基于驾驶模拟器的切入场景安全边界研究

Safety Boundary Study of Cut-in Scenario Based on Driving Simulator

为研究自动驾驶测试场景的安全边界,文章以前车低速切入场景为例,采用驾驶模拟器进行测试。设置不同的本车速度、目标车速度和目标车的切入时刻。对驾驶员的碰撞结果用无碰撞风险、临近碰撞、发生碰撞三种结果来表示。本车速度选取80 km/h、100 km/h、120 km/h三个速度点,目标交通车以设定的TTC在前方切入本车车道,TTC取值从0.8 s〜3.5 s不等。测试选取10名驾驶员。对不同驾驶员的测试结果进行分析,结果表明相同本车速度下,所需安全间距与切入距离正相关并给出了具体的临界安全值,本研究可为自动驾驶功能开发和测试评价指标的制定提供参考。

In order to study the safety boundary of the automatic driving test scenario,this paper takes the cut-in scenario as an example and uses the driving simulator to conduct the test.Set different vehicle speed,target vehicle speed and target vehicle cut-in timing.The collision results for the driver are represented by three kinds of results:no collision risk,near collision and occurrence collision.The speed of the vehicle is selected at three speed points:80 km/h,100 km/h and 120 km/h.The target vehicle cut into the ego vehicle lane ahead according to the set TTC,with TTC value ranging from 0.8 s to 3.5 s.Ten drivers were selected for the test.The test results of different drivers are analyzed,and the results show that at the same vehicle speed,the required safe distance is positively correlated with the cut distance,and the specific critical safety value is given.This study can provide a reference for the development of autonomous driving functions and the formulation of test and evaluation indexes.