感知系统触发条件穿透率评估方法研究  

Evaluation Method for the Penetration Rate of Perception System Triggering Conditions

作　　者：陈君毅[1] 刘镇源 杨雪珠 王天辰 李海霞 贾通 邢星宇 吴新政 Chen Junyi;Liu Zhenyuan;Yang Xuezhu;Wang Tianchen;Li Haixia;Jia Tong;Xing Xingyu;Wu Xinzheng(School of Automotive Studies,Tongji University,Shanghai 201804;China FAW Group Corporation,Changchun 130011)

机构地区：[1]同济大学汽车学院,上海201804 [2]中国第一汽车股份有限公司,长春130011

出　　处：《汽车工程》2024年第4期577-587,604,共12页Automotive Engineering

基　　金：国家重点研发计划(2022YFB2503001);国家自然科学基金重点项目(52232015)资助。

摘　　要：预期功能安全问题制约着自动驾驶汽车的落地。自动驾驶感知系统面临的各种极端行驶环境等极易引起预期功能安全问题。因此,须按照现有预期功能安全标准,在安全分析阶段识别并评估种类多且数量大的触发条件,筛选高价值触发条件为后续测试验证提供测试场景输入。本文中首先基于对触发条件在自动驾驶系统中的风险演化过程的分析,提出一套包括暴露率、穿透率和危害率的三维感知系统触发条件评估体系。随后,基于层次分析法构建了触发条件穿透率量化评估方法。最后,针对某量产车型的融合感知系统分析并选取15个触发条件,构建测试用例并开展封闭场地测试,评估上述触发条件的穿透率。最终经计算筛选得到3个高风险触发条件,验证了触发条件穿透率量化评估方法的可行性。The issue of safety of the intended functionality(SOTIF)restricts the application of autonomous vehicles.The various extreme driving environments faced by the perception system of autonomous vehicles are high‐ly susceptible to SOTIF problems.Therefore,it is necessary to identify and evaluate a large number of triggering conditions in the safety analysis phase according to the existing SOTIF standards to select high-value trigger condi‐tions so as to provide test scenarios for subsequent test and validation.Firstly,a set of three-dimensional evaluation system for triggering conditions of the perception system including exposure rate,penetration rate and hazard rate is proposed,based on the analysis of the risk evolution process of triggering conditions in autonomous driving system.Subsequently,based on the analytic hierarchy process(AHP),a quantitative evaluation method for the penetration of triggering conditions is constructed.Finally,15 triggering conditions for a mass-produced vehicle fusion percep‐tion system are selected and analyzed.Test cases are built and the closed site tests are conducted to evaluate the pen‐etration rate of the above triggering conditions.Finally,through the calculation,3 high-risk triggering conditions are screened,which verifies the feasibility of the quantitative evaluation method of trigger condition penetration rate.

关 键 词：感知系统 预期功能安全 触发条件 量化评估 封闭场地测试 

分 类 号：U463.6[机械工程—车辆工程]