基于通行规则模型的自动驾驶仿真场景构建研究

doi:10.19562/j.chinasae.qcgc.2025.08.001

Abstract

Abstract:

In this paper， a universal and extensible description model for natural language road traffic rules is proposed， which transforms the language description of traffic rules into logical propositions through ontology methods. Then a unified road traffic rule element layer based on design operation domain and dynamic driving task is established. A road traffic rule test boundary recognition model that matches the system design operation domain and dynamic driving task is constructed， and a scenario design method based on the road traffic rule description model is proposed. The test verification of two automated driving systems shows that the road traffic rule scenario design method proposed in this paper can achieve high-coverage of road traffic rule compliance testing based on limited test cases， reduce invalid testing caused by mismatch between the system under test and the test scenario， and effectively identify situation that does not comply with road traffic rules.

Key words: automated driving, test scenarios, simulation test, road traffic rules

Mingyue Ma,Zelin Miao,Weiqing Wang,Guangming Zhao,Changjun Wang. Research on Construction of Autonomous Driving Simulation Scenario Based on the Traffic Rule Model[J].Automotive Engineering, 2025, 47(8): 1437-1447.

Figures/Tables 9

名称	符号	句法示例
否定	?	?φ_n
合取	?	φ_n ?φ_n_＋1
析取	?	φ_n ?φ_n_＋1
蕴含	→	P→C
下一时刻	Χ	Χω_n
直到	U	ω_nUω_n_＋1
总是	G	$G$ ω_n
最终	F	Fω_n
t₁~t₂内总是发生	G（t₁，t₂）	G（t₁，t₂）ω_n
t₁~t₂内会发生	F（t₁，t₂）	F（t₁，t₂）ω_n

要素

稳定行驶区

触发区

v_{Ego_0}/

（km·h^-1）

v_{Obj_0}/（km·h^-1）

d_{s_0}/m

$V i s i b i l i t y$ /

D_v i s i b i l i t y

$V i s i b i l i t y$ /

上限

120

120

100

200

下限

200

100

序号	违规项目	测试用例数量	违规率	违规情形
1	MTL_Trafficlaw42.02	10	100%	夜间道路行驶，未减速。
2	MTL_Trafficlaw42.04	5	100%	遇有沙尘、冰雹、雨、雪、雾、结冰等气象条件行驶时，未减速。
3	MTL_TrafficRegulation59.09	5	100%	通过事故发生路段，未减速慢行。
4	MTL_TrafficRegulation84.01	5	100%	通过施工作业路段，未减速行驶。
5	MTL_Trafficlaw42.03	5	100%	车辆平均行驶速度超过最高限速标线表明的速度。
6	MTL_TrafficRegulation81.01	5	100%	雾天在高速公路上行驶且能见度低于50 m，未按照规定速度行驶，且未能发出接管请求。
7	MTL_TrafficRegulation81.02	5	100%	雨天在高速公路上行驶且能见度低于50 m，未按照规定速度行驶，且未能发出接管请求。
8	MTL_TrafficRegulation81.03	5	100%	雾天在高速公路上行驶且能见度低于100 m，未按照规定速度行驶，且未能发出接管请求。
9	MTL_TrafficRegulation81.04	5	100%	雨天在高速公路上行驶且能见度低于100 m，未按照规定速度行驶，且未能发出接管请求。
10	MTL_Trafficlaw53.04	10	100%	后方有正在执行紧急任务的警车加速靠近，长时间未能让行，且未能发出接管请求。
11	MTL_Trafficlaw53.05	10	100%	后方有正在执行紧急任务的消防车加速靠近，长时间未能让行，且未能发出接管请求。
12	MTL_Trafficlaw53.06	10	100%	后方有正在执行紧急任务的救护车加速靠近，长时间未能让行，且未能发出接管请求。
13	MTL_Trafficlaw53.07	10	100%	后方有正在执行紧急任务的工程救险车加速靠近，长时间未能让行，且未能发出接管请求。
14	MTL_TrafficRegulation44.03	10	50%	车辆向左变道，未按照规定让行左侧相临车道后方车辆。
15	MTL_TrafficRegulation44.09	15	50%	车辆向右变道，未按照规定让行右侧相临车道后方车辆。
16	MTL_TrafficRegulation38.05	10	100%	车辆遇黄灯且已过停止线，停在路口中间，未按照规定继续行驶。
17	MTL_Trafficlaw38.11	10	100%	遇交通警察发出要求-靠边停车信号，未能停车，且未发出接管请求。
总计	17	135

References 26

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Research on Construction of Autonomous Driving Simulation Scenario Based on the Traffic Rule Model

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