符合人驾车辆特征的不同切入角度的紧急变道轨迹以及如何利用不同风险的背景车辆变道轨迹构建可从理论上避免的风险临界测试场景的问题,能够有效生成自动驾驶测试危险变道场景。


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    Title :

    Dangerous lane changing scene generalization generation method and system for automatic driving test


    Additional title:

    面向自动驾驶测试的危险变道场景泛化生成方法及系统


    Contributors:
    ZHAO XIANGMU (author) / JING SHOUCAI (author) / ZHAO YUYU (author) / HUI FEI (author)

    Publication date :

    2023-10-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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 / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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