论文标题
自动生成道路几何形状，以基于传感器设置为自动化车辆创建具有挑战性的方案
Automatic Generation of Road Geometries to Create Challenging Scenarios for Automated Vehicles Based on the Sensor Setup
论文作者
论文摘要
为了对自动化车辆进行离线安全评估，必须有效地确定最具挑战性和最关键的情况。因此，我们提出了一种基于自我车辆的传感器设置模型来定义具有挑战性的方案的新方法。首先，使用A*算法计算出静态的公路用户到自我车辆的最佳接近路径。我们认为自动化车辆对道路使用者的看法不佳是最佳的，因为我们想定义尽可能重要的场景。然后将路径转移到动态场景中，在该场景中，确定了道路用户和道路布局的轨迹。结果是最佳的道路几何形状，因此自我车辆可以尽可能地感知接近的物体。作为运营设计领域（奇数），我们工作的重点是在高速公路上。
For the offline safety assessment of automated vehicles, the most challenging and critical scenarios must be identified efficiently. Therefore, we present a new approach to define challenging scenarios based on a sensor setup model of the ego-vehicle. First, a static optimal approaching path of a road user to the ego-vehicle is calculated using an A* algorithm. We consider a poor perception of the road user by the automated vehicle as optimal, because we want to define scenarios that are as critical as possible. The path is then transferred to a dynamic scenario, where the trajectory of the road user and the road layout are determined. The result is an optimal road geometry, so that the ego-vehicle can perceive an approaching object as poorly as possible. The focus of our work is on the highway as the Operational Design Domain (ODD).
