統合シナリオベース分析：自動運転システム開発と安全評価を支援するデータ駆動型アプローチ

原文アブストラクト

Several scenario-based frameworks exist to aid in vehicle system development and safety assurance. However, there is a need for approaches that combine different types of datasets that offer varying levels of case severity, data richness, and representativeness. This study presents an integrated scenario-based analysis approach that encompasses scenario definition, fusion, parametrization, and test case generation. For this process, ten years of fatal and non-fatal national crash data from the United States are combined with over 34 million miles of naturalistic driving data. An illustrative example scenario, "turns at intersection", is chosen to demonstrate this approach. First, scenario definitions are established from both record-based and continuous time series data. Second, a frequency analysis is performed to understand how often events from the same scenario occur at different severities across datasets. Third, an analysis is performed to show the key factors relevant to the scenario and the distribution of various parameters. Finally, a method to combine both types of data into representative test case scenarios is presented. These techniques improve scenario representativeness in two major ways: first, they populate an entire spectrum of cases ranging from routine events to fatal crashes; and second, they provide context-rich, multi-year data by combining large-scale national and naturalistic datasets.