自动驾驶汽车测试场景构建关键技术综述

For autonomous vehicle test scenarios construction, this paper firstly makes a comparative analysis of the existing scenario definition and architecture, and proposes that test scenarios should cover a total of 10 layers of information of scene elements and test elements. Secondly, a method system of scenario construction including direct construction of concrete scenario, mining and deduction of typical logical scenario and reconstruction and derivation of specific scenario is summarized and proposed. Thirdly, from the three dimensions of single segment test, combined segment test and integrated traffic flow test, the main virtual scenario test application methods are systematically sorted out. Finally, the research prospect is presented from the perspective of method chain and tool chain of scenario construction. The research results of the review will provide reference for the testing and evaluation of autonomous vehicles.