自动驾驶汽车的多维评价准则体系

A Multi-dimensional Evaluation Criterion Scheme for Autonomous Vehicles

自动驾驶(AD)技术是一种能够增强或替代人类驾驶员的技术,但同时也给汽车测试和评估(T&E)技术带来了极大的挑战。由于AD技术替代了驾驶员的感知、决策和控制,因此自动驾驶汽车(AVs)的T&E程序必须从独立的人-车二元T&E转变为人-车系统的集成T&E。在复杂的天气、交通和电磁环境下进行公路测试,使得AVs的定量T&E非常困难。为了解决这个问题,本文提出了一种多维度评价准则方案,其中包括运行范围、性能表现和交互与风险保障评价准则。通过形式化方法,即线性时间逻辑(LTL),实现了基于场景的评估方法。在中国GB的典型情景中,本文提出的评价准则方案得到了验证,并且通过基于SCANeR studio软件的模拟实现。

Autonomous driving(AD)is an enhancement or replacement for human drivers,while AD has brought a huge challenge to automotive testing and evaluation(T&E)technologies.As AD replaces drivers'perception,decision-making and control,the T&E procedure for autonomous vehicles(AVs)changes from independent T&E of human-vehicle binary to integrated T&E of human-vehicle systems.Complex weather,traffic and electromagnet environments under open-road testing make a quantitative T&E of AVs very difficult.To solve this problem,in this paper,we propose a multi-dimensional evaluation criterion scheme for AVs,including evaluation criteria for operational scope,behavioral performance,interaction and risk protection.Then,a scenario-based evaluation approach is realized by the formal approach,i.e.,linear temporal logic(LTL).The proposed evaluation criterion scheme is verified by a typical scenario in China GB and implemented by simulations based on the SCANeR studio software.