# US 2018/0322230 A1 · Driverless vehicle simulation test method and apparatus, device and readable medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0322230 A1 - Document ID: US20180322230A1 - Status: Published application - Kind: A1 - Application number: 15/961,717 - Filed: 2018-04-24 - Published: 2018-11-08 - Earliest claimed: 2017-05-08 - Assignees: Baidu Online Network Technology (Beijing) Co., Ltd. - Applicants: Baidu Online Network Technology (Beijing) Co., Ltd. - Inventors: Zheng HAN - Web page: https://patentgrep.com/patent/US20180322230A1 ## CPC - G06V 10/772: Determining representative reference patterns, e.g. averaging or distorting patterns; Generating dictionaries - B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G06F 16/7867: {using information manually generated, e.g. tags, keywords, comments, title and artist information, manually generated time, location and usage information, user ratings} - G06F 18/28: Determining representative reference patterns, e.g. by averaging or distorting; Generating dictionaries - G06F 30/15: Vehicle, aircraft or watercraft design - G06F 30/20: Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) - G06V 20/49: {Segmenting video sequences, i.e. computational techniques such as parsing or cutting the sequence, low-level clustering or determining units such as shots or scenes} - G06V 20/54: of traffic, e.g. cars on the road, trains or boats - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06F 18/217: {Validation; Performance evaluation; Active pattern learning techniques} - G06V 20/44: {Event detection} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract The present disclosure provides a driverless vehicle simulation test method and apparatus, a device and a readable medium. According to the present disclosure, an accident video is obtained from an accident video database of a traffic management department; corresponding accident scenario information is obtained according to the accident videos; a simulated accident scenario is constructed according to the accident scenario information, and vehicle behaviors of the simulated driverless vehicle in the simulated accident scenario are tested. With the accident video being obtained from the accident video database of the traffic management department, the present disclosure can ensure authenticity and accuracy of the simulated accident scenario for simulation test of the driverless vehicle, therefore can perform real and valid test for the driverless vehicle and effectively improve the accuracy and validity of the driverless vehicle simulation test. ## Claims ### Claim 1 A driverless vehicle simulation test method, wherein the method comprises: obtaining an accident video from an accident video database of a traffic management department; obtaining corresponding accident scenario information according to the accident video; constructing a simulated accident scenario according to the accident scenario information, and testing vehicle behaviors of a simulated driverless vehicle in the simulated accident scenario. ### Claim 2 (depends on 1) The method according to claim 1, wherein the obtaining an accident video from an accident video database of a traffic management department specifically comprises: filtering the accident video database of the traffic management department to get the accident video with a motor vehicle accident tag. ### Claim 3 (depends on 1) The method according to claim 1, wherein the obtaining corresponding accident scenario information according to the accident video specifically comprises: screening the accident video to get a first image frame at a time instant when the accident happens; obtaining, from the accident video, multiple second image frames which are before the first image frame at the time instant when the accident happens and can record travel trajectories of an accident vehicle and an accident object other than the accident vehicle; obtaining the accident scenario information according to the multiple second image frames and the first image frame. ### Claim 4 (depends on 3) The method according to claim 3, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame specifically comprises: according to the first image frame and the respective second image frames, extracting the accident vehicle and its travel trajectory, the accident object and its travel trajectory; extracting a road topological structure of an accident site according to the first image frame and the respective second image frames. ### Claim 5 (depends on 4) The method according to claim 4, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame further comprises: extracting time when the accident happens according to the first image frame and respective second image frames; and/or extracting weather conditions when the accident happens according to the first image frame and respective second image frames. ### Claim 6 (depends on 3) The method according to claim 3, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame specifically comprises: displaying the multiple second image frames and the first image frame to a tester so that the tester constitutes the accident scenario information according to the multiple second image frames and the first image frame; receiving the accident scenario information input by the tester. ### Claim 7 A computer device, wherein the computer device comprises: one or more processors, a memory for storing one or more programs, the one or more programs, when executed by said one or more processors, enabling said one or more processors to implement the following operation: obtaining an accident video from an accident video database of a traffic management department; obtaining corresponding accident scenario information according to the accident video; constructing a simulated accident scenario according to the accident scenario information, and testing vehicle behaviors of a simulated driverless vehicle in the simulated accident scenario. ### Claim 8 (depends on 7) The computer device according to claim 7, wherein the obtaining an accident video from an accident video database of a traffic management department specifically comprises: filtering the accident video database of the traffic management department to get the accident video with a motor vehicle accident tag. ### Claim 9 (depends on 7) The computer device according to claim 7, wherein the obtaining corresponding accident scenario information according to the accident video specifically comprises: screening the accident video to get a first image frame at a time instant when the accident happens; obtaining, from the accident video, multiple second image frames which are before the first image frame at the time instant when the accident happens and can record travel trajectories of an accident vehicle and an accident object other than the accident vehicle; obtaining the accident scenario information according to the multiple second image frames and the first image frame. ### Claim 10 (depends on 9) The computer device according to claim 9, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame specifically comprises: according to the first image frame and the respective second image frames, extracting the accident vehicle and its travel trajectory, the accident object and its travel trajectory; extracting a road topological structure of an accident site according to the first image frame and the respective second image frames. ### Claim 11 (depends on 10) The computer device according to claim 10, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame further comprises: extracting time when the accident happens according to the first image frame and respective second image frames; and/or extracting weather conditions when the accident happens according to the first image frame and respective second image frames. ### Claim 12 (depends on 9) The computer device according to claim 9, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame specifically comprises: displaying the multiple second image frames and the first image frame to a tester so that the tester constitutes the accident scenario information according to the multiple second image frames and the first image frame; receiving the accident scenario information input by the tester. ### Claim 13 A computer readable medium on which a computer program is stored, wherein the program, when executed by the processor, implements the following operation: obtaining an accident video from an accident video database of a traffic management department; obtaining corresponding accident scenario information according to the accident video; constructing a simulated accident scenario according to the accident scenario information, and testing vehicle behaviors of a simulated driverless vehicle in the simulated accident scenario. ### Claim 14 (depends on 13) The computer readable medium according to claim 13, wherein the obtaining an accident video from an accident video database of a traffic management department specifically comprises: filtering the accident video database of the traffic management department to get the accident video with a motor vehicle accident tag. ### Claim 15 (depends on 13) The computer readable medium according to claim 13, wherein the obtaining corresponding accident scenario information according to the accident video specifically comprises: screening the accident video to get a first image frame at a time instant when the accident happens; obtaining, from the accident video, multiple second image frames which are before the first image frame at the time instant when the accident happens and can record travel trajectories of an accident vehicle and an accident object other than the accident vehicle; obtaining the accident scenario information according to the multiple second image frames and the first image frame. ### Claim 16 (depends on 15) The computer readable medium according to claim 15, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame specifically comprises: according to the first image frame and the respective second image frames, extracting the accident vehicle and its travel trajectory, the accident object and its travel trajectory; extracting a road topological structure of an accident site according to the first image frame and the respective second image frames. ### Claim 17 (depends on 16) The computer readable medium according to claim 16, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame further comprises: extracting time when the accident happens according to the first image frame and respective second image frames; and/or extracting weather conditions when the accident happens according to the first image frame and respective second image frames. ### Claim 18 (depends on 15) The computer readable medium according to claim 15, wherein the obtaining the accident scenario information according to the multiple second image frames and the first image frame specifically comprises: displaying the multiple second image frames and the first image frame to a tester so that the tester constitutes the accident scenario information according to the multiple second image frames and the first image frame; receiving the accident scenario information input by the tester.