VistaScenario: Interaction Scenario Engineering for Vehicles with Intelligent Systems for Transport Automation
| Autor: | Chang, Cheng, Zhang, Jiawei, Ge, Jingwei, Zhang, Zuo, Wei, Junqing, Li, Li, Wang, Fei-Yue |
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| Rok vydání: | 2024 |
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| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/TIV.2024.3400323 |
| Popis: | Intelligent vehicles and autonomous driving systems rely on scenario engineering for intelligence and index (I&I), calibration and certification (C&C), and verification and validation (V&V). To extract and index scenarios, various vehicle interactions are worthy of much attention, and deserve refined descriptions and labels. However, existing methods cannot cope well with the problem of scenario classification and labeling with vehicle interactions as the core. In this paper, we propose VistaScenario framework to conduct interaction scenario engineering for vehicles with intelligent systems for transport automation. Based on the summarized basic types of vehicle interactions, we slice scenario data stream into a series of segments via spatiotemporal scenario evolution tree. We also propose the scenario metric Graph-DTW based on Graph Computation Tree and Dynamic Time Warping to conduct refined scenario comparison and labeling. The extreme interaction scenarios and corner cases can be efficiently filtered and extracted. Moreover, with naturalistic scenario datasets, testing examples on trajectory prediction model demonstrate the effectiveness and advantages of our framework. VistaScenario can provide solid support for the usage and indexing of scenario data, further promote the development of intelligent vehicles and transport automation. Comment: Accepted by IEEE Transactions on Intelligent Vehicles |
| Databáze: | arXiv |
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