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arXiv · 2008.11580

Automatic Generation of Road Geometries to Create Challenging Scenarios for Automated Vehicles Based on the Sensor Setup

Thomas Ponn·Thomas Lanz·Frank Diermeyer
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Abstract

For the offline safety assessment of automated vehicles, the most challenging and critical scenarios must be identified efficiently. Therefore, we present a new approach to define challenging scenarios based on a sensor setup model of the ego-vehicle. First, a static optimal approaching path of a road user to the ego-vehicle is calculated using an A* algorithm. We consider a poor perception of the road user by the automated vehicle as optimal, because we want to define scenarios that are as critical as possible. The path is then transferred to a dynamic scenario, where the trajectory of the road user and the road layout are determined. The result is an optimal road geometry, so that the ego-vehicle can perceive an approaching object as poorly as possible. The focus of our work is on the highway as the Operational Design Domain (ODD).

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Thomas Ponn, Thomas Lanz, Frank Diermeyer. 2020-08-26. Automatic Generation of Road Geometries to Create Challenging Scenarios for Automated Vehicles Based on the Sensor Setup. https://arxiv.org/abs/2008.11580

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