基于风险场景搜索的自动驾驶测试方法  

Autonomous driving testing approach based on risky scenario search

作　　者：丁浩天 王国权[1] Ding Haotian;Wang Guoquan(School of Electromechanical Engineering,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192

出　　处：《电子测量技术》2024年第8期37-44,共8页Electronic Measurement Technology

摘　　要：自动驾驶测试方法是自动驾驶研究体系中重要的组成部分,也是当前研究的热点之一。提出了基于风险场景搜索的自动驾驶测试方法,通过NGSIM数据集提取出换道场景,确定场景参数空间范围和特征,通过基于遗传算法的场景搜索方法构建自动驾驶测试场景。为了提高场景生成效率,改进了场景参数的搜索过程,对前车换道场景设置了约束,对单个场景的仿真时间进行优化,增加了记忆模块以防止相同场景进行复测试。基于PreScan/Simulink平台构建了三车道前车换道场景,生成并完成了439个场景的测试,其中有266个场景发生了车辆碰撞。分析发现,碰撞失效是由于被测算法制动不及时和未触发紧急制动所导致。Autonomous driving test method is an important part of autonomous driving research systems,and it is also one of the current research hotspots.In this paper,an automatic driving test method based on risk scenario search is proposed.The swap scenario is extracted through the NGSIM(Next Generation Simulation) dataset,and the scope and characteristics of the scene parameter space are determined.To improve the efficiency of scene generation,the search process of scene parameters is enhanced,constraining the lane-changing scene of the preceding vehicle,optimizing the simulation time of a single scene,and adding a memory module to prevent the same scene from repeated testing.A three-lane leading vehicle lane-changing scenario is constructed based on the PreScan/Simulink platform,and 439 scenarios are generated and tested,among which 266 scenarios result in vehicle collisions.It is found that collision failures are caused by the delayed action of the measuring system and the failure to trigger emergency braking.

关 键 词：自动驾驶 场景生成 遗传算法 虚拟测试 

分 类 号：U467.1[机械工程—车辆工程] TN06[交通运输工程—载运工具运用工程]