ベジェ曲線と探索による自動車線維持システム試験用の難易度の高い道路網の自動生成
Automatic Generation of Challenging Road Networks for ALKS Testing based on Bezier Curves and Search
ベジェ曲線の制御点を探索することで、自動車線維持システムが車線を逸脱するような厳しい道路形状を自動生成し、仮想テストの効率を評価した論文。
著者: Florian Klück, Lorenz Klampfl, Franz Wotawa
分類: cs.SE, cs.RO
原文アブストラクト
In this paper, we outline an approach for automatic generation of challenging road networks for virtual testing of an automated lane keep system. Based on a set of control points, we construct a parametric curve that represents a road network, which defines the dynamic driving task an automated lane keep system equipped vehicle has to perform. Changing control points has global influence on the resulting road geometry. Our approach uses search to find a set of control points that results in a challenging road geometry, eventually forcing the vehicle to leave the intended path. We evaluated our approach in three different search-configurations regarding test efficiency and practical applicability for automatic virtual testing of an automated lane keep system.