Quantitative Evaluation Methodology for Chassis-Domain Dynamics Performance of Automated Vehicles
针对自动驾驶车辆底盘域动力学性能评估缺乏统一量化指标的问题，提出一种基于底盘动力学建模和时空信号分析的定量评估指标，综合量化安全性和舒适性。
Thorough performance evaluation of automated vehicles (AVs) is an essential prerequisite for AVs' release and deployment. The challenges posed by dynamics performance appraisal of AVs are centered around the complexity of chassis dynamics, performance diversity, and lack of unified quantitative metrics. Therefore, this article proposes a novel quantitative evaluation metric for AVs' chassis-domain performance. We reveal mathematically explicit chassis steady boundaries of various vehicle maneuvers based on the modeling of chassis-domain dynamics and vehicle spatiotemporal signal analysis for safety-critical AVs. By defining and analyzing the multiperformance appraisal problem, this article gives mathematically prerequisites for evaluation metrics. Then, a rigorous metric is developed to quantify AVs' safety and comfort performance comprehensively. Wherein, the steady boundaries are leveraged to the metric normalization. We demonstrate the effectiveness of the proposed quantitative evaluation methodology in various scenarios. Test results illustrate that the proposed method provides a quantitative way to test AVs' integrated dynamics performance.