Abstract:

Aiming at the problems of computing power waste and repetitive testing in the current accelerate test methods which enhanced generating of hazardous scenarios， an accelerate test method based on hazardous boundary search for the automated driving system is proposed. Firstly， three types of inherent attributes of the scenarios are defined： scenario hazardous degree， exposure frequency and sensitivity， and the scenario test priority is proposed with the three inherent attributes which is treated as the basis of the division of parameter space and the search sequence of scenarios. Next， specific scenarios are extracted according to the scenario test priority； and the scenario test priority is updated according to the scenario hazard degree in test results by iterating the update process. Then， the support vector regression is used to fit the hazardous boundary of the experimental results. Finally， the Matlab/PreScan/CarSim co-simulation platform is built and a black-box automated driving algorithm is tested with the front vehicle cut-in scenario in virtual environment to verify the effectiveness of the proposed method. The results show that the proposed method can effectively search the hazardous boundary of the tested automated driving algorithm and improve the test efficiency.

Key words: vehicle engineering, automated driving system, accelerate test method, hazardous boundary, scenario test priority