The evaluation indicator model of the scenario trigger mechanism is constructed and proposed in this paper. By analyzing the elements of the V2X early warning function scenario, five indicators, which includes time to collision, the headway, the safe distance, the lane crossing time, and post conflict vehicle entry time are employed for the comprehensive assessment. The result demonstrate the priority relationship among the total 27 scenarios. It could support to detect and identify corner traffic scenarios, to broadcast safety warnings, to improve the performance of driving assist functions.
The test methods of autonomous driving are mainly divided into SIL, MIL, VIL, real vehicle test, etc.; the scenario-based virtual simulation verification method has huge technical advantages in test coverage, test repeatability, test safety, etc., and is an effective method for future autonomous driving function test verification. With the improvement of technology and demand, autonomous driving developers have gradually increased their investment in simulation testing. How to evaluate the comparison between simulation test results and actual test authenticity is a major challenge for autonomous driving. The high-definition map software used in this paper can realize intelligent lane fitting and fast connection, and realize fast and smooth connection in advance while ensuring the consistency between the edited road network and the actual environment. By collecting real scene maps, a high-definition map conforming to the Open Drive format that can be used in real vehicles and simulations is generated, which solves the problem of common use of lane-level high-definition maps in intelligent driving vehicle testing and simulation testing.
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