The invention discloses an unmanned vehicle cross-country environment scene understanding method based on ontology, and the method comprises the steps: building a map concept library of a concept structure based on ontology, and building a semantic relation of a local environment, the concept structure comprising an unmanned vehicle entity, a map entity and conventional attributes; acquiring data information of a real environment, and performing semantic segmentation element instantiation; instantiating the semantic relationship of the local environment and the semantic segmentation elements for data fusion, and matching behavior rules in the current scene to obtain a scene understanding model; and inputting the obtained scene understanding model into data acquired in real time, fusing with a decision system of the unmanned vehicle, and assisting in outputting a behavior decision. According to the method, a scene understanding model is constructed, and a corresponding data structure is constructed. By constructing a local scene model of a cross-country environment, the system updates data information of each element in real time, and matches a behavior rule adapted to a current scene, so as to assist in completing a behavior decision of the unmanned vehicle.
本发明公开了一种基于本体论的无人车越野环境场景理解方法,包括基于本体论构建概念结构的地图概念库,并建立局部环境的语义关系,所述概念结构包括无人车实体、地图实体,以及常规属性;获取真实环境的数据信息,进行语义分割元素实例化;将局部环境的语义关系和语义分割元素实例化进行数据融合,匹配当前场景下的行为规则,得到场景理解模型;将得到的场景理解模型输入实时采集的数据,与无人车的决策系统融合,辅助输出行为决策。本发明通过构建场景理解模型,并构建相应的数据结构。通过构建越野环境的局部场景模型,系统实时更新各个要素的数据信息,匹配适应当前场景的行为规则,从而辅助完成无人车的行为决策。
Unmanned vehicle cross-country environment scene understanding method based on ontology
一种基于本体论的无人车越野环境场景理解方法
2024-07-02
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / 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 / G01D MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE , Anzeigen oder Aufzeichnen in Verbindung mit Messen allgemein / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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