汽车工程 ›› 2024, Vol. 46 ›› Issue (4): 577-587.doi: 10.19562/j.chinasae.qcgc.2024.04.003
• • 上一篇
陈君毅1(),刘镇源1,杨雪珠2,王天辰1,李海霞2,贾通1,邢星宇1,吴新政1
收稿日期:
2023-09-30
修回日期:
2023-10-22
出版日期:
2024-04-25
发布日期:
2024-04-24
通讯作者:
陈君毅
E-mail:chenjunyi@tongji.edu.cn
Junyi Chen1(),Zhenyuan Liu1,Xuezhu Yang2,Tianchen Wang1,Haixia Li2,Tong Jia1,Xingyu Xing1,Xinzheng Wu1
Received:
2023-09-30
Revised:
2023-10-22
Online:
2024-04-25
Published:
2024-04-24
Contact:
Junyi Chen
E-mail:chenjunyi@tongji.edu.cn
摘要:
预期功能安全问题制约着自动驾驶汽车的落地。自动驾驶感知系统面临的各种极端行驶环境等极易引起预期功能安全问题。因此,须按照现有预期功能安全标准,在安全分析阶段识别并评估种类多且数量大的触发条件,筛选高价值触发条件为后续测试验证提供测试场景输入。本文中首先基于对触发条件在自动驾驶系统中的风险演化过程的分析,提出一套包括暴露率、穿透率和危害率的三维感知系统触发条件评估体系。随后,基于层次分析法构建了触发条件穿透率量化评估方法。最后,针对某量产车型的融合感知系统分析并选取15个触发条件,构建测试用例并开展封闭场地测试,评估上述触发条件的穿透率。最终经计算筛选得到3个高风险触发条件,验证了触发条件穿透率量化评估方法的可行性。
陈君毅,刘镇源,杨雪珠,王天辰,李海霞,贾通,邢星宇,吴新政. 感知系统触发条件穿透率评估方法研究[J]. 汽车工程, 2024, 46(4): 577-587.
Junyi Chen,Zhenyuan Liu,Xuezhu Yang,Tianchen Wang,Haixia Li,Tong Jia,Xingyu Xing,Xinzheng Wu. Evaluation Method for the Penetration Rate of Perception System Triggering Conditions[J]. Automotive Engineering, 2024, 46(4): 577-587.
表 10
触发条件列表"
分类 | 序号 | 语义触发条件 | 具体触发条件 | |
---|---|---|---|---|
属性变量 | 取值 | |||
传感器 遮挡 | T1 | 金属覆盖 毫米波雷达 | 遮挡比例 | 100% |
覆盖形式 | 块状 | |||
T2 | 灰尘覆盖毫米波雷达 和视觉传感器 | 遮挡比例 | * | |
覆盖形式 | 零星 | |||
T3 | 落叶覆盖 视觉传感器 | 遮挡比例 | 100% | |
覆盖形式 | 块状 | |||
路面 条件 | T4 | 传感器异常振动 | 道路类型 | 连续减速带 |
T5 | 起伏路面 (凸起井盖) | 起伏高度 | (10, 20) cm | |
起伏宽度 | (20, 50) cm | |||
T6 | 路面有金属铁板 | 反射率 | * | |
天气 条件 | T7 | 小雨 | 降雨强度 | * |
T8 | 大雨 | 降雨强度 | * | |
T9 | 浓雾 | 能见度 | * | |
T10 | 强浓雾 | 能见度 | * | |
T11 | 模拟机动车远光灯 直射摄像头 | 光照强度 变化量 | * | |
T12 | 夜晚低光照条件 | 光照强度 | * | |
基础 设施 | T13 | 道路金属隔离 | 反射率 | * |
T14 | 金属龙门架 | 反射率 | * | |
T15 | 驶入隧道 | 光照强度 变化量 | * |
表 12
触发条件总体情况"
序号 | 触发条件 | 漏检率/% | 误检率/% | 位置偏差最大值/m | 速度偏差最大值/(m·s-1) | 穿透率 |
---|---|---|---|---|---|---|
T1 | 金属覆盖毫米波雷达 | 0.00 | 0.00 | 1.92 | 1.48 | 0.06 |
T2 | 灰尘覆盖毫米波雷达和视觉传感器 | 0.00 | 2.09 | 3.74 | 2.71 | 0.11 |
T3 | 落叶覆盖视觉传感器 | 0.00 | 1.63 | 0.50 | 0.90 | 0.01 |
T4 | 传感器异常振动 | 0.00 | 0.00 | 1.17 | 1.93 | 0.04 |
T5 | 起伏路面(凸起井盖) | 0.00 | 3.03 | 0.92 | 0.84 | 0.02 |
T6 | 路面有金属铁板* | 1.12 | 38.18 | 11.13 | 3.50 | 0.22 |
T7 | 小雨 | 0.00 | 8.82 | 0.58 | 1.55 | 0.10 |
T8 | 大雨* | 25.57 | 1.87 | 4.13 | 0.93 | 0.75 |
T9 | 浓雾* | 12.20 | 0.56 | 9.67 | 2.37 | 0.76 |
T10 | 强浓雾 | 0.00 | 0.36 | 0.75 | 0.84 | 0.02 |
T11 | 模拟机动车远光灯直射摄像头 | 0.00 | 6.14 | 1.14 | 1.12 | 0.06 |
T12 | 夜晚低光照条件 | 0.00 | 2.75 | 0.76 | 0.96 | 0.02 |
T13 | 道路金属隔离 | 1.47 | 5.34 | 4.60 | 1.04 | 0.10 |
T14 | 金属龙门架 | 0.00 | 0.00 | 0.83 | 1.21 | 0.02 |
T15 | 驶入隧道 | 0.00 | 0.00 | 0.52 | 0.77 | 0.01 |
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