The invention discloses a multi-vehicle interactive lane changing scene library automatic construction method for an automatic driving vehicle, and the method proposes a vehicle driving scene and a semantic representation mode of the scene, and achieves the automatic extraction of a multi-vehicle interactive lane changing scene based on the representation mode. Meanwhile, the invention further provides a risk scene clustering method considering the position relation between the lane changing vehicle and the surrounding vehicles, and risk grade classification of the multi-vehicle interactive lane changing scene can be achieved. Finally, automatic extraction and construction of a multi-vehicle interactive lane changing scene library with risk attribute tags and capable of reflecting a risk evolution process are realized. The scene data extraction method has the advantages of comprehensive scene elements, good method transportability, scene risk grading and the like in view of scene data extraction.
本发明公开了一种针对自动驾驶车辆的多车交互换道情景库自动化构建方法,该方法提出了车辆驾驶场景及情景的语意表征方式,并基于该表征方式实现了多车交互换道情景的自动化提取。同时,还提出了考虑换道车辆与周围车辆位置关系的风险情景聚类方法,能够实现对多车交互换道情景的风险等级分类。最终实现了具有风险属性标签以及能够反映风险演化过程的多车交互换道情景库的自动化提取构建。本发明针对场景数据的提取具有情景元素全面、方法可移植性好、兼具情景风险分级等优势。
Multi-vehicle interactive lane changing scene library automatic construction method for automatic driving vehicles
一种针对自动驾驶车辆的多车交互换道情景库自动化构建方法
2024-03-26
Patent
Electronic Resource
Chinese
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