AI 中文总结
本研究提出公共道路独立测试辅助变道系统的方法，在法国A31高速开展测试，发现部分系统操作未达UNECE第79号法规安全距离要求，验证了LiDAR传感的适用性，可支持市场监管与法规修订。
AI 中文摘要
商用高级驾驶辅助系统的测试对于确保其在型式认证和实际使用过程中的安全性与合规性至关重要。然而，试验场场景可能无法反映现实世界驾驶的复杂性，而地理围栏则可能需要制造商协作并限制评估的独立性。本研究提出一种在公共道路上独立测试辅助变道系统的方法，在法国A31高速公路开展的测试中，使用配备基于激光雷达（LiDAR）的车辆检测与跟踪系统的测试车辆，测试涵盖测试车辆与接管车辆之间的车距和速度组合，采用实时动态全球导航卫星系统接收机评估检测与跟踪性能，将记录的变道轨迹与联合国欧洲经济委员会（UNECE）第79号法规的变道抑制要求进行对比。在27项预设变道操作中，18项被完成、9项被抑制；有6项案例中，系统允许的操作未达到法规要求的最小距离；在3项案例中，考虑测量不确定性后偏差仍具有统计学显著性。据作者所知，这是首个旨在评估辅助变道系统符合第79号法规安全距离要求的公开道路测试活动，结果表明基于LiDAR的传感技术适用于该用途，该方法可通过揭示认证程序未覆盖的现实世界行为，为市场监管和未来法规修订提供支持。
英文摘要
Testing of commercial Advanced Driver Assistance Systems is essential to ensure safety and compliance during type approval and in service operation. However, proving ground scenarios may not reflect real world driving complexity, while geo fencing can require manufacturer collaboration and limit assessment independence. This work presents a methodology for independently testing Assisted Lane Change systems on public roads. A campaign on the A31 French motorway used a test vehicle equipped with a LiDAR based vehicle detection and tracking system. Tests covered combinations of inter vehicle distance and speed between the test vehicle and the take over vehicle. Real time kinematic global navigation satellite system receivers assessed detection and tracking performance. Recorded lane change trajectories were compared with the lane change suppression requirements of UNECE Regulation Number 79. Of 27 predefined lane change manoeuvres, 18 were completed and 9 suppressed. In 6 cases, the system allowed manoeuvres that did not meet regulatory minimum distance requirements. In 3 cases, the deviation remained statistically significant after accounting for measurement uncertainty. To the authors knowledge, this is the first public road campaign designed to assess Assisted Lane Change compliance with Regulation Number 79 safety distance requirements. The results demonstrate the suitability of LiDAR based sensing for this purpose. The methodology can support market surveillance and future regulatory revisions by revealing real world behaviours not covered by approval procedures.
