Journal of South China University of Technology(Natural Science) >
TsGAN-Based Automatic Generation Algorithm of Lane-Change Cut-in Test Scenarios on Expressways for Autonomous Vehicles
Received date: 2023-04-11
Online published: 2024-04-02
Supported by
the Shaanxi Science Fund for Distinguished Young Scientists(2023-JC-JQ-45);the National Key Research and Development Program of China(2021YFB2501200);the Key Project of the National Natural Science Foundation of China(52232015);the Key Research and Development Program of Shaanxi Province(2021LLRH-04-01-03)
The event wherein vehicles from the adjacent lane execute a lane-change maneuver, cutting into the lane occupied by autonomous vehicles, epitomizes a typical high-risk scenario on expressways within the domain of autonomous driving. Replicating such scenarios for testing on actual expressways involves significant safety risks. Virtual simulation test is one of the best approaches to addressing this issue. In order to automatically generate mass high-fidelity expressway lane-change cut-in test scenarios, this paper presents an automatic generation algorithm of lane-change cut-in test scenarios for autonomous vehicles based on TsGAN (Time-Series Generative Adversarial Network). In this algorithm, the time headway and lateral gap at the cut-in moment are taken as the evaluation metrics for scenario risk assessment, and 2 853 instances of lane-change cut-in scenarios with four different risk levels are extracted from the real expressway trajectory dataset highD. A model for generating lane-change cut-in test scenarios is established based on TsGAN, and is trained with the extracted real trajectory data. Then, the model is employed to generate the trajectories for the lane-change vehicle and the tested vehicle before the cut-in moment. To authenticate the generated trajectories, the distribution similarity and spectral error between the generated and the real trajectories are compared. Furthermore, an in-depth analysis of the kinematic interplay between the two vehicles at the cut-in moment and the distribution of trajectory parameters in the generated scenarios is performed to validate the coverage of the generated scenarios within naturalistic settings. The findings can be summarized as follows: (1) as illustrated by the distribution of key trajectory parameters, the average similarity between the generated and the real lane-change trajectories is 79.7%, with an average spectral error less than 8%, and more than 83.2% of the generated trajectories are within the buffer of the most analogous real trajectories, indicating a notable fidelity of the generated trajectories; (2) as compared with the collected real scenarios, the generated instances exhibit a more expansive coverage and a more even distribution within parameter intervals, and the time headway and lateral gap between the lane-change vehicle and the tested vehicle at the cut-in moment decrease by 17.83% and 16.37% in average, respectively, the distribution range of trajectory parameters expands by 19.44%, signifying a heightened coverage of the generated scenarios; and (3) the proposed TsGAN-based generation model has the capability of emulating lane-change cut-in test scenarios with four different risk levels, exhibiting pronounced specificity.
ZHU Yu , XU Zhigang , ZHAO Xiangmo , WANG Runmin , QU Xiaobo . TsGAN-Based Automatic Generation Algorithm of Lane-Change Cut-in Test Scenarios on Expressways for Autonomous Vehicles[J]. Journal of South China University of Technology(Natural Science), 2024 , 52(8) : 76 -88 . DOI: 10.12141/j.issn.1000-565X.230229
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