Method and apparatus of obtaining feature information of simulated agents
First Claim
1. A method for testing an unmanned vehicle in a simulated traffic scenario, wherein the method comprises:
- for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities and in testing, the number of real agents belonging to each class being greater than one;
simulating one or more agents of one or more classes;
for each agent class, respectively extracting representative feature information from feature information obtained for each real agent belonging to the class, and taking the extracted representative feature information as feature information of simulated agents belonging to this class in the simulated traffic scenario, the representative information being feature information that are classified as universal among the agents;
generating a real traffic scenario using the real agents participating in traffic activities and in testing, forming a scenario map;
obtaining the simulated traffic scenario by superimposing the simulated agents in the scenario map; and
testing the unmanned vehicle in the simulated traffic scenario and improving the correctness of testing the unmanned vehicle.
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Abstract
The present invention discloses a method and apparatus of obtaining feature information of a simulated agent. The method further comprises: for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities, the number of real agents belonging to each class being greater than one; for each agent class, extracting representative feature information from feature information of each real agent belonging to the class, and taking the extracted feature information as feature information of simulated agents belonging to this class. The solution of the present invention may be applied to improve correctness of testing results of unmanned vehicles.
16 Citations
13 Claims
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1. A method for testing an unmanned vehicle in a simulated traffic scenario, wherein the method comprises:
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for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities and in testing, the number of real agents belonging to each class being greater than one; simulating one or more agents of one or more classes; for each agent class, respectively extracting representative feature information from feature information obtained for each real agent belonging to the class, and taking the extracted representative feature information as feature information of simulated agents belonging to this class in the simulated traffic scenario, the representative information being feature information that are classified as universal among the agents; generating a real traffic scenario using the real agents participating in traffic activities and in testing, forming a scenario map; obtaining the simulated traffic scenario by superimposing the simulated agents in the scenario map; and testing the unmanned vehicle in the simulated traffic scenario and improving the correctness of testing the unmanned vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An apparatus for testing an unmanned vehicle in a simulated traffic scenario, the apparatus comprising:
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at least one processor; and a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising; for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities and in testing, the number of real agents belonging to each class being greater than one; simulating one or more agents of one or more classes; for each agent class, respectively extracting representative feature information from feature information obtained for each real agent belonging to the class, and taking the extracted representative feature information as feature information of simulated agents belonging to this class in the simulated traffic scenario for testing the unmanned vehicle, the representative information being feature information that are classified as universal among the agents; generating a real traffic scenario using the real agents participating in traffic activities and in testing, forming a scenario map; obtaining the simulated traffic scenario by superimposing the simulated agents in the scenario map; and testing the unmanned vehicle in the simulated traffic scenario and improving the correctness of testing the unmanned vehicle. - View Dependent Claims (8, 9, 10, 11, 12)
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13. A non-transitory computer storage medium, wherein the computer storage medium is coded with a computer program, and when the program is executed by one or more computers, the one or more computers perform the following operations:
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for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities and in testing, the number of real agents belonging to each class being greater than one; simulating one or more agents of one or more classes; for each agent class, respectively extracting representative feature information from feature information obtained for each real agent belonging to the class, and taking the extracted representative feature information as feature information of simulated agents belonging to this class in the simulated traffic scenario for testing a unmanned vehicle, the representative information being feature information that are classified as universal among the agents; generating a real traffic scenario using the real agents participating in traffic activities and in testing, forming a scenario map; obtaining the simulated traffic scenario by superimposing the simulated agents in the scenario map; and testing the unmanned vehicle in the simulated traffic scenario and improving the correctness of testing the unmanned vehicle.
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Specification