基于行车风险场的弯道切入场景生成与分析
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广东工业大学自动化学院 广州 510006

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U467.1;TN06

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国家自然科学基金项目(U22A2054)、车联网边缘智能的资源优化与服务协同(61971148)项目资助


Generation and analysis of cut-in scenarios at curves based on driving risk field
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School of Automation, Guangdong University of Technology,Guangzhou 510006, Chin

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    摘要:

    自动驾驶领域中,仿真测试是识别和处理长尾问题的重要手段。本文针对弯道切入场景,提出了一种考虑道路曲率半径的行车风险场模型,并结合Prescan/Simulink的仿真平台和遗传算法,构建了自动化的风险场景生成框架。该框架以相对驾驶安全系数(RDSI)为优化目标,解决了传统风险指标在复杂场景下无法及时识别前车切入风险的问题。通过仿真生成不同道路曲率半径下的前车切入场景,并从中选取典型测试用例进行分析。结果表明,RDSI指标的预警成功率相比于碰撞时间(TTC)指标高出65.6%,能够更早地识别潜在风险。此外,实验还显示不同道路曲率半径对碰撞风险有显著影响。

    Abstract:

    In the field of autonomous driving, simulation-based testing is an important means for identifying and addressing long-tail problems. This paper proposes a driving risk field model that considers road curvature radius for cut-in scenarios at curves. By integrating Prescan/Simulink simulation platform and genetic algorithms, an automated risk scenario generation framework is constructed. The framework uses the relative driving safety index (RDSI) as the optimization objective, which overcomes the limitations of traditional risk indicators that fail to promptly recognize cut-in risks by preceding vehicles in complex scenarios. Various cutin scenarios under different road curvature radii are generated through simulation, and typical test cases are selected for analysis. The results show that the RDSI indicator achieves a 65.6% higher warning success rate compared to the time-to-collision (TTC) indicator and can identify potential risks earlier. Additionally, experiments reveal that different road curvature radii significantly impact collision risk.

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张广松,钟武昌,周召高,余荣.基于行车风险场的弯道切入场景生成与分析[J].电子测量技术,2025,48(12):32-41

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  • 在线发布日期: 2025-07-28
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