一种基于场景元素的自动驾驶车辆运行范围评估方法
打开文本图片集
A Method for Evaluating the Operating Range of Autonomous Vehicles Based on Scene Elements
Pan Xinfu1Ni Hailong² Luo Zhenggang² 1.CATARC Automotive Proving Ground Co.，Ltd.，Yancheng 2241o0，China 2.Jilin University，Changchun ，China
Abstract：Autonomous vehiclesarecomprehensiveintellgentsystemsencompassngenvironmentalperception，vehiclepositioning，pathplaning，anddecision-makingandcontrol.Vehiclesofdierentlevelsofutonomyhavevaryingadaptabilitytothrvion ments.Combiningenvironmentalperceptioninformationwiththeautonomousvehicle'soperatingrangecanhelpthevehicledetermine whethertoexitautonomousdrivingtoensuredrivingsafety.Basedonthis，thepaperproposesamethodforcomprehensivelyevaluat ingtheoperatingrangeofanautonmousvehicle.Themethoddeconstructsandclasifiesautonomousdrivingenvironmentalinfoationintoaserisofsceneelements.Atransfermodelistestablsed，incoporatingteaalyticierarchyprocestocalulatete complexityofthecurrentscene.Finally，theoperatingrangeof theautonomous vehicleisevaluatedbasedontestresults.
Key words：Autonomous driving;Scene elements;ODD;Operating range;Evaluation method
1前言
从21世纪初开始，自动驾驶得到了快速的发展，ADAS相关功能（如AEB、ACC等）已经趋于成熟，自动驾驶正在向L3、L4更高级别迈进。（剩余8202字）
