1. Preparation background On
April 12, 2018, the Ministry of Industry and Information Technology, the Ministry of Public Security, and the Ministry of Transport jointly issued the "Management Specifications for Road Testing of Intelligent Connected Vehicles (Trial)" (hereinafter referred to as the "Management Specifications"), which regulates intelligent network-connected vehicles. Standardize the application, review and management of joint automobile road tests, as well as the requirements for test subjects, test drivers and test vehicles.
According to the "Management Specifications", test vehicles should undergo sufficient actual vehicle testing in specific areas such as closed roads and venues, and their autonomous driving functions should be tested, verified and confirmed by a national or provincial or municipally recognized third-party testing agency engaged in automobile-related business. Only when it meets the conditions for road testing can it apply for autonomous driving road testing; the "Management Specifications" also proposes 14 autonomous driving function testing projects for intelligent connected vehicles.
At present, more than ten provincial and municipal local governments in China have formulated and implemented relevant implementation rules in accordance with the "Management Regulations", and some places have begun to issue test licenses. However, overall, the scene settings, test procedures and functional requirements of autonomous driving function test projects vary greatly from place to place, and the level of complexity and difficulty has caused certain obstacles for test subjects to carry out autonomous driving tests in many places. It is urgently needed Develop unified test scenarios, test procedures and passing conditions corresponding to the autonomous driving functions stipulated in the "Management Specifications" to guide third-party testing agencies to conduct autonomous driving function testing and verification.
2. The preparation process
is to cooperate with and support the standardized development of autonomous driving function testing items listed in the "Management Specifications". Commissioned by the Equipment Department of the Ministry of Industry and Information Technology, the "Sub-standard Committee for Intelligent Connected Vehicles") led the organization of China Automotive Technology and Research Center Co., Ltd., China Automotive Engineering Research Institute Co., Ltd., China Society of Automotive Engineers, China Association of Automobile Manufacturers, China Information Technology Co., Ltd. The Communications Research Institute and other relevant organizations, institutions and key enterprises have established a compilation group for the "Test Procedures for Autonomous Driving Functions of Intelligent Connected Vehicles" (hereinafter referred to as the "Test Procedures") to carry out the research and preparation of the "Test Procedures".
On March 15, 2018, the "Testing Procedures" compilation team was established in Beijing and held its first discussion meeting to conduct preliminary discussions and research on the principles, overall ideas and other contents of the "Testing Procedures" preparation.
On April 13, 2018, the "Testing Procedures" compilation team held the second discussion meeting in Tianjin
to study and determine the overall idea, key contents, work plan and division of labor.
From April 19 to 20, 2018, the "Testing Procedures" compilation team held the third discussion meeting in Tianjin to summarize the "Testing Procedures" suggestions submitted by various units, reach consensus on the corresponding test scenarios for each testing item, and negotiate A draft of the "Testing Procedures" was formed.
On April 25, 2018, the "Testing Procedures" compilation team held an enlarged meeting in Tianjin, inviting automobile, communications, electronics and other related industry organizations and key enterprises to attend the meeting, introducing and reporting on the draft "Testing Procedures", and listening to all parties' responses to each testing item. Opinions and suggestions on test scenarios, test conditions and test parameters.
From April 27 to 28, 2018, the "Testing Procedures" preparation team held the fourth discussion meeting in Tianjin. Based on the opinions raised by all parties in the enlarged meeting, the "Testing Procedures" were further modified and improved.
From May to July 2018, the China Intelligent Connected Vehicle Industry Innovation Alliance and the Secretariat of the Intelligent Connected Vehicle Subcommittee of the Automobile Standards Committee conducted active communication and exchanges on the main contents of the "Testing Procedures" with public security, transportation and other related industry research , make modifications and improvements based on their opinions and suggestions to form the final plan.
3. Main Ideas and Basic Principles
As supporting documents to support the "Management Specifications" regarding autonomous driving function testing and ensuring the safety of autonomous driving tests, the "Testing Procedures" adhere to ensuring the safety of autonomous driving road tests as the bottom line, taking into account different technical routes and vehicle types. , ensure the typicality, representativeness of the test scenarios and the feasibility and rationality of the operating procedures, and propose the corresponding test scenarios, test procedures and passing conditions for each testing item.
