自动驾驶车辆的驾驶行为能力评估指标体系综述  

Review of Indicator Systems for Driving Behavioral Ability Evaluation of Autonomous Vehicles

作　　者：李升波[1] 陈晨[1,2] 方叙之 兰志前 吕尧 占国建 聂冰冰 张放[4] 张德兆 LI Sheng-bo;CHEN Chen;FANG Xu-zhi;LAN Zhi-qian;LYU Yao;ZHAN Guo-jian;NIE Bing-bing;ZHANG Fang;ZHANG De-zhao(School of Vehicle and Mobility,Tsinghua University,Beijing 100084,China;College of Metropolitan Transportation,Beijing University of Technology,Beijing 100124,China;Zhongke Atomically Precise Manufacturing Technology Co.Ltd.,Beijing 100084,China;Beijing Zhixingzhe Technology Co.Ltd.,Beijing 100084,China)

机构地区：[1]清华大学车辆与运载学院,北京100084 [2]北京工业大学城市交通学院,北京100124 [3]中科原子精密制造科技有限公司,北京100084 [4]北京智行者科技股份有限公司,北京100084

出　　处：《中国公路学报》2025年第1期304-323,共20页China Journal of Highway and Transport

基　　金：国家自然科学基金青年科学基金项目(52102411)。

摘　　要：近年来,自动驾驶逐步开始公共开放道路的实车测试和示范应用,并将频繁地与人类进行交互,也要求其驾驶行为从以往功能性的“安全稳定驾驶”向交互性的“像人类一样驾驶”转变。其中,构建能够精准表征人类对驾驶行为能力认知的评价指标和方法,是引导自动驾驶技术不断发展类人或超人驾驶行为能力的必需前提。聚焦于自动驾驶车辆的驾驶行为能力评估指标体系构建,首先阐述了自动驾驶车辆的驾驶行为能力的定义和边界;而后,梳理了现有驾驶行为能力的评价指标体系现状及存在的问题,提出了包含安全性、高效性、舒适性、节能性、合规性5维度瞬时指标以及综合性“行为类人性”的STCER-H指标体系;然后,综述现有单项指标的建模方法,厘清各个维度指标内涵,总结目前各个维度指标现状及其问题;在多维度聚合的统计性评估层面,重点论述了“行为类人性”指标定义及建模建议;最后,对现有驾驶行为能力评估指标体系的问题挑战和未来研究展望进行总结。分析结果能够为学界和业界在驾驶行为能力评估方面的研究提供参考。Recently,autonomous vehicles(AVs)have gradually reached the stage of real-world testing and demonstration on public roads.AVs interact frequently with humans,and their driving performance requirements have shifted from a functional level of“safe and stable driving”to an interactive level of“driving like a human.”The construction of evaluation indices and methods that can accurately characterize the human cognition of driving behavioral ability is necessary to guide the continuous development and improvement of automated driving technology to demonstrate human-like or superhuman driving ability.This study focused on the construction of an evaluation indicator system for the driving behavioral ability of autonomous vehicles.This paper first elaborates on the definition and boundaries of the driving behavioral ability of autonomous vehicles.Then,the current status and existing problems of the evaluation index system for driving behavioral ability are presented.Moreover,an STCER-H index system is proposed,which includes five dimensions of instantaneous indicators:Driving Safety,Travel Efficiency,Driving Comfort,Energy Efficiency,and Regulatory Compliance,as well as a comprehensive“Humanoid Level of Driving Behavior”indicator.Consequently,the existing modeling methods for individual indicators are reviewed,the connotations of each dimension indicator are clarified,and the current status and problems of each dimension indicator are summarized.At the level of statistical evaluation in multidimensional aggregation,the definition and modeling suggestions of“Humanoid Level of Driving Behavior”indicator are primarily discussed.Finally,a summary of the challenges and future research prospects of the existing evaluation index system for driving behavioral ability is presented to provide a reference for academic and industry research.

关 键 词：汽车工程 驾驶行为能力 综述 自动驾驶车辆 驾驶安全 指标体系 

分 类 号：U471.15[机械工程—车辆工程]