arXiv:2605.04564cs.RO2026-05

提出新方法验证虚拟车祸场景是否真实有效,助力自动驾驶安全评估。

Practical validation of synthetic pre-crash scenarios

论文配图:Practical validation of synthetic pre-crash scenarios
图 1 · 摘自论文原文
  • 用贝叶斯区间法定义可接受差异范围,量化虚拟与真实数据相似性。
  • 在自动紧急制动系统评估中验证了两个合成后撞场景数据集的实用性等价性。
  • 框架通用可扩展,适合各类合成数据的真实性检验,结果易懂可解释。

合成前碰撞场景的代表性对于通过虚拟仿真评估驾驶自动化系统的安全影响至关重要。然而,现有方法难以可靠评估合成场景与真实场景在实际应用中的等价性——即它们是否足够相似以支持预期评估目标。传统显著性检验侧重于发现差异,无法证明等价性。本研究扩展了先前基于贝叶斯实用等价区间(ROPE)的等价性检验框架,引入分箱法来定义合适的统计量与等价标准。提出两种基于分箱的统计量,用于衡量安全评估背景下数据分布的实质性差异。通过案例研究,验证了两个合成追尾前碰撞数据集与已有参考数据集在自动紧急制动系统安全影响评估中的实用性等价性。结果表明,该框架能提供有信息量的定量等价评估,并揭示数据集间的偏差特征。尽管演示聚焦于追尾场景,该框架具有通用性与可扩展性,为多样合成数据应用提供了可解释、有原则的实用性等价评估基础。

原文摘要 · Abstract (English)

The representativeness of synthetic pre-crash scenarios is crucial for assessing the safety impact of Driving Automation Systems through virtual simulations. However, a gap remains in the robust evaluation of synthetic pre-crash scenarios' practical equivalence to their real-world counterparts; that is, whether they are similar enough for the intended assessment purpose. Conventional significance testing is inadequate, as it focuses on detecting differences rather than establishing practical equivalence. This study addresses the research gap by extending our previous work on a Bayesian Region of Practical Equivalence (ROPE)-based equivalence testing framework by introducing a binning-based approach to define appropriate statistics and equivalence criteria. Two binning-based statistics are proposed to measure practically meaningful distributional differences between datasets in the context of safety impact assessment. The framework's applicability is demonstrated through a case study, which tests the practical equivalence of two synthetic rear-end pre-crash datasets with a previously developed reference dataset in the context of the safety impact assessment of an Automatic Emergency Braking system. The results show that the framework provides informative quantitative assessments of practical equivalence as well as diagnostic insights into the divergence of datasets. Although the demonstration focuses on rear-end pre-crash scenarios, the framework is generic and extensible to broader validation contexts, providing an interpretable and principled basis for practical equivalence assessment across diverse synthetic data applications.

自动驾驶安全评估合成数据等价检验

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