Automobile Technology

An Automatic Generation Method of Concrete Scenario for Decision-Making and Planning System Test

Chen Junyi, Feng Tianyue, Liu Lihao, Wu Xuyang

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Chen Junyi, Feng Tianyue, Liu Lihao, Wu Xuyang

Tongji University, Shanghai 201804)

In order to increase the efficiency of scenario file generation for virtual tests of autonomous vehicles' decision- making and planning systems, an automatic generation method of concrete scenario is proposed according to three abstractio­n levels of scenario representa­tion. Firstly, the functional scenario is constructe­d based on a hierarchic­al model. Secondly, keywords are extracted from the functional scenario and mapped to the parameter space to generate logic scenario. Finally, based on the keywords, concrete scenarios are automatica­lly sampled from the parameter space and compiled into the OpenSCENAR­IO file format. The results show that the generated scenario files can satisfy the test requiremen­ts of high- level autonomous vehicles. Compared with the manual compilatio­n method, the proposed method can increase the efficiency of scenario generation by reducing the coding work.

【】Key words: Virtual OpenSCENAR­IO test, Decision- making and planning system, Scenario generation,

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