Review on testing and evaluation of cognitive abilities for autonomous vehicles

doi:10.3969/j.issn.1674-8484.2025.01.001

Abstract

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

CLC Number:

U491

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.

Figures/Tables 8

References 80

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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

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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》