自动驾驶仿真测试场景生成技术研究进展  

Research Progress on Autonomous Driving Simulation Test Scenario Generation Technology

作　　者：孙乐乐 黄松 郑长友 夏春艳 阳真 SUN Lele;HUANG Song;ZHENG Changyou;XIA Chunyan;YANG Zhen(College of Command and Control Engineering,Army Engineering University of PLA,Nanjing 210007,China)

机构地区：[1]中国人民解放军陆军工程大学指挥与控制工程学院,南京210007

出　　处：《计算机工程与应用》2025年第1期59-79,共21页Computer Engineering and Applications

摘　　要：自动驾驶系统已经成为汽车行业和计算机科学的前沿研究领域。为了确保自动驾驶系统的安全性和可靠性,对自动驾驶系统进行充分的测试是十分必要的,而仿真测试因其测试成本低、安全性高等优点,并且测试场景是自动驾驶仿真测试的关键,因此仿真测试场景生成是自动驾驶测试过程中不可或缺的环节。目前,已有大量学者致力于研究自动驾驶仿真测试,也有许多关于自动驾驶仿真测试的研究进展报告,但是针对于自动驾驶仿真测试场景生成的研究进展报告却寥寥无几。因此,对关于自动驾驶仿真测试场景的文献进行了全面调查,并对自动驾驶仿真测试的相关背景知识进行概述;通过调研国内外几十篇相关文献,按照自动驾驶系统的模块进行归纳总结,对现有仿真测试场景生成方法进行详细分类阐述;通过调研目前主流的仿真测试工具,对现有仿真测试工具进行分析归纳;分析了自动驾驶仿真测试领域面临的挑战和未来展望。Autonomous driving systems have emerged as a cutting-edge research domain at the intersection of the automotive industry and computer science.Ensuring the safety and reliability of autonomous driving systems necessitates comprehensive testing.Simulation testing,characterized by its low cost and high safety,plays a pivotal role in this context.The generation of simulation test scenarios is an indispensable component in the autonomous driving testing process.To date,numerous scholars have dedicated their efforts to the study of autonomous driving simulation testing,and there have been numerous reports on the advancements in this field.However,research progress reports specifically addressing the generation of simulation test scenarios for autonomous driving are scarce.Therefore,this paper commences with a comprehensive literature review on autonomous driving simulation test scenarios and provides an overview of the related background knowledge.Subsequently,it systematically categorizes and elaborates on the existing methods for generating simulation test scenarios by investigating dozens of relevant domestic and international literature,organized according to the modules of the autonomous driving system.Furthermore,the paper analyzes and summarizes the current mainstream simulation testing tools.Finally,the paper discusses the challenges and future prospects faced in the field of autonomous driving simulation testing.

关 键 词：自动驾驶 仿真测试 测试场景 整车测试 仿真测试工具 

分 类 号：TP311.5[自动化与计算机技术—计算机软件与理论]