自动驾驶认知能力测试评价研究综述

doi:10.3969/j.issn.1674-8484.2025.01.001

汽车安全与节能学报 ›› 2025, Vol. 16 ›› Issue (1): 1-15.DOI: 10.3969/j.issn.1674-8484.2025.01.001

• 综述与展望 • 下一篇

自动驾驶认知能力测试评价研究综述

杨澜(), 赵祥模, 王润民, 王振, 房山, 瞿广跃

长安大学信息工程学院，西安 710018，中国

收稿日期:2024-12-13 修回日期:2025-02-12 出版日期:2025-02-28 发布日期:2025-03-04
作者简介:杨澜（1985—），女（汉），陕西，正高级工程师。E-mail：lanyang@chd.edu.cn。
杨澜，正高级工程师，长安大学信息工程学院计算机专业实验室副主任、正高级工程师、博士生导师。在长安大学获得计算机应用技术专业工学硕士学位、交通信息工程及控制专业工学博士学位，主要从事自动驾驶类人化决策控制、自动驾驶认知能力测试评价、自动驾驶节能优化等相关研究。主持国家重点研发计划项目子课题、国家自然科学基金面上项目/青年项目、中国博士后基金面上项目以及陕西省重点研发计划项目等 10 余项。先后获省部级科技进步一等奖 3 项、国家教学成果一等奖、省部级教学成果特等奖 2 项。兼任陕西省道路交通智能检测与装备工程技术研究中心副总工、陕西省公路学会智能交通分会委员、陕西省汽车工程学会汽车低碳环保技术委员会委员、陕西省女科技工作者协会会员以及《汽车安全与节能学报》青年编委等职务。被评为全国高等学校创新创业教育工作突出者、陕西省教科文卫体系统五一巾帼标兵。
YANG Lan, Senior Engineer Dr. YANG serves as the Deputy Director of the Laboratory of Computer Science, School of Information Engineering, Chang'an University, Senior Engineer, Doctoral Supervisor. She obtained her Master degree in Computer Application Technology and Ph.D. degree in Transportation Information Engineering and Control from Chang'an University. She mainly engages in scientific researches related to humanized decision-making control for autonomous driving, cognitive ability testing and evaluation for autonomous driving, and energy optimization for autonomous driving. She has led over 10 research projects, including sub-projects of the National Key R&D Program, General Program and Young Program of the National Natural Science Foundation, General Program of the China Postdoctoral Fund, and Key R&D Program of Shaanxi Province. He has received three First Prizes for Provincial and Ministerial Science and Technology Progress, a First Prize for National Teaching Achievements, and two Provincial and Ministerial Teaching Achievement Grand Prizes. She also serves as the Deputy Chief Engineer of the Shaanxi Provincial Road Traffic Intelligent Detection and Equipment Engineering Technology Research Center, a member of the Intelligent Transportation Sub-Committee of the Shaanxi Provincial Highway Society, and a member of the Automobile Low Carbon and Environmental Protection Technology Committee of the Shaanxi Provincial Automotive Engineering Society, a member of the Shaanxi Provincial Women Science and Technology Workers Association, a youth editorial board member of the Journal of Automotive Safety and Energy. She is named the Outstanding Contributor to Innovation and Entrepreneurship Education in National Higher Education, the “May 1st” Labor Model in the Education, Science, Culture, and Health System of Shaanxi Province.
基金资助:
国家自然科学基金项目(52472446);国家自然科学基金项目(52441205);陕西省留学人员科技活动择优资助项目(2023001)

Review on testing and evaluation of cognitive abilities for autonomous vehicles

YANG Lan(), ZHAO Xiangmo, WANG Runmin, WANG Zhen, FANG Shan, QU Guangyue

School of Information Engineering, Chang’an University, Xi’an 710018, China

Received:2024-12-13 Revised:2025-02-12 Online:2025-02-28 Published:2025-03-04

摘要/Abstract

摘要：

对交通动态情境的准确认知是自动驾驶（AV）智能性的关键体现，因此全面、合理、高效的测试评价方法对于验证其效能至关重要。为了跟踪自动驾驶认知能力测试评价的研究进展，该文首先从宏观、中观和微观3个层面深入剖析了自动驾驶测试领域存在的核心问题，深入探讨了自动驾驶与人类驾驶在认知方面的关联性；其次，从基于“金字塔”模型的自动驾驶测试体系架构入手，全面回顾了在关键测试场景生成、虚拟仿真测试、虚实融合测试、实际道路测试以及认知能力评价等领域的最新研究成果；最后，指出了自动驾驶认知能力测试评价领域面临的挑战和发展趋势。该综述研究成果将为自动驾驶技术的迭代演进和功能验证提供重要参考。

关键词: 自动驾驶（AV）, 认知能力, 测试场景, 虚实融合, 性能评价

Abstract:

Accurate understanding of dynamic traffic scenarios is a crucial manifestation of the intelligence in autonomous vehicle (AV). Therefore, it is essential to validate its effectiveness through comprehensive, rational, and efficient testing and evaluation methods. To keep abreast of the research progress in test and evaluation on the cognitive capabilities of autonomous driving, this paper first delves the core issues existing in the field of AV test from macro, meso and micro perspectives. It explores in depth the cognitive correlations between AV and human driver. Secondly, based on the “pyramid” model architecture for AV test, it comprehensively reviews the latest research findings in key test scenario generation, virtual simulation test, hybrid virtual-real test, real-road test and cognitive capability evaluation. Finally, it highlights the challenges faced in the field of test and evaluation for AV cognitive capabilities and outlines future development trends. This comprehensive review will provide an important reference for the iterative evolution and functional validation of AV technology.

