道路多样性在测试自动驾驶系统中真的重要吗？--注册报告
Does Road Diversity Really Matter in Testing Automated Driving Systems? -- A Registered Report
摘要：
背景/背景。在现实世界中使用自动驾驶系统（ADS）需要进行严格的测试以确保安全。为了增加信任，ADS应该在大量不同的道路场景中进行测试。文献表明，如果车辆沿着一组几何形状不同的道路行驶（使用各种多样性测量（DM）进行测量），则会在各种行为中做出反应，从而增加观察到故障（如果有）的机会，或者如果没有观察到故障，则会增强对其安全性的信心。然而，据我们所知，这一假设从来没有被测试过，也没有道路DM的属性进行了评估。目的/目标。我们的目标是对47个目前使用的和新的，有潜力的道路DM进行探索性研究。具体而言，我们的研究问题着眼于道路DM本身，分析其属性（例如单调性，计算效率），并测试DM之间的相关性。此外，我们看看使用道路DM调查是否假设，不同的测试套件的道路暴露不同的驾驶行为举行。法我们的实证分析依赖于最先进的开源ADS测试基础设施，并使用包含超过97，000个单独道路几何形状的数据集以及使用两个驾驶代理收集的匹配模拟数据。通过对不同规模的随机测试集进行抽样并测量其道路的几何多样性，我们研究了道路DM属性、道路DM之间的相关性以及道路DM与所观察到的行为之间的相关性。
英文摘要：
Background/Context. The use of automated driving systems (ADSs) in the real world requires rigorous testing to ensure safety. To increase trust, ADSs should be tested on a large set of diverse road scenarios. Literature suggests that if a vehicle is driven along a set of geometrically diverse roads-measured using various diversity measures (DMs)-it will react in a wide range of behaviours, thereby increasing the chances of observing failures (if any), or strengthening the confidence in its safety, if no failures are observed. To the best of our knowledge, however, this assumption has never been tested before, nor have road DMs been assessed for their properties. Objective/Aim. Our goal is to perform an exploratory study on 47 currently used and new, potentially promising road DMs. Specifically, our research questions look into the road DMs themselves, to analyse their properties (e.g. monotonicity, computation efficiency), and to test correlation between DMs. Furthermore, we look at the use of road DMs to investigate whether the assumption that diverse test suites of roads expose diverse driving behaviour holds. Method. Our empirical analysis relies on a state-of-the-art, open-source ADSs testing infrastructure and uses a data set containing over 97,000 individual road geometries and matching simulation data that were collected using two driving agents. By sampling random test suites of various sizes and measuring their roads' geometric diversity, we study road DMs properties, the correlation between road DMs, and the correlation between road DMs and the observed behaviour.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
