自动驾驶汽车测试技术与应用进展
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摘要
针对自动驾驶汽车的决策规划、环境感知等测试需求,从测试方法、测试工具以及测试加速三个方面,系统地总结了自动驾驶汽车测试技术与应用现状,深入地分析了自动驾驶汽车测试技术的特点和适用范围.最后,指出了自动驾驶汽车测试技术的未来发展方向.
Based on testing demands for automated vehicles such as decision-making and environment perception, the state-of-the-art testing technologies were systematically summarized from the aspects of testing methods, testing tools, and testing acceleration. Features and application scopes of these technologies were analyzed. Furthermore, the future developing trend of testing technologies for automated vehicles was given.
Based on testing demands for automated vehicles such as decision-making and environment perception, the state-of-the-art testing technologies were systematically summarized from the aspects of testing methods, testing tools, and testing acceleration. Features and application scopes of these technologies were analyzed. Furthermore, the future developing trend of testing technologies for automated vehicles was given.
引文
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[2] SAE International.Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles:Standard J3016[S].Warrendale:SAE International,2016.
[3] SAE International.Adaptive cruise control (ACC) operating characteristics and user interface:Standard J2399[S].Warrendale:SAE International,2014.
[4] ISO,IEC,IEEE.Systems and software engineering:vocabulary[S].Piscataway:IEEE Computer Society,2010.
[5] DEERING R K.Crash avoidance metrics partnership annual report[R].Washington DC:NHTSA,2002.
[6] MCLAUGHLIN S B,HANKEY J M,DINGUS T A,et al.Development of an FCW algorithm evaluation methodology with evaluation of three alert algorithms[R].Washington DC:NHTSA,2009.
[7] MISENER J.Cooperative intersection collision avoidance system (CICAS):signalized left turn assist and traffic signal adaptation[R].Berkeley:University of California,2010.
[8] LEBLANC D J.Development of performance evaluation procedures for active safety systems [R/OL].Ann Arbor:University of Michigan Transportation Research Institute,2014.[2018-04-20].http://www.umtri.umich.edu/our-results/projects/development-performance-evaluation-procedures-active-safety-systems.
[9] KARABATSOU V,PAPPAS M,VAN ELSLANDE P,et al.A-priori evaluation of safety functions effectiveness:methodologies table of contents[R].Paris:Traffic Accident Causation in Europe,2007.
[10] LEMMEN P,FAGERLIND H,UNSELT T,et al.Assessment of integrated vehicle safety systems for improved vehicle safety[J].Procedia-Social and Behavioral Sciences,2012,48(2307):1632.
[11] SCHOLLIERS J,BLOSSEVILLE J M,ANTTILA V,et al.IP D10 analysis and results of validation procedures for preventive and active safety functions[R].Sindelfingen:PReVENT Consortium,2007.
[12] LARSSON P,ESBERG I,VAN NOORT M,et al.Test and evaluation plans[R].Aachen:Interactive Consortium,2012.
[13] ULBRICH S,MENZEL T,RESCHKA A,et al.Defining and substantiating the terms scene,situation,and scenario for automated driving[C]// International Conference on Intelligent Transportation Systems.Las Palmas:IEEE,2015:982-988.
[14] GROSSMAN L.Building the best driverless robot car[EB/OL].[2007-11-15].http://www.time.com/time/magazine/article/0,9171,1684543,00.html.
[15] 郑南宁.中国智能车未来挑战赛,稳步迈向第十年[N].科技日报,2018-06-12(4).ZHENG Nanning.China smart car future challenge,steadily marching towards the tenth year[N].Science and Technology Daily,2018-06-12(4).
[16] ROESENER C,FAHRENKROG F,UHLIG A,et al.A scenario-based assessment approach for automated driving by using time series classification of human-driving behavior[C]// International Conference on Intelligent Transportation Systems.Rio de Janeiro:IEEE,2016:1360-1365.
[17] PEGASUS.PEGASUS joint project[EB/OL].[2017-10-01].http://www.pegasusprojekt.de/de/.
