The invention belongs to the technical field of automobiles, and particularly relates to a key parking scene extraction method oriented to a complex interactive parking data set. Comprising the steps of 1, extracting multi-target trajectory data; 2, state estimation is carried out on each target according to a detection result, and time sequence trajectory data including the position, the speed and the acceleration are generated; step 3, based on a parking behavior identification model of multivariate feature fusion, screening a track with a parking behavior from the extracted track sequence to realize judgment of the parking behavior; step 4, constructing a key traffic participant identification model, and intercepting track sequences of other traffic participants in the range; 5, designing an interaction strength quantitative index, quantitatively judging whether interaction occurs between the main vehicle and the traffic participants by comprehensively considering the spatial proximity and the maneuvering degree, and screening a neighborhood traffic participant set; and step 6, designing a key index of the parking scene, and extracting a key parking scene from the whole parking data set. The method can be used for extracting the key parking scene of the parking data set with complex interaction, more attention is paid to the influence of other traffic participants on the decision planning of the vehicle in the parking process, the extracted key parking scene has authenticity, and the method is used for the scene test process of the intelligent parking system.
本发明属于汽车技术领域,具体的说是一种面向复杂交互泊车数据集的关键泊车场景提取方法。包括:步骤一、多目标轨迹数据提取;步骤二、根据检测结果对每个目标进行状态估计,生成包含位置、速度、加速度的时间序列轨迹数据;步骤三、基于多元特征融合的泊车行为识别模型,从提取的轨迹序列中筛选发生泊车行为的轨迹,实现对泊车行为的判断;步骤四、构建关键交通参与者识别模型,截取其他交通参与者在该范围内的轨迹序列;步骤五、设计交互强度量化指标,综合考虑空间接近度和机动程度量化判别主车与交通参与者之间是否发生交互,筛选邻域交通参与者集合;步骤六、设计泊车场景关键性指标,从整个泊车数据集中提取出关键泊车场景。本发明可用于存在复杂交互的泊车数据集的关键泊车场景提取,更关注于泊车过程中其他交通参与者对本车决策规划的影响,提取出的关键泊车场景具有真实性,用于智能泊车系统的场景测试过程。
Complex interactive parking data set-oriented key parking scene extraction method
一种面向复杂交互泊车数据集的关键泊车场景提取方法
2024-07-19
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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