1. Ensure the safety of autonomous driving testing as the bottom line
Adhere to the bottom line principle of safety, stipulate the basic scenarios that may be involved in each test item of the autonomous driving function, reduce the risks of the autonomous driving public road test process, and ensure the safety of test vehicles and other road users.
2. Take into account the two technical routes of intelligence and networking,
adhere to the principle of function and performance orientation, take the evaluation of the vehicle's autonomous driving function as the core, and propose test procedures suitable for intelligence and networking; require test subjects to declare in advance the adopted technical route, and carry out testing and verification according to its technical route. For test vehicles that use network technology to realize or assist in realizing autonomous driving functions, additional network communication test project verification is required.
3. Consider the differences in test scenarios between passenger cars and commercial vehicles.
Comprehensively consider the differences in product attributes, uses, technical features and test scenarios between passenger cars and commercial vehicles. Set appropriate scenarios according to the different application scenarios and needs of the autonomous driving functions of different models. Carry out autonomous driving function testing.
4. Pay attention to the typicality and representativeness of the test scene selection.
Each autonomous driving function test scene selects the most basic road types, the most common traffic signs, the most common vehicle driving conditions, etc.; special road sections, special weather and other factors are not considered for the time being. Among the scenes with high similarity, the most representative scene with the highest frequency of occurrence on the actual road is selected.
5. Pay attention to the operational feasibility and rationality of the test procedures
. The test scenarios can be constructed, easily reproduced, and applicable to major domestic test sites; the test methods are operable, the test process is controllable, the test results are measurable, and the test process is reproducible.
4. Main contents
(1) Scope of application
This regulation applies to intelligent connected vehicles applying for road testing of autonomous driving functions.
(2) The testing items
correspond to the intelligent networked vehicle automatic driving function testing items listed in Annex 1 of the "Management Specifications", including 9 mandatory testing items and 5 optional testing items, based on the characteristics of each project and following the main ideas and basics of preparation In principle, 20 must-test scenarios and 14 optional test scenarios are planned (marked *). Among them, for selected test items and scenarios (marked *), if the company declares that its vehicles have corresponding functions or the test road section involves corresponding scenarios, the relevant items should also be tested.
Table 1 Test items and test scenarios for autonomous driving functions of intelligent connected vehicles
(3) Test procedures
1. Recognition and response of traffic signs and markings
This test project is designed to test the recognition and response of the autonomous driving system to traffic signs and markings, and to evaluate the test vehicle's ability to comply with traffic regulations.
This testing project should test four types of sign and marking scenarios: speed limit signs, stop sign markings, lane lines and crosswalk lines.
2. Traffic light recognition and response*
This test project is designed to test the recognition and response of the autonomous driving system to traffic lights and evaluate the test vehicle's ability to comply with traffic light instructions.
This test item should conduct scene testing of motor vehicle signal lights and direction indicator lights (if included in the test section).
This test item is selected for testing. If the company declares that its vehicles have corresponding functions or the test road section involves this
scenario, it should be tested.
3. Recognition and response to the driving status of the vehicle ahead.
This test project is designed to test the recognition and response of the autonomous driving system to the driving status of the vehicle ahead, and to evaluate the test vehicle's perception, behavior prediction and response capabilities to the vehicle ahead.
This test item should be tested in two scenarios: vehicles entering and oncoming vehicles taking the road.
4. Obstacle recognition and response
This test project is designed to test the recognition and response of the autonomous driving system to obstacles, and to evaluate the test vehicle's perception, decision-making and execution capabilities of obstacles ahead.
This test item should be tested in two scenarios: obstacles and misuse.
5. Identification and avoidance of pedestrians and non-motorized vehicles*
This test project is designed to test the recognition and response of the autonomous driving system to pedestrians and non-motorized vehicles, and to evaluate the vehicle's perception, behavior prediction and response capabilities to pedestrians and non-motorized vehicles ahead.
