تقرير
Towards Interactive Autonomous Vehicle Testing: Vehicle-Under-Test-Centered Traffic Simulation
| العنوان: | Towards Interactive Autonomous Vehicle Testing: Vehicle-Under-Test-Centered Traffic Simulation |
|---|---|
| المؤلفون: | Liu, Yiru, Zhao, Xiaocong, Sun, Jian |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | The simulation-based testing is essential for safely implementing autonomous vehicles (AVs) on roads, necessitating simulated traffic environments that dynamically interact with the Vehicle Under Test (VUT). This study introduces a VUT-Centered environmental Dynamics Inference (VCDI) model for realistic, interactive, and diverse background traffic simulation. VCDI is built on a Transformer-based trajectory inference model to generate trajectories for background objects. Serving the purpose of AV testing, VCDI additionally considers VUT-centered interactivity and scenario diversity using a conditional inference framework. First, the VUT future motion is taken as an augmented model input to bridge the interaction between VUT and background objects. Second, to enrich the scenario diversity, a Bayesian-network-based cost function module is designed. The module, learned in a distributional form, captures the uncertainty of the VUT's strategy, triggering various scenario evolution. Experimental results validate VCDI's trajectory-level simulation precision which outperforms the state-of-the-art trajectory prediction work. The flexibility of the distributional cost function allows VCDI to provide diverse-yet-realistic scenarios for AV testing. We demonstrate such capability by modifying the anticipation to VUT's cost-based strategy and thus achieve multiple testing scenarios with explainable background traffic evolution. Comment: 7 pages, 4 figures |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2406.02860 |
| رقم الأكسشن: | edsarx.2406.02860 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |