Testing Scenario Library Generation for Connected and Automated Vehicles, Part II: Case Studies

Abstract

Testing scenario library generation (TSLG) is a critical step for the development and deployment of connected and automated vehicles (CAVs). In Part I of this study, a general method for TSLG is proposed, and theoretical properties are investigated regarding the accuracy and efficiency of CAV evaluation. This paper aims to provide implementation examples and guidelines, and to enhance the proposed methodology under high-dimensional scenarios. Three typical cases, including cut-in, highway-exit, and car-following, are designed and studied in this paper. For each case, the process of library generation and CAV evaluation is elaborated. To address the challenges brought by high dimensionality, the proposed method is further enhanced by reinforcement learning technique. For all three cases, results show that the proposed method can accelerate the CAV evaluation process by multiple magnitudes with same evaluation accuracy, if compared with the on-road test method.