Study on the Controlled Field Test Scenarios of Automated Vehicles 2018-01-1633
Function and performance test of automated vehicles in the closed field is a necessary way to verify their safety, intelligence and comfort. The design and number of test scenarios will influence if the automated vehicles can be tested and evaluated effectively and fast. Based on the interrelationship among the vehicle, driver’s (or control system) driving strategy and road, we use the permutation and combination method to compare the relative position and movement relations between an automated vehicle (vehicle under test) and the surrounding vehicles to generate a total possible test scenarios group. According to the main functions features of L2 and L3 class automated vehicle, for each specified road traffic scenario, we proposed to generate a simple primary test scenario with test value firstly, then to increase the number of obstacle vehicles step by step, and to screen out the test scenarios of various levels with test value by analyzing the scenario importance and the impact analysis of the detection and response of the ego-vehicle, and finally obtain an overall test scenarios group with test significance. The method can ensure that the test scenario of the controlled venue test is a test condition that can effectively reflect the quality of the automated vehicle and can greatly reduce the number of test scenarios on the basis of wide coverage. Finally, the vehicle driving and position parameters in the test scenarios are designed according to the driver’s behavior characteristics, traffic rules, the typical vehicle speed, acceleration and deceleration in urban, suburban and highway conditions, the relevant data in traffic accident database and the simulation to form the test case in normal operating and pre-crash conditions. The paper also presents the parameters of the test conditions design cases and evaluation indicators.