AUTONOMOUS DRIVING ROAD SCENE GENERATION METHOD FOR SIMULATED ENVIRONMENT
Aiming at the problem of generating road scenes for autonomous driving systems,this paper proposes a method to generate road scenes for simulation environment.This method defined and implemented eight types of road components,and used a guided road component composition method to compose the road components into road scenes.At the same time,the similarity between the road scenes was calculated according to the topological structure of the road scenes to complete the deduplication.The deduplicated road scene was co-simulated in the autonomous driving system and the simulator.Experiments show that compared with the road scene generation method based on random composition,the proposed method can generate road scenes that can be directly applied to the testing of autonomous driving systems,and make up for the limitation of insufficient diversity of geometric and topological structures of road scenes.
Autonomous drivingRoad scene generationSimulated environment
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