Automated vehicles need to pass rigorous safety testing and verification before they can enter the market. Functional and critical test scenarios are an important basis for safety testing of automated vehicles. Using the conflict combination method of the automated ego-vehicle and the interfering vehicles., the basic function test scenarios under the conditions of the roundabout were constructed. Four safety evaluation indexes for roundabout conditions were designed. The 3-way combined test strategy was applied to obtain the test cases of the automated vehicle. Through the motion planning and control model of the automated vehicle under the roundabout conditions., the test cases were simulated., and the critical test cases were got according to the screening of the safety index thresholds. Finally., a greatly reduced number of typical critical test cases were gained by the clustering method., which can be used to test the safety of motion planning of automated vehicle in a closed field.
Construction of test scenarios for automated vehicles under roundabout
2022-10-28
5264553 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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