Automotive Engineering ›› 2024, Vol. 46 ›› Issue (4): 577-587.doi: 10.19562/j.chinasae.qcgc.2024.04.003
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
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.
"
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 | * |
"
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 |
1 | International Organization for Standardization. Road vehicles-functional safety: ISO 26262 [S]. Geneva, Switzerland, 2011. |
2 | International Organization for Standardization. Road vehicles-cybersecurity engineering, Ground Vehicle Standard: ISO/SAE 21434[S]. 2020. |
3 | International Organization for Standardization. Road vehicles-safety of the intended functionality: ISO 21448 [S]. Geneva, Switzerland: ISO, 2022: 1. |
4 | DEVI S, MALARVEZHI P, DAYANA R, et al. A comprehensive survey on autonomous driving cars: a perspective view[J]. Wireless Personal Communications, 2020, 114(3): 2121-2133. |
5 | XING X, JIA T, CHEN J, et al. An ontology-based method to identify triggering conditions for perception insufficiency of autonomous vehicles[J]. arXiv preprint arXiv:, 2022. |
6 | BOUDETTE N E. Fatal Tesla crash raises new questions about autopilot system[J]. The New York Times, 2018, 31. |
7 | EFRATI A. Uber finds deadly accident likely caused by software set to ignore objects on road[J]. The Information, 2018. |
8 | 王若萱,吴建平,徐辉.自动驾驶汽车感知系统仿真的研究及应用综述[J].系统仿真学报,2022,34(12):2507-2521. |
WANG R X, WU J P, XU H. Overview of research and application on autonomous vehicle oriented perception system simulation[J]. Journal of System Simulation, 2022,34(12):2507-2521. | |
9 | PEYNOT T, UNDERWOOD J, SCHEDING S. Towards reliable perception for unmanned ground vehicles in challenging conditions[C]. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2009: 1170-1176. |
10 | RIVERO J R V, TAHIRAJ I, SCHUBERT O, et al. Characterization and simulation of the effect of road dirt on the performance of a laser scanner[C]. 2017 IEEE 20th International Conference on Intelligent Transportation Systems (ITSC). IEEE, 2017: 1-6. |
11 | RASSHOFER R H, SPIES M, SPIES H. Influences of weather phenomena on automotive laser radar systems[J]. Advances in Radio Science, 2011, 9: 49-60. |
12 | 赵望宇,李必军,单云霄,等.融合毫米波雷达与单目视觉的前车检测与跟踪[J].武汉大学学报(信息科学版), 2019,44(12):1832-1840. |
ZHAO W Y, LI B J, SHAN Y X, et al. Vehicle detection and tracking based on fusion of millimeter wave radar and monocular vision[J]. Geomatics and Information Science of Wuhan University, 2019,44(12):1832-1840. | |
13 | YEONG D J, VELASCO-HERNANDEZ G, BARRY J, et al. Sensor and sensor fusion technology in autonomous vehicles: a review[J]. Sensors, 2021, 21(6): 2140. |
14 | JIA T, XING X, GUO R, et al. Performance limitations analysis of visual sensors in low light conditions based on field test[C].SAE 2022 Intelligent and Connected Vehicles Symposium. SAE, 2022. |
15 | JIANG W, XING X, HUANG A, et al. Research on performance limitations of visual-based perception system for autonomous vehicle under severe weather conditions[C]. 2022 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2022: 586-593. |
16 | POST K, DAVEY C K. Integrating SOTIF and agile systems engineering [C]. SAE Paper 2019-01-0141. |
17 | 冯浩. 高速公路自动驾驶系统感知模块预期功能安全研究[D]. 长春: 吉林大学,2022. |
FENG H. Research on safety of the intended functionality of perception module for highway pilot system[D]. Changchun: Jinlin University, 2022. | |
18 | HOU Z, LIU H, ZHANG Y. Attributes based bayesian unknown hazards assessment for digital twin empowered autonomous driving[C]. 2021 IEEE 23rd Int Conf on High Performance Computing & Communications; 7th Int Conf on Data Science & Systems; 19th Int Conf on Smart City; 7th Int Conf on Dependability in Sensor, Cloud & Big Data Systems & Application (HPCC/DSS/SmartCity/DependSys). IEEE, 2021: 853-860. |
19 | ADEE A, GANSCH R, LIGGESMEYER P. Systematic modeling approach for environmental perception limitations in automated driving[C]. 2021 17th European Dependable Computing Conference (EDCC). IEEE, 2021: 103-110. |
