Technical Paper
Test Concrete Scenarios Extraction of Lane-Changing Scenarios Based on China-FOT Naturalistic Driving Data
2023-12-20
2023-01-7055
On account of the insufficient lane-changing scenario test cases and the inability to conduct graded evaluation testing in current autonomous driving system field testing, this paper proposed an approach that combined data-driven and knowledge-driven methods to extract lane-changing test concrete scenarios with graded risk levels for field testing. Firstly, an analysis of the potentially hazardous areas in lane-changing scenarios was conducted to derive key functional lane-changing scenarios. Three typical key functional lane-changing scenarios were selected, namely, lane-changing with a preceding vehicle braking, lane-changing with a preceding vehicle in the same direction, and lane-changing with a rear cruising vehicle in the adjacent lane, and their corresponding safety goals were respectively analyzed. Secondly, the GAMAB criterion was introduced as an evaluation standard for autonomous driving systems.