自动驾驶测试评价研究综述

doi:10.12341/jssms21113

系统科学与数学 ›› 2022, Vol. 42 ›› Issue (3): 495-508.DOI: 10.12341/jssms21113

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自动驾驶测试评价研究综述

余唯之¹, 苏奕敏², 王琳²

1. 上汽大众汽车有限公司, 上海 201805;
2. 上海交通大学电子信息与电气工程学院, 上海 200240

收稿日期:2021-03-07 修回日期:2021-07-06 出版日期:2022-04-20 发布日期:2022-04-20
基金资助:
上海汽车工业科技发展基金（1904）和国家自然科学基金（61873167）资助课题.

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余唯之, 苏奕敏, 王琳. 自动驾驶测试评价研究综述[J]. 系统科学与数学, 2022, 42(3): 495-508.

YU Weizhi, SU Yimin, WANG Lin. Review of Autonomous Driving Test and Evaluation[J]. Journal of Systems Science and Mathematical Sciences, 2022, 42(3): 495-508.

Review of Autonomous Driving Test and Evaluation

YU Weizhi¹, SU Yimin², WANG Lin²

1. SAIC Volkswagen Automotive Co., Ltd., Shanghai 201805;
2. School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240

Received:2021-03-07 Revised:2021-07-06 Online:2022-04-20 Published:2022-04-20

随着自动驾驶技术研究的兴起，对自动驾驶车辆建立一个科学完善的测试评价体系也逐渐受到重视.自动驾驶车辆的测试评价体系主要包括测试方法，以及评价方案与指标的选取.各个国家也为自动驾驶车辆的技术发展和应用制定了标准和法规，对于评价体系的建立有所帮助.因此，文章针对于自动驾驶车辆的测评研究进行了相关的调研工作，从现状背景、测试方法、评价方案、不同国家政策标准等方面进行了梳理和介绍.现状背景方面介绍自动驾驶车辆测评的意义和应用.测试方法方面具体介绍了蒙特卡洛方法、博弈论方法、测试矩阵评价方法和最坏场景评估方法四种，并详细阐述了对自动驾驶加速测试方法.评价方案方面，文章选取了中国自动驾驶仿真技术研究报告、德国PEGASUS项目、中国智能车未来挑战赛和欧洲AdaptIVe项目四个项目，针对其中的评价方案进行了具体说明，另外，也介绍了其他学术文献中提到的评价方案.最后，文章对中国、美国、欧洲等国家和地区近年来为自动驾驶制定的各类标准和政策进行了整理，并介绍了各国的研究现状、参与研究的公司和现有的仿真软件.

关键词： 自动驾驶, 测试评价, 测试方式, 评价方案, 国家标准

With the rise of research on autonomous driving technology, the establishment of a scientific and complete test and evaluation system for autonomous driving algorithms has gradually attracted attention. The test and evaluation system of autonomous vehicles mainly includes testing methods, as well as the selection of evaluation plans and indicators. Different countries have also formulated standards and regulations for the development and application of autonomous vehicles, which are helpful to the establishment of the evaluation system. Therefore, this article has carried out related research work on the test and evaluation of autonomous vehicles, and introduces from four aspects:Background, testing methods, evaluation plans, different national policy and research. In terms of the background, the significance and application of the test and evaluation of autonomous vehicles are introduced. In terms of testing methods, it specifically introduces Monte Carlo simulations, game theory method, test matrix evaluation and worst-scenario evaluation. Accelerated evaluation of automated vehicles is also introduced. In the aspect of evaluation plans, this article specifically introduces the evaluation plans in Annual Research Report on Autonomous Vehicle Simulation in China, German PEGASUS project, Chinese Intelligent Vehicle Future Challenge and the European AdaptIVe project these four projects. It also introduces the evaluation plans mentioned in other academic literature. Finally, this article briefly introduces the various standards and policies formulated for autonomous driving in China, the United States, Europe and other countries and regions in recent years. Related companies and their simulation software are also introduced.

Key words: Autonomous driving, test and evaluation, test method, evaluation plan, national standard

MR(2010)主题分类:

93C85

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