Method and apparatus for generating domain-adapted traffic scenarios for virtual driving environment for learning, testing and validation of autonomous vehicles

摘要

PROBLEM TO BE SOLVED: To provide a method and an apparatus for generating an elaborate traffic scenario in a virtual traveling environment based on actual traveling data. A traffic scenario generation device converts previous traffic data corresponding to discrete traffic data extracted from an existing travel video by an image-based ADAS and sequential traffic data collected from a sensor of a data collection vehicle of an actual travel environment. With the travel data acquired using the corresponding detailed traffic data, the travel data is input to the situation analyzer to extract the travel environment information, and the travel data is input to the vehicle information extractor. By extracting the vehicle status information for the own vehicle, generating a sequential traffic log based on the driving sequence, inputting the sequential traffic log into the scenario augmentation network, and using the critical event with the previous scenario augmentation network By deciding to augment the log, we will verify the traffic scenario and map the traffic scenario to the traffic simulator. [Selection diagram] Figure 2