关键词: 自动驾驶汽车, 仿真测试, 综合评价, 逻辑场景, 权重分析

Abstract:

The scenario-based simulation testing method has become the core idea for automated vehicle performance verification， which splits the continuous vehicle driving process to obtain non-repetitive and independent scenario segments and tests them in virtual environment. Fitting in with the test process， a comprehensive evaluation method for automated vehicle simulation testing in multi-logical scenarios is proposed in this paper. Firstly， a comprehensive evaluation method for automated vehicle in multi-logical scenarios is established and the scenarios weighting analysis process considering both the scenario's own characteristic information and simulation test process information is defined. Then， the logical scenario's own characteristic information weighting is built by exposure degree， control loss degree and hazard degree. The simulation test process information weighting is built by simulation accuracy information， element type information， parameter space information and discrete step information. Finally， the information of front braking， front left cut-in and front right cut-in scenarios is extracted based on HighD dataset and the scenario weight is calculated through the method proposed in this paper and base algorithm test results， and the two tested algorithms’ comprehensive evaluation results are obtained in multi-logical scenarios.

Key words: automated vehicle, simulation test, comprehension evaluation, logical scenario, weighting analysis