The embodiment of the invention provides an automatic driving scene data processing method and device and a storage medium. At least one traffic track on the road section can be identified according to dynamic traffic data in the roadside sensing data; carrying out key frame extraction on the at least one traffic track to obtain at least one group of key frames; performing decision planning according to the at least one group of key frames and a preset constraint condition to obtain at least one driving track; and determining automatic driving scene data according to static road network information in the roadside sensing data and the at least one driving track. Therefore, the automatic driving scene data in the rich scene can be obtained without actual measurement of the automatic driving vehicle on the road. Besides, variability and randomness of the automatic driving scene data can be increased by utilizing settable characteristics of constraint conditions, so that driving tracks in various different scenes are derived, and the coverage rate of the automatic driving scene data to different automatic driving scenes is increased.
本申请实施例提供一种自动驾驶场景数据的处理方法、设备及存储介质。根据路侧感知数据中的动态交通数据,可识别路段上的至少一条交通轨迹;对该至少一条交通轨迹进行关键帧抽取,得到至少一组关键帧;根据该至少一组关键帧以及预设的约束条件进行决策规划,得到至少一条驾驶轨迹;根据路侧感知数据中的静态路网信息以及该至少一条驾驶轨迹,确定自动驾驶场景数据。进而,可在无需对自动驾驶车辆进行上路实测的情况下,获取丰富场景下的自动驾驶场景数据。此外,可利用约束条件的可设置特性,增加自动驾驶场景数据的变化性和随机性,从而衍生出多种不同场景下的驾驶轨迹,以增加自动驾驶场景数据对不同自动驾驶场景的覆盖率。
Automatic driving scene data processing method and device and storage medium
自动驾驶场景数据的处理方法、设备及存储介质
2025-03-14
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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