Defining Required and Feasible Test Coverage for Scenario-Based Validation of Highly Automated Vehicles

Amersbach, Christian; Winner, Hermann

doi:10.1109/itsc.2019.8917534

Cited by 40 publications

(18 citation statements)

References 25 publications

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“…The work of [24], [25], [174], [175] can be used as a starting point. Further research is required to transfer the results by means of exposure or traffic-simulation-based techniques from Section II-B.…”

Section: ) Exposure For Macroscopic Assessmentmentioning

confidence: 99%

Survey on Scenario-Based Safety Assessment of Automated Vehicles

et al. 2020

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When will automated vehicles come onto the market? This question has puzzled the automotive industry and society for years. The technology and its implementation have made rapid progress over the last decade, but the challenge of how to prove the safety of these systems has not yet been solved. Since a market launch without proof of safety would neither be accepted by society nor by legislators, much time and many resources have been invested into safety assessment in recent years in order to develop new approaches for an efficient assessment. This paper therefore provides an overview of various approaches, and gives a comprehensive survey of the so-called scenario-based approach. The scenario-based approach is a promising method, in which individual traffic situations are typically tested by means of virtual simulation. Since an infinite number of different scenarios can theoretically occur in real-world traffic, even the scenario-based approach leaves the question unanswered as to how to break these down into a finite set of scenarios, and find those which are representative in order to render testing more manageable. This paper provides a comprehensive literature review of related safety-assessment publications that deal precisely with this question. Therefore, this paper develops a novel taxonomy for the scenario-based approach, and classifies all literature sources. Based on this, the existing methods will be compared with each other and, as one conclusion, the alternative concept of formal verification will be combined with the scenario-based approach. Finally, future research priorities are derived.

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Section: ) Exposure For Macroscopic Assessmentmentioning

confidence: 99%

Survey on Scenario-Based Safety Assessment of Automated Vehicles

et al. 2020

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“…In order to cover certain sensor phenomena, scenario catalogs can be generated with various environmental factors. Other catalogs may focus on the behavior of surrounding objects in relation to the vehicle under observation (subject vehicle) [11]. Nevertheless, scenariobased testing aims to generate limited test cases based on specific scenario parameterization and appropriate pass-fail criteria.…”

Section: A Scenario-based Safety Assessmentmentioning

confidence: 99%

Logical Scenarios Parameterization for Automated Vehicle Safety Assessment: Comparison of Deceleration and Cut-In Scenarios From Japanese and German Highways

et al. 2022

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This study compares real-traffic deceleration and cut-in scenarios, which were established as critical to automated vehicles (AVs) safety, between Japanese and German highway trajectory datasets. Both scenarios were extracted from two different traffic data previously collected in Japan with both instrumented vehicles and fixed cameras over highways (SAKURA dataset) and in Germany with drones (highD dataset). Five vehicle kinematic variables (lateral and longitudinal distances, velocities, and accelerations) were used to parameterize both scenarios and compared them between datasets using correlation and intersection objective measures and safety metrics: Time-to-Collision and Time Headway. Despite the differences in the rule of the road (e.g., speed limits, left-and right-hand traffic), road design, and data sources between the two countries, data comparison results revealed significant correlations and intersections of parameters distribution for both scenarios. The Time-to-Collision significantly overlapped between countries for both scenarios. However, differences in the Time Headway indicate that the safety distance varied across both countries, suggesting that safety assessment methodologies need to be tailored to different environments and regions to ensure safety. These results highlight the potential to develop safety indicators applicable at the international level and warrant further data collection and comparative studies that support the development of harmonized, widely applicable, and region-neutral AVs safety assessment methodologies.

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“…A promising attempt to assign "volume" to scenario samples is seen in [16] by introducing a "δ-neighborhood" around a discrete scenario. Mathematical algorithms such as T-wise [51], [52] and Poisson process [53] have also been adopted to achieve "almost full" statistical coverage by cleverly select candidates with limited samples.…”

Section: B Quantitative Safety Thresholdmentioning

confidence: 99%

Formal Certification Methods for Automated Vehicle Safety Assessment

Zhao,

Yurtsever,

Paulson

et al. 2022

Preprint

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Challenges related to automated driving are no longer focused on just the construction of such automated vehicles (AVs), but in assuring the safety of their operation. Recent advances in Level 3 and Level 4 autonomous driving have motivated more extensive study in safety guarantees of complicated AV maneuvers, which aligns with the goal of ISO 21448 (Safety of the Intended Functions, or SOTIF), i.e. minimizing unsafe scenarios both known and unknown, as well as Vision Zero -eliminating highway fatalities by 2050. A majority of approaches used in providing safety guarantees for AV motion control originate from formal methods, especially reachability analysis (RA), which relies on mathematical models for the dynamic evolution of the system to provide guarantees. However, to the best of the authors' knowledge, there have been no review papers dedicated to describing and interpreting state-of-the-art of formal methods in the context of AVs. In this work, we provide both an overview of the safety verification, validation and certification process, as well as review formal safety techniques that are best suited to AV applications. We also propose a unified scenario coverage framework that can provide either a formal or sample-based estimate of safety verification for full AVs. Finally, remaining challenges and future opportunities beyond the scope of current published research for assured AV safety are presented.

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Defining Required and Feasible Test Coverage for Scenario-Based Validation of Highly Automated Vehicles

Cited by 40 publications

References 25 publications

Survey on Scenario-Based Safety Assessment of Automated Vehicles

Survey on Scenario-Based Safety Assessment of Automated Vehicles

Logical Scenarios Parameterization for Automated Vehicle Safety Assessment: Comparison of Deceleration and Cut-In Scenarios From Japanese and German Highways

Formal Certification Methods for Automated Vehicle Safety Assessment

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