20 | 吴新政,邢星宇,刘力豪,等.基于错误注入的决策规划系统抗扰性测试与分析[J].汽车工程,2023,45(8):1428-1437. |
WU X Z, XING X Y, LIU L H, et al. Testing and analysis of the robustness of decision-making and planning systems based on fault injection[J]. Automotive Engineering, 2023,45(8):1428-1437. | |
21 | XING X, LIU L, CHEN J, et al. Adaptive error injection for robustness verification of decision-making systems for autonomous vehicles[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2023: 09544070231176934. |
22 | KIROVSKII O M, GORELOV V A. Driver assistance systems: analysis, tests and the safety case. ISO 26262 and ISO PAS 21448[C]. IOP Conference Series: Materials Science and Engineering. IOP Publishing, 2019, 534(1): 012019. |
23 | SKRUCH P, SZELEST M, DLUGOSZ M, et al. Safety of perception systems in vehicles of high-level motion automation[C]. 2022 20th International Conference on Emerging eLearning Technologies and Applications (ICETA). IEEE, 2022: 561-566. |
24 | CHIA W M D, KEOH S L, GOH C, et al. Risk assessment methodologies for autonomous driving: a survey[J]. IEEE Transactions on Intelligent Transportation Systems, 2022, 23(10): 16923-16939. |
25 | YANG M, JIANG K, WEN J, et al. Real-time evaluation of perception uncertainty and validity verification of autonomous driving[J]. Sensors, 2023, 23(5): 2867. |
26 | REN L, YIN H, GE W, et al. Environment influences on uncertainty of object detection for automated driving systems[C]. 2019 12th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI). IEEE, 2019: 1-5. |
27 | GASPERINI S, HAUG J, MAHANI M A N, et al. CertainNet: sampling-free uncertainty estimation for object detection[J]. IEEE Robotics and Automation Letters, 2021, 7(2): 698-705. |
28 | 陈君毅,周堂瑞,邢星宇,等.基于系统理论过程分析的自动驾驶汽车安全分析方法研究[J].汽车技术,2019(12):1-5. |
CHEN J Y, ZHOU T R, XING X Y, et al. Research on safety analysis method for autonomous vehicles based on STPA[J]. Automobile Technology,2019(12):1-5. | |
29 | BÜHLER A, GAIDON A, CRAMARIUC A, et al. Driving through ghosts: behavioral cloning with false positives[C]. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020: 5431-5437. |
30 | BERK M, SCHUBERT O, KROLL H M, et al. Assessing the safety of environment perception in automated driving vehicles[J]. SAE International Journal of Transportation Safety, 2020, 8(1): 49-74. |
31 | DE FSM RUSSO R, CAMANHO R. Criteria in AHP: a systematic review of literature[J]. Procedia Computer Science, 2015, 55: 1123-1132. |
32 | LI C, SOLANGI Y A, ALI S. Evaluating the factors of green finance to achieve carbon peak and carbon neutrality targets in China: a delphi and fuzzy AHP approach[J]. Sustainability, 2023, 15(3): 2721. |
33 | REID T G R, HOUTS S E, CAMMARATA R, et al. Localization requirements for autonomous vehicles[J]. arXiv preprint arXiv:, 2019. |
34 | EVERINGHAM M, VAN GOOL L, WILLIAMS C K I, et al. The pascal visual object classes (voc) challenge[J]. International Journal of Computer Vision, 2010, 88: 303-338. |
[1] | Siyu Wu,Wenhao Yu,Xingyu Xing,Yuxin Zhang,Chuzhao Li,Xueke Li,Xinyu Gu,Yunwei Li,Xiaohan Ma,Wei Lu,Zheng Wang,Zhenmao Hao,Hong Wang,Jun Li. Methodology of Critical Scenarios-Based Dual-Loop Testing and Verification for Safety of the Intended Functionality [J]. Automotive Engineering, 2023, 45(9): 1583-1607. |
[2] | Xianxu Bai,Yu Zuo,Weihan Li,Qin Shi,Chuzhao Li,Shulian Zhao,Jiong Chen. Quantitative Evaluation of SOTIF for Control Module of AEBS [J]. Automotive Engineering, 2023, 45(9): 1655-1665. |
[3] | Xinzheng Wu,Xingyu Xing,Lihao Liu,Yong Shen,Junyi Chen. Testing and Analysis of the Robustness of Decision-Making and Planning Systems Based on Fault Injection [J]. Automotive Engineering, 2023, 45(8): 1428-1437. |
[4] | Wenbo Shao,Jun Li,Yuxin Zhang,Hong Wang. Key Technologies to Ensure the Safety of the Intended Functionality for Intelligent Vehicles [J]. Automotive Engineering, 2022, 44(9): 1289-1304. |
[5] | Chao Zhao,Dexu Bu,Lipeng Cao,Keqiang Li,Yugong Luo. Safety Control Strategy for Adaptive Cruise Control System in Heavy Rainfall Scenes [J]. Automotive Engineering, 2022, 44(8): 1117-1125. |
|