Study On The Field Test And Evaluation Methods Of Partial Automated Vehicles

Test and verification of automated vehicles is important before development and listed.Among the test methods,the controlled field test is the first step of the real-world test,and it can conduct a comprehensive evaluation for automated vehicles quickly,safely,accurately and repeatably.At present,there are few researches on controlled field test and evaluation for automated vehicles.So far,there are only test standards for part of Level 1 automated system,the L2~L3 automated system still lacks perfect test evaluation rules.This article research on controlled field test and evaluation methods of partial automated systems.The main contents are as follows:(1)According to the features of the existing automated vehicles,a method is proposed to generate and screen test scenarios.Sequentially arranging and combining the relative position,relative motion direction and self-movement direction among the automated driving ego-vehicle and surrounding vehicles or other traffic participants to form basic driving conditions.During this period,a concept of the scenario importance is proposed through the analysis the principles of reality,the effect on the ego-vehcile and simplcity to select out the normal driving conditions and pre-crash working condition scenes with test value,and thereby forming testable scene groups.The method is effectively applied to the scenario design of typical road conditions such as road sections,intersections,roundabouts and highway entrances and exits,and the testable scene libraries under these conditions are obtained.(2)The specific test parameters in each test scenario is designed.Taking the Level 2 basic function test as an example,preliminary parameter design is carried out according to some reference resources including the driver’s behavior characteristics,traffic rules,typical driving parameters such as speed,acceleration and headway in urban,suburban and highway,vehicle crash database from home and abroad.And then test cases are formed.Next,CarSim and Simulink to conduct simulation of the operating conditions is applied to verify the effectiveness of parameter design.(3)A comprehensive evaluation system for controlled field testing of partial automated vehicles is established.First,a multi-level evaluation index system for automated vehicles was established in terms of safety,intelligence,and comfort.Then through the analysis of each method of weighting,the methods including order relationship and the analytic hierarchy process are used to weight the evaluation indicators.Finally,selected fuzzy comprehensive evaluation method from the existing comprehensive evaluation methods to evaluate the results of the test of automated vehicles.Taking the real-word test results of ACC of the three vehicles as an example,a multi-level fuzzy comprehensive evaluation model was established and the individual performance scores and comprehensive performance scores of the three vehicles were calculated.