Generation of autonomous driving simulation test cut-in scenario library considering the static characteristics of vehicles
DOI:
CSTR:
Author:
Affiliation:

1.College of Traffic Management, People’s Public Security University of China;2.Research Institute for Road Safety of the Ministry of Public Security

Clc Number:

Fund Project:

Funded by National Key Research and Development Program of China (2023YFB4302701).

  • Article
  • |
  • Figures
  • |
  • Metrics
  • |
  • Reference
  • |
  • Related
  • |
  • Cited by
  • |
  • Materials
  • |
  • Comments
    Abstract:

    To meet the demand for test scenarios in autonomous driving simulation testing, this study proposed a method for generating a simulation test scenario library that considers the static characteristics of cut-in vehicles. This research focused on highway lane-change cut-in scenarios, developing a logical scenario model that integrates motion information and static characteristics of cut-in vehicles, based on lane-change cut-in data from the highD dataset. A multi-class Gaussian mixture model constructed the joint probability density function of the logical scenario model parameters. The adaptive importance sampling (AIS) algorithm was utilized as the sampling method, and a time-to-collision (TTC) weighting function was introduced to formulate the scenario library generation method, which enabled the generation of a simulation test scenario library according to specific requirements. Experimental results indicate that, in comparison to traditional Markov Chain Monte Carlo and importance sampling methods, the AIS-based scenario library generation method achieves a reduction in the jensen-shannon divergence between the scenario parameter distribution and the original distribution by 65.24% and 79.72%, respectively, and results in a reduction in the number of effective test scenarios by 96.22% and 90.37%, respectively. The proposed method ensures comprehensive coverage of scenario generation while enhancing testing efficiency. Moreover, by adjusting the TTC weighting function, the method increases the proportion of high-risk test scenarios, thereby providing an adequate number of high-risk scenarios for autonomous driving testing, fulfilling diverse testing requirements.

    Reference
    Related
    Cited by
Get Citation
Related Videos

Share
Article Metrics
  • Abstract:
  • PDF:
  • HTML:
  • Cited by:
History
  • Received:December 25,2024
  • Revised:May 08,2025
  • Adopted:May 12,2025
  • Online:
  • Published:
Article QR Code