自动驾驶仿真多逻辑场景综合评价方法

Comprehensive Evaluation Method for Automated Vehicle in Multiple Virtual Logical Scenarios

基于场景的仿真测试方法已成为解决自动驾驶汽车性能验证的核心思路,该方法将车辆连续驾驶过程进行分割获取非重复的独立场景片段,并在仿真环境中进行测试。与测试过程相贴合,本文提出了一种自动驾驶仿真多逻辑场景综合评价方法。首先建立自动驾驶汽车多逻辑场景综合评价方法,明确兼顾场景自身特征信息及仿真过程信息的场景权重分析流程;通过暴露度、失控度、危害度建立逻辑场景自身特征信息权重;建立包含仿真精度信息、要素种类信息、参数空间信息、离散步长信息的仿真过程信息权重;基于HighD数据集抽取前车制动、前车左侧切入、前车右侧切入场景信息,并基于本文提出的方法及基准算法测试结果计算场景权重,最终获取两种被测算法在多逻辑场景中的综合评价结果。

The scenario-based simulation testing method has become the core idea for automated vehicle performance verification,which splits the continuous vehicle driving process to obtain non-repetitive and independent scenario segments and tests them in virtual environment.Fitting in with the test process,a comprehensive evaluation method for automated vehicle simulation testing in multi-logical scenarios is proposed in this paper.Firstly,a comprehensive evaluation method for automated vehicle in multi-logical scenarios is established and the scenarios weighting analysis process considering both the scenario′s own characteristic information and simulation test process information is defined.Then,the logical scenario′s own characteristic information weighting is built by exposure degree,control loss degree and hazard degree.The simulation test process information weighting is built by simulation accuracy information,element type information,parameter space information and discrete step information.Finally,the information of front braking,front left cut-in and front right cut-in scenarios is extracted based on HighD dataset and the scenario weight is calculated through the method proposed in this paper and base algorithm test results,and the two tested algorithms’comprehensive evaluation results are obtained in multi-logical scenarios.