基于设计运行条件的实际道路测试场景复杂度计算模型  

Scenario Complexity Calculation Model of Real Road Test Based on Operational Design Condition

作　　者：孙航[1] 李雨冉 张琳琳 翟洋 陈振宇 陈蔯 Sun Hang;Li Yuran;Zhang Linlin;Zhai Yang;Chen Zhenyu;Chen Chen(Auto Standardization Research Institute,China Automotive Technology and Research Center Co.,Ltd.,Tianjin 300300;CATARC Intelligent and Connected Technology Co.,Ltd.,Tianjin 300221)

机构地区：[1]中国汽车技术研究中心有限公司中国汽车标准化研究院,天津300300 [2]中汽智联技术有限公司,天津300221

出　　处：《汽车工程》2024年第11期1983-1992,共10页Automotive Engineering

摘　　要：自动驾驶车辆在实际道路行驶的安全性与外部交通要素、驾驶员状态以及本车状态密切相关。自动驾驶面临的一大难题是实际交通环境具有道路形态、自然环境、交通参与者及事件等在时间和空间维度的随机性特征,测试场景复杂度存在的差异造成了自动驾驶测试过程的不可复现性和测试结果的不可对比性,导致自动驾驶评价缺乏统一量化的测试环境基准。本文提出了一种基于设计运行条件的实际道路测试场景复杂度计算模型,系统考虑了网联功能、驾驶员感知能力、本车执行能力对自动驾驶车辆在实际道路中面临相关场景时的复杂度影响,建立了以道路等级、交通设施、临时交通变化、交通参与者、自然环境、网联信息、驾驶员状态和本车状态等8个要素大类为基础的自动驾驶实际道路测试场景复杂度计算模型要素库,建立了基于设计运行条件和层次分析法的自动驾驶功能实际道路测试场景复杂度计算模型。采用基于智能化网联化的技术逻辑影响传递机制计算场景要素权重系数,并在实际道路测试中验证了本文方法的可行性和合理性。The safety of automated vehicle running on the real road is related to traffic factors,driver sta-tus,and vehicle status.One major challenge faced by automated driving is that the actual traffic environment is char-acterized by spatial-temporal randomness of road morphology,natural environment,traffic participants and events.And the difference in complexity of testing scenarios results in the irreproducibility of the automated driving testing process and the incompatibility of testing results,which means that the evaluation of automated driving lacks a uni-fied and quantified testing environment benchmark.In this paper,a scenario complexity calculation model for real road test based on operational design condition(ODC)is proposed.Considering the impact of network connectivity,driver perception ability,and vehicle execution ability on the complexity of automated driving vehicles facing rele-vant scenarios on actual roads,a complexity calculation model element database for autonomous driving actual road testing scenarios based on the eight major categories of road level,traffic facilities,temporary traffic changes,traf-fic participants,natural environment,network information,driver status and vehicle status.A scenario complexity computational model of real road test based on operational design condition and analytic hierarchy process(AHP)is established,The effect transmission mechanism based on intelligent and connected technology is adopted to calcu-late the weight coefficient of scenario elements,and the feasibility and rationality of the proposed method are validat-ed in the real road tests.

关 键 词：自动驾驶 实际道路测试 设计运行条件 场景复杂度 

分 类 号：U467[机械工程—车辆工程] U463.6[交通运输工程—载运工具运用工程]