汽车工程

汽车工程 ›› 2021, Vol. 43 ›› Issue (7): 1030-1036.doi: 10.19562/j.chinasae.qcgc.2021.07.010

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一种自动驾驶仿真场景要素的提取方法

白雪松1,邓伟文1,任秉韬1(),刘鹏2,李江坤1,丁娟3   

  1. 1.北京航空航天大学交通科学与工程学院，北京 100191
    2.东风汽车集团有限公司技术中心，武汉 430056
    3.浙江天行健智能科技有限公司，嘉兴 314000
  • 收稿日期:2020-11-20 修回日期:2021-01-28 出版日期:2021-07-25 发布日期:2021-07-20
  • 通讯作者: 任秉韬 E-mail:renbt1706@buaa.edu.cn
  • 基金资助:
    国家重点研发计划(2018YFB0105103);北京市自然科学基金(3204046);国家自然科学基金(U1864201)

An Extraction Method of Scenario Elements for Autonomous Driving Simulation

Xuesong Bai1,Weiwen Deng1,Bingtao Ren1(),Peng Liu2,Jiangkun Li1,Juan Ding3   

  1. 1.School of Transportation Science and Engineering，Beihang University，Beijing 100191
    2.DongFeng Motor Corporation Technical Centre，Wuhan 430058
    3.ZheJiang Tianxingjian Intelligent Technology Co. ，Ltd. ，Jiaxing 314000
  • Received:2020-11-20 Revised:2021-01-28 Online:2021-07-25 Published:2021-07-20
  • Contact: Bingtao Ren E-mail:renbt1706@buaa.edu.cn

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摘要：

针对场景及其内容定义不明确、场景基本要素提取多为主观分析和不同测试主体的场景要素选择和设计不可解释等问题，本文中提出一种汽车自动驾驶仿真场景的关键要素提取方法。该方法从自动驾驶系统角度逐级分析场景要素对感知、决策和控制模块的影响，并根据对自动驾驶不同子模块的影响，建立为一种要素-结构-功能平面的映射方程，然后基于平面节点判别矩阵建立场景要素的提取模型，量化场景要素的重要性并进行判别和筛选。最后通过分析第四届世界智能驾驶仿真挑战赛的行人安全避撞场景的元素构成，验证了所提方法的可行性和有效性。

关键词: 自动驾驶系统, 仿真场景, 场景要素提取

Abstract:

In view of the problems of the unclear definition of scenes and their content， the extraction of basic scene elements is limited to subjective analysis and the selection and design of scene element of different test subjects are inexplainable etc.， an extraction method of the key scene elements for vehicle autonomous driving simulation is proposed. The method analyzes the effects of scene elements on the modules of perception， decision?making and motion?control from the perspective of autonomous driving system， and establishes a mapping equation of element?structure?function plane according to the effects of different sub?modules of autonomous driving. Then， an extraction model of scene elements is set up based on the plane node discriminant matrix， to quantify the importance of scene elements with discrimination and screening performed. Finally， through analyzing the element composition of the pedestrian collision avoidance scenes in the 4th World Intelligent Driving Simulation Challenge， the feasibility and effectiveness of the method proposed are verified.

Key words: autonomous driving system, simulation scenes, scene element extraction