自动驾驶汽车行驶风险评估方法综述  

A Survey of Driving Risk Assessment for Autonomous Vehicles

作　　者：熊璐[1] 吴建峰 邢星宇 吴新政 陈君毅[1] XIONG Lu;WU Jianfeng;XING Xingyu;WU Xinzheng;CHEN Junyi(Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学,上海201804

出　　处：《汽车工程学报》2024年第5期745-759,共15页Chinese Journal of Automotive Engineering

基　　金：国家重点研发计划项目(2022YFB2503001);国家自然科学基金重点项目(52232015);重庆市技术创新与应用发展专项重大主题专项项目(cstc2019iscx-zdztzx X0041)。

摘　　要：行驶风险评估对自动驾驶系统的安全运行至关重要。将现有行驶风险评估方法分为3类,包括面向单一目标物的、基于可达集的和基于势场论的评估方法。提出5个评价维度,包括计算实时性、结果时效性、应用可行性、内容充分性和场景泛用性,对评估方法进行了全面比较,揭示其特点和适用情况。对自动驾驶行驶风险评估面临的问题以及未来发展趋势进行了分析和展望。Conducting a thorough driving risk assessment is important for the driving safety of autonomous vehicles.In this paper,the existing driving risk assessment methods are divided into three categories,namely,the single object-oriented methods,the reachability set-based methods,and the potential field-based methods.In order to conduct a comprehensive comparison of these methods and reveal their distinct characteristics and applicability,the paper proposes five evaluation dimensions,including real-time capability,the duration of the valid prediction horizon,application feasibility,the inclusion of various risk sources and adaptability in different scenarios.The research gaps and potential future research directions in driving risk assessment for autonomous vehicles are analyzed and prospected.

关 键 词：自动驾驶汽车 风险评估 行驶风险 场景 综述 

分 类 号：U463.6[机械工程—车辆工程]