Key words: autonomous vehicle (AV), cognitive ability, test scenario, virtual-real test, performance evaluation

中图分类号:

U491

杨澜, 赵祥模, 王润民, 王振, 房山, 瞿广跃. 自动驾驶认知能力测试评价研究综述[J]. 汽车安全与节能学报, 2025, 16(1): 1-15.

YANG Lan, ZHAO Xiangmo, WANG Runmin, WANG Zhen, FANG Shan, QU Guangyue. Review on testing and evaluation of cognitive abilities for autonomous vehicles[J]. Journal of Automotive Safety and Energy, 2025, 16(1): 1-15.

图/表 8

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测试目的	仿真工具	车辆动力学模型	传感器与环境	行人与非机动车模型
动力学仿真	CarSim	好	有	有
动力学仿真	CarMaker	好	有	有
交通流仿真	VISSIM	无	无	良
交通流仿真	SUMO	无	无	良
ADAS 仿真	PreScan	有	良	有
	VTD	有	良	有
	SCANeR	有	良	有
	Panosim	良	良	有
自动驾驶仿真	CARLA	有	有	有
	Carcraft	有	好	良
	Waymax	有	好	良
	TADSim	有	好	良
	51 Sim-One	有	好	良
	Apollo	有	好	良
	TESS NG	有	好	良

测试目的	仿真工具	车辆动力学模型	传感器与环境	行人与非机动车模型
动力学仿真	CarSim	好	有	有
动力学仿真	CarMaker	好	有	有
交通流仿真	VISSIM	无	无	良
交通流仿真	SUMO	无	无	良
ADAS 仿真	PreScan	有	良	有
	VTD	有	良	有
	SCANeR	有	良	有
	Panosim	良	良	有
自动驾驶仿真	CARLA	有	有	有
	Carcraft	有	好	良
	Waymax	有	好	良
	TADSim	有	好	良
	51 Sim-One	有	好	良
	Apollo	有	好	良
	TESS NG	有	好	良

序号	标准编号	标准名称
1	GB/T 37471-2019	智能运输系统换道决策辅助系统性能要求与检测方法
2	GB/T 38186-2019	商用车辆自动紧急制动系统(AEBS)性能要求及试验方法
3	GB/T 39323-2020	乘用车车道保持辅助系统性能要求及试验方法
4	GB/T 39901-2021	乘用车自动紧急制动系统性能要求及试验方法
5	GB/T 41630-2022	智能泊车辅助系统性能要求及试验方法
6	GB/T 41796-2022	商用车辆车道保持辅助系统性能要求及试验方法
7	20241853-Q-339	轻型汽车自动紧急制动系统技术要求及试验方法(起草)
8	20231463-T-339	智能网联汽车自动泊车系统性能要求与试验方法(征求意见)

序号	标准编号	标准名称
1	GB/T 37471-2019	智能运输系统换道决策辅助系统性能要求与检测方法
2	GB/T 38186-2019	商用车辆自动紧急制动系统(AEBS)性能要求及试验方法
3	GB/T 39323-2020	乘用车车道保持辅助系统性能要求及试验方法
4	GB/T 39901-2021	乘用车自动紧急制动系统性能要求及试验方法
5	GB/T 41630-2022	智能泊车辅助系统性能要求及试验方法
6	GB/T 41796-2022	商用车辆车道保持辅助系统性能要求及试验方法
7	20241853-Q-339	轻型汽车自动紧急制动系统技术要求及试验方法(起草)
8	20231463-T-339	智能网联汽车自动泊车系统性能要求与试验方法(征求意见)

城市	发布日期	法规/政策名称
深圳	2022.06.30	《深圳经济特区智能网联汽车管理条例》
江苏	2023.08.07	《江苏省道路交通安全条例》
北京	2021.10.15	《北京市智能网联汽车政策先行区无人化道路测试管理实施细则》
上海	2024.06.30	《北京市自动驾驶汽车条例(征求意见稿)》
	2021.12.29	《上海市智能网联汽车测试与应用管理办法》
	2022.11.23	《上海市浦东新区促进无驾驶人智能网联汽车创新应用规定》
	2023.01.18	《上海市智能网联汽车高快速路测试与示范实施方案》
	2023.03.21	《上海市浦东新区促进无驾驶人智能网联汽车创新应用规定实施细则》
	2023.04.27	《嘉定区建设世界智能网联汽车创新高地行动方案(2023年—2025年)》
	2023.11.16	《中国(上海)自由贸易试验区临港片区促进智能网联汽车发展若干政策》
成都	2023.05.29	《关于推进成都市智能网联汽车远程驾驶测试与示范应用的指导意见》

自动驾驶认知能力测试评价研究综述

Review on testing and evaluation of cognitive abilities for autonomous vehicles

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