Abstract
Highly automated vehicles (HAVs) have been introduced to the transportation system for the purpose of providing safer mobility. Considering the expected long co-existence period of HAVs and human-driven vehicles (HDVs), the safety operation of HAVs interacting with HDVs needs to be verified. To achieve this, HAVs' Operational Design Domain (ODD) needs to be identified under the scenario-based testing framework. In this study, a novel testing framework aiming at identifying the Safety performance boundary (SPB) is proposed, which assures the coverage of safety-critical scenarios and compatible with the black-box feature of HAV control algorithm. A surrogate model was utilized to approximate the safety performance of HAV, and a gradient descent searching algorithm was employed to accelerate the search for SPB. For empirical analyses, a three-vehicle following scenario was adopted and the Intelligent Driver Model (IDM) was tested as a case study. The results show that only 4% of the total scenarios are required to establish a reliable surrogate model. And the gradient descent algorithm was able to establish the SPB by identifying 97.42% of collision scenarios and only false alarming 0.29% of non-collision scenarios. Furthermore, the concept of safety tolerance was proposed to measure the possibilities of boundary scenarios dropping in safety performance. The applications of helping to construct ODD and compare different control algorithms were discussed. It shows that the IDM performs better than the Wiedemann 99 (W99) model with larger ODD.
Original language | English |
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Pages (from-to) | 23809-23820 |
Number of pages | 12 |
Journal | IEEE Transactions on Intelligent Transportation Systems |
Volume | 23 |
Issue number | 12 |
DOIs | |
Publication status | Published - 2022 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Keywords
- Adaptation models
- Aerospace electronics
- gradient descent
- Highly automated vehicle
- Life estimation
- operational design domain
- Roads
- Safety
- safety performance boundary
- Sampling methods
- surrogate model
- Testing