自动驾驶车辆道路测试场景评价方法与试验验证

doi:10.19562/j.chinasae.qcgc.2021.04.020

Abstract

Abstract:

In order to solve the problems of uncertain road test scenes for autonomous vehicles， lack of typical evaluation scenes， and the difficulty in quantitatively evaluating scenes， a road test evaluation method for autonomous vehicles based on scene complexity model is proposed， which evaluate and classify the road test scenes for autonomous vehicles by innovatively combining information entropy with gravity model， and the rationality of the scene evaluation method is verified by tests. The method is helpful for the autonomous driving enterprises and the third-party testing / evaluation organizations to select the typical scenes， promoting the course of road test and evaluation for autonomous vehicles.

Key words: autonomous vehicles, road test, scene complexity, scene evaluation

Rong Wang,Yafu Sun,Juan Song. Evaluation Method and Test Verification of Road Test Scenes for Autonomous Vehicles[J].Automotive Engineering, 2021, 43(4): 620-628.

Figures/Tables 17

References 23

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基本要素	要素组成
路段	双向、三向（T型）、四向（十字路口）
车道	两车道（中心线）、四车道（中心线）、单车道（环岛）
道路交通标志	警告标志、禁令标志、指示标志、指路标志、施工标志、辅助标志
道路交通标线	指示标线、禁止标线、警告标线
交通信号灯	机动车信号灯、非机动车信号灯、人行横道信号灯、方向指示信号灯、车道信号灯、闪光警告信号灯、道路与铁路平面交叉道口信号灯
其他设施	收费站、公共汽车站台、减速带、停车场、充电站、加油站、锥形桶
天气	白天、黑夜、晴天、雨雪雾
场景参与者	测试车、机动车、非机动车、行人、动物、其他障碍物、移动式交通管控设施

节点分组	输入节点数	输出节点数	节点编号	相同输入输出的节点数
①	0	4	{0}	1
②	1	0	{1.3，2.1，5.1，7.1，7.3}	5
③	1	1	{1，2，5}	3
④	1	2	{7}	1
总计				10

一级指标	二级指标	分数（0-10）
路段	双向	5
	三向	6
	四向	7
车道	双车道（中心线）	5
	四车道（中心线）	6
	单车道（环岛）	7
道路交通标志	警告标志	5
	禁令标志	4
	指示标志	5
	指路标志	6
	施工标志	7
	辅助标志	8
道路交通标线	指示标线	2
	禁止标线	2
	警告标线	5
交通信号灯	机动车信号灯	6
	非机动车信号灯	6
	人行横道信号灯	7
	方向指示信号灯	7
	车道信号灯	6
	闪光警告信号灯	6
	道路与铁路平台交叉口信号灯	7
其他设施	收费站	8
	公共汽车站	5
	减速带	5
其他设施	停车场	7
	充电站	6
	加油站	5
	锥形桶	4
天时	白天	3
	黑夜	6
	晴天	3
	雨雪雾	6

场景编号	静态场景复杂度	动态场景复杂度	场景复杂度
5	9.374 9	7.407 2	69.441 7
6	8.266 9	1.000 0	8.266 9
7	9.866 1	1.051 2	10.371 2
13	9.374 9	20.309 8	190.402 3
22	9.619 5	14.578 9	140.241 7
29	9.866 1	9.001 5	74.414 5
30	9.866 1	7.267 3	71.699 9
33	9.866 1	30.612 1	304.657 7
34	9.866 1	78.054 6	770.094 4
42	9.374 9	44.666 8	418.746 7

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Evaluation Method and Test Verification of Road Test Scenes for Autonomous Vehicles

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