The invention relates to a lane changing scene self-adaptive generation method and device for an automatic driving vehicle test, and the method comprises the steps: randomly generating the initial motion states of a tested vehicle and a plurality of interference vehicles based on the pre-established probability distribution of actual lane changing scene state parameters; in response to the fact that the tested vehicle and the interference vehicle reach the motion state, performing a lane changing test on the tested vehicle, acquiring the real-time motion state in the test process, and updating the lane changing progress index of the tested vehicle; in response to the update of the lane changing progress index, updating the target state of the interference vehicle based on the lane changing progress index and the current planning strategy, and controlling the interference vehicle to reach the updated target state; and responding to a lane changing test result of the tested vehicle, adaptively optimizing the planning strategy, and realizing adaptive generation of a lane changing scene. Compared with the prior art, the method has the advantages that the relevance between the tested vehicle and the interference vehicle behavior is fully considered, and the testing efficiency of the boundary effect of the tested vehicle is improved.

    本发明涉及一种面向自动驾驶车辆测试的变道场景自适应生成方法和设备,方法包括:基于预先建立的实际变道场景状态参数的概率分布,随机生成被测车辆以及多个干扰车辆的初始的运动状态;响应于被测车辆和干扰车辆达到运动状态,针对被测车辆进行变道测试,在测试过程中获取实时的运动状态并更新被测车辆的变道进度指标;响应于变道进度指标的更新,基于变道进度指标以及当前的规划策略,更新干扰车辆的目标状态,控制干扰车辆达到更新后的目标状态;响应于被测车辆的变道测试结果,自适应优化规划策略,实现变道场景自适应生成。与现有技术相比,本发明具有充分考虑被测车辆与干扰车辆行为的关联性、提高针对被测车辆边界效应的测试效率等优点。


    Access

    Download


    Export, share and cite



    Title :

    Lane changing scene self-adaptive generation method and device for automatic driving vehicle test


    Additional title:

    面向自动驾驶车辆测试的变道场景自适应生成方法和设备


    Contributors:
    ZHANG YONG (author) / YIN CHENGLIANG (author) / XIE YIZHOU (author) / DAI KUNPENG (author) / YANG XIAOKE (author)

    Publication date :

    2024-10-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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

    ZHAO XIANGMU / JING SHOUCAI / ZHAO YUYU et al. | European Patent Office | 2023

    Free access

    Lane changing track generation method and device for automatic driving vehicle

    XIANG NAN | European Patent Office | 2020

    Free access

    Multi-vehicle interactive lane changing scene library automatic construction method for automatic driving vehicles

    GUO YINJIA / CHEN YANYAN / GU XIN et al. | European Patent Office | 2024

    Free access

    Automatic accurate lane changing system and lane changing method for double-vehicle scene

    FU JIANONG / YUAN CHENG / ZHANG CHANGDE et al. | European Patent Office | 2023

    Free access

    Automatic driving lane changing method for conical barrel road closure scene and vehicle

    MIAO YIWEN / ZHANG XIANHONG / KOYO | European Patent Office | 2024

    Free access