This test item should conduct four scenario tests: pedestrians crossing the road, pedestrians walking along the road, two-wheelers crossing the road, and two-wheelers riding along the road.
This test item is selected for testing. If the company declares that its vehicles have corresponding functions or the test road section involves the
Scenarios should be tested.
6. Stable following car driving
This test project is designed to test the ability of the autonomous driving system to follow the car in front.
This test item should be tested for stable vehicle following and stop-and-go function; if the test vehicle has the function of platooning, it needs to be tested for platooning.
7. Parking on the side of the road
This test item is designed to test the function of the autonomous driving system to pull over when encountering driving risks
, and to evaluate the ability of the test vehicle to achieve the minimum risk state.
This test item should be tested in two scenarios: emergency parking on the roadside and parking in the rightmost lane
. The project scenario does not consider crossing lanes, and the vehicle only needs to complete a lane merging operation.
8. Overtaking
This test item is designed to test the overtaking function of the automatic driving system and evaluate the perception, decision-making and execution capabilities of the test vehicle.
This test item should include three
actions: merging into adjacent lanes, overtaking the target vehicle, and safely returning to the original lane.
9. Lane merging
This test item is designed to test the ability of the autonomous driving system to change lanes.
This test item should conduct three scenario tests: merging without vehicles in adjacent lanes, merging with vehicles in adjacent lanes, and reducing the number of lanes ahead.
10. Intersection passing*
This test project is designed to test the intersection passing of the autonomous driving system and evaluate the path planning and navigation capabilities of the test vehicle.
This test item should conduct three scenario tests: conflict passage of straight-going vehicles, conflict passage of right-turning vehicles, and conflicting passage of left-turning vehicles.
This test item is selected for testing. If the company declares that its vehicles have corresponding functions or the test road section involves this scenario, it should be tested.
11. Roundabout traffic*
This test project is designed to test the traffic behavior of the autonomous driving system in and out of roundabouts, and evaluate the vehicle's path planning and execution capabilities.
This test item should be tested in roundabout traffic scenarios.
This test item is selected for testing. If the company declares that its vehicles have corresponding functions or the test road section involves this
scenario, it should be tested.
12. Automatic emergency braking
This test item is designed to test the performance of the vehicle's automatic emergency braking in the event of a collision and evaluate its emergency collision avoidance capabilities.
This test item should be tested in three scenarios: the vehicle in front is stationary, the vehicle in front is braking, and the pedestrian is crossing.
This test item is a basic safety function and does not fall into the category of autonomous driving.
13. Manual operation takeover
This test project is designed to test the manual operation takeover function of the automatic driving system and evaluate the human-machine co-driving ability of the vehicle when switching between automatic driving and manual operation modes. This test item should carry out takeover request reminder function and takeover function test.
14. Network communication*
This test project is designed to test the network communication of the autonomous driving system and evaluate the ability of the test vehicle to exchange information with the outside world. This test item should conduct tests in four scenarios: vehicles on long straight sections, vehicles on long straight sections, vehicle-to-vehicle communication at intersections, and platoon driving. This test item is selected for testing. If the company declares that its vehicles have corresponding functions or the test road section involves this scenario, it should be tested; among them, the formation driving scenario is only applicable to vehicles that apply for formation testing.
(4) Appendix Description
Appendix A Test Vehicle Parameter Table This table covers the basic information of the vehicle, vehicle technical route, task input method and vehicle sensor information; it is filled in by the test subject according to the conditions of the test vehicle, and can be used as an important basis for the test agency to formulate the test plan. . Appendix B Recommended Scheme for Combined Testing of Test Scenarios In order to improve site utilization efficiency and shorten the test cycle, in accordance with the principles of single evaluation and combined testing, a recommended scheme for combined testing of test scenarios is proposed in Appendix B; testing institutions can combine multiple tests based on the recommended scheme. testing scenarios.
5. Others
Intelligent connected vehicles have the characteristics of fast update and iteration speed. The "Testing Procedures" should be dynamically updated and improved based on the implementation situation and technological development in various places to support the safe development of road test management of intelligent connected vehicles.