[18] GEYER S,BALTZER M,FRANZ B,et al.Concept and development of a unified ontology for generating test and use-case catalogues for assisted and automated vehicle guidance[J].IET Intelligent Transport Systems,2013,8(3):183.
[19] ZIEGLER J,BENDER P,SCHREIBER M,et al.Making bertha drive:an autonomous journey on a historic route[J].IEEE Intelligent Transportation Systems Magazine,2014,6(2):8.
[20] Google.On the road to fully self-driving Waymo safety report[EB/OL].[2017-10-01].https://storage.googleapis.com/sdc-prod/v1/safety-report/waymo-safety-report-2017-10.pdf.
[21] NHTSA.Traffic safety facts 2013[R].Washington DC:NHTSA,2013.
[22] KOOPMAN P,WAGNER M.Challenges in autonomous vehicle testing and validation[J].SAE International Journal of Transportation Safety,2016,4(1):15.
[23] GIETELINK O J.Design and validation of advanced driver assistance systems[D].Delft:Delft University of Technology,2007.
[24] GRUYER D,PECHBERTI S,GLASER S.Development of full speed range ACC with SiVIC,a virtual platform for ADAS prototyping,test and evaluation[C]// Intelligent Vehicles Symposium.Gold Coast:IEEE,2013:100-105.
[25] ROSSETTI R J F.An integrated architecture for autonomous vehicles simulation[C]// ACM Symposium on Applied Computing.Riva del Garda:ACM,2012:286-292.
[26] VIRES Simulations Technology GmbH.OpenScenario[EB/OL].[2017-09-26].http://www.openscenario.org/project.html.
[27] NOTH S,EDELBRUNNER J,IOSSIFIDIS I.An integrated architecture for the development and assessment of ADAS[C]// International IEEE Conference on Intelligent Transportation Systems.Anchorage:IEEE,2012:347-354.
[28] BUHREN M,YANG B.Simulation of automotive radar target lists using a novel approach of object representation[C]// Intelligent Vehicles Symposium.Tokyo:IEEE,2006:314-319.
[29] JOSHI A.Powertrain and chassis hardware-in-the-loop (HIL) simulation of autonomous vehicle platform[C]// Intelligent and Connected Vehicles Symposium.Kunshan:SAE,2017:1-12.
[30] MIQUET C,SCHWAB S,PFEFFER R,et al.New test method for reproducible real-time tests of ADAS ECUs:“Vehicle-in-the-Loop” connects real-world vehicles with the virtual world[C]//International Munich Chassis Symposium 2014.Munich:Springer,2014:575-589.
[31] BUTENUTH M,KALLWEIT R,PRESCHER P.Vehicle-in-the-loop real-world vehicle tests combined with virtual scenarios[J].ATZ Worldwide,2017,119(9):52.
[32] FAYAZI S A,VAHIDI A.Vehicle-in-the-loop (VIL) verification of a smart city intersection control scheme for autonomous vehicles[C]// Control Technology and Applications.Mauna Lani:IEEE,2017:1575-1580.
[33] GIBSON T.Virginia’s smart road:where researchers make the extreme weather[J].Weatherwise,2015,68(4):20.
[34] JACOBSON J,JANEVIK P,WALLIN P.Challenges in creating AstaZero,the active safety test area[C]// Transport Research Arena (TRA) 5th Conference.Paris:Transport Research Arena (TRA),2014:14-20.
[35] BRIEFS U.Mcity grand opening[J].The UMTRI Research Review,2015,46(3):1.
[36] WACHENFELD W,WINNER H.The release of autonomous vehicles:autonomous driving[M].Berlin:Springer,2016.
[37] ECKSTEIN L,ZLOCKI A.Safety potential of ADAS:combined methods for an effective evaluation[C]//23rd International Technical Conference on the Enhanced Safety of Vehicles (ESV).Seoul:Springer,2013:1-7.
[38] TATAR M,MAUSS J.Systematic test and validation of complex embedded systems[C]// Embedded Real Time Software and Systems.Toulouse:[s.n.],2014:1-10.
[39] ZHAO D.Accelerated evaluation of automated vehicles[D].Michigan:University of Michigan,2016.