자율주행차 개발 및 평가를 위한 테스트 시나리오 생성 프레임워크

Abstract

In general, vehicle development process follows V-Process, which consists of multiple development and evaluation stages, so test scenarios can be one of the ways to set the direction of development. In the case of Advanced Driver Assistance System(ADAS), the evaluation of their performance is conducted in functional unit level, such as lane change assist and lane keeping. However, as the level of the autonomous driving increases, it is necessary to evaluate autonomous driving technology not only at the functional units level, but also whether it is possible to drive within Operational Design Domain(ODD). Until now, for systems higher than level 2, the testing has been replaced by achieving the target distance in the corresponding ODD, but since most of distances are filled on general driving conditions, safety cannot be guaranteed against to various events that may occur in there. Therefore, recently, many studies have been studied to evaluate various situations at the scenario level, such as the PEGASUS project. In this paper, we analyze the already published scenario-level approaches, and construct the relationship between them. Then, an integrated test scenario generation framework is proposed based on organized contents. The proposed method can derive test scenarios for high-level autonomous driving as well as low-level one, and is expected to be used to generate test scenarios for future technology development.