Study on Urban Collision Risk Scenarios Based on AEB-FOT in China

Based on AEB-FOT(Autonomous Emergency Braking-Field Operational Test), this paper obtains the database in line with the characteristics of urban traffic conditions in China. A collision risk estimation model is established to filter UCRS(Vrban Collision Risk Scenario). Totally 257 UCRS cases are obtained combined with the secondary verification of engineers and expert verification. Based on the collision risk category and the difference of target objects, all cases are divided into six categories, and the basic characteristics of the six categories of scenarios are summarized. UCRS-1 is a conflict scenario with different horizontal overlap, which is called CCRb(Car-to-Car Rearing Braking); UCRS-2 is the conflict scenario between two-wheeled target takes an oblique crossing and VUT(vehicle under test). UCRS-3 is the face-to-face conflict scenario between VUT and target vehicle. UCRS-4 is the conflict scenario between pedestrians and VUT at places without intersection signs. UCRS-5 is a conflict scenario between UVT and target vehicle at the intersection. UCRS-6 is the conflict scenario between cut-in or cut-out vehicles and VUT. Combined with typical scenarios, the UCRS virtual model are established, which proves that there six types of UCRS can be used as virtual simulation scenarios for MIL, SIL and HIL test to promote the development of AD(Automated Driving) functions.