时空轨迹数据驱动的自动驾驶场景元建模方法  

Spatio-temporal Trajectory Data-driven Autonomous Driving Scenario Meta-modeling Approach

作　　者：张梦寒 杜德慧[1,2,3] 张铭茁 张雷[4] 王耀[1,2,3] 周文韬[1,2,3] ZHANG Meng-Han;DU De-Hui;ZHANG Ming-Zhuo;ZHANG Lei;WANG Yao;ZHOU Wen-Tao(Software Engineering Institute,East China Normal University,Shanghai 200062,China;Shanghai Key Laboratory of Trustworthy Computing(East China Normal University),Shanghai 200062,China;International Joint Laboratory of Trustworthy Software of Ministry of Education(East China Normal University),Shanghai 200062,China;Shanghai Research Institute for Intelligent Autonomous Systems,Tongji University,Shanghai 201210,China)

机构地区：[1]华东师范大学软件工程学院,上海200062 [2]上海市高可信重点实验室(华东师范大学),上海200062 [3]教育部可信软件国际合作联合实验室(华东师范大学),上海200062 [4]同济大学上海自主智能无人系统科学中心,上海201210

出　　处：《软件学报》2021年第4期973-987,共15页Journal of Software

基　　金：国家自然科学基金(61972153);国家重点研发计划(2018YFE0101000);科技部重点项目(2020AAA0107800)。

摘　　要：时空轨迹数据驱动的汽车自动驾驶场景建模,是当前汽车自动驾驶领域中驾驶场景建模、仿真所面临的关键问题,对于提高系统的安全性具有重要的研究意义.近年来,随着时空轨迹数据建模及应用研究的快速发展,时空轨迹数据应用于特定领域建模的研究引起人们的广泛关注.但是,由于时空轨迹数据所反映的现实世界的多元性和复杂性以及时空轨迹数据的海量、异构、动态等特点,基于时空轨迹数据驱动的安全攸关场景建模的研究仍面临着挑战,包括:统一的时空轨迹数据元模型、基于时空轨迹数据的元建模方法、基于数据分析技术的时空轨迹数据处理、数据质量评价等.针对汽车自动驾驶领域的场景建模需求,提出一种基于MOF元建模体系构建时空轨迹数据的元建模方法,根据时空轨迹数据的特征及自动驾驶的领域知识,构建了面向汽车自动驾驶的时空轨迹数据元模型;基于此,提出基于时空轨迹数据元建模技术体系的自动驾驶安全场景建模方法,并使用场景建模语言ADSML实例化安全场景,构建安全场景库,旨在为此类系统的安全关键场景建模提供一种可行的方案.结合变道超车场景的案例,展示了时空轨迹数据驱动的自动驾驶安全场景元建模方法的可用性,为场景模型的构建、仿真、分析奠定了基础.In the current autonomous driving scenario modeling and simulation field, spatio-temporal trajectory data-driven modeling and application of autonomous driving safety-critical scenario are key problems, which is significant to improve the security of the system. In recent years, great progress has been achieved in the modeling and application of spatio-temporal trajectory data, and the application of spatio-temporal trajectory data in specific fields has attracted wide attention. However, due to spatio-temporal trajectory data has diversity and complexity as well as massive, heterogeneous, dynamic characteristics, researches in the safety-critical field modeling still face challenges, including unified meta-data of spatio-temporal trajectory, meta-modeling method based on spatio-temporal trajectory data, data processing based on the data analysis of spatio-temporal trajectory, and data quality evaluation. In view of the scenario modeling requirements in the field of autonomous driving, a meta-modeling approach is proposed to construct spatio-temporal trajectory meta-data based on MOF meta-modeling system. According to the characteristics of spatio-temporal trajectory data and autonomous driving domain knowledge, a meta-model of spatio-temporal trajectory data is constructed. Then, the modeling approach of autonomous driving safety-critical scenarios is studied based on spatio-temporal trajectory data element modeling technology system, a scenario modeling language ADSML is used to automatic instantiation safety-critical scenarios, and a library of safety-critical scenarios is constructed, aiming to provide a feasible approach for the modeling of such safety-critical scenarios. Combined with the scenario of lane change and overtaking, the effectiveness of spatio-temporal trajectory data-driven autonomous driving safety-critical scenario meta-modeling approach is demonstrated, which lays a solid foundation for the construction, simulation, and analysis of the scene model.

关 键 词：时空轨迹数据 时空轨迹数据元模型 领域建模 MOF元建模 汽车自动驾驶的场景建模 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]