Method and device for constructing autonomous driving test scenes, terminal and readable storage media

A device for constructing autonomous driving test scenes based on primitive scenes, comprising:

• a primitive extraction module, configured to extract primitive scenes from real traffic scenes to establish a primitive scene description model;
• a variable estimation module, configured to estimate the distribution of description variables of the primitive scenes in the primitive scene description model by using a Gaussian Mixture Model;
• a primitive scene generation module, configured to select values of description variables from distribution intervals of the description variables of the primitive scenes according to the primitive scene description model, and randomly sample the description variables by adopting an importance sampling based Monte Carlo method to generate test primitive scenes;
• and
• a test scene generation module, configured to determine parameters of elements of a test scene according to a test task, and recombine the test primitive scenes to generate the test scene.