| 引用本文: | 任睿晗,杨超,杨凯,张柏迪,张晓东,王利娟,马建峰.面向整车系统的自动驾驶安全测试研究综述.软件学报,2026,37(1):157-179 |
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| 面向整车系统的自动驾驶安全测试研究综述 |
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任睿晗1, 杨超1, 杨凯1, 张柏迪1, 张晓东2, 王利娟1, 马建峰1
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1.西安电子科技大学 网络与信息安全学院, 陕西 西安 710071;2.西安电子科技大学 计算机科学与技术学院, 陕西 西安 710071
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| 摘要: |
| 自动驾驶系统能够产生极大的经济效益、安全效益和社会效益, 受到工业界和学术界的格外关注, 逐渐被深入研究, 普及应用. 然而, 引入此类复杂生态系统会产生新的安全问题, 威胁行人的生命安全, 影响现有的法律体系. 因此, 在自动驾驶系统实装、自动驾驶车辆上路、自动驾驶行业商业化落地前, 必须通过仿真测试、准入审核、试点运营等多种途径验证自动驾驶系统. 当前对模块安全研究的总结已经成熟, 但仍然缺乏对整车安全研究的归纳整理工作. 因此, 系统性地分析面向整车系统的自动驾驶安全测试研究, 全面回顾当前的主流工作. 首先, 概述自动驾驶系统结构和仿真测试的基本流程, 梳理近6年整车系统安全测试领域的文献, 并依托于通用的测试框架形成面向整车系统的自动驾驶安全测试框架. 其次, 基于上述框架提炼出当前工作的5类核心研究问题, 即关键场景生成、测试充分性、对抗样本生成、测试优化和测试预言, 并详细地分析和整理每类问题的关键技术、研究现状、发展脉络, 归纳当前研究常用的评价指标和对比方法. 最后, 总结各个研究方向面临的严峻挑战, 并展望未来的研究机遇, 思考潜在的解决方案. |
| 关键词: 自动驾驶系统 整车系统安全 仿真测试 |
| DOI：10.13328/j.cnki.jos.007486 |
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| 基金项目:国家自然科学基金(6223000226, 62125205); 中央高校基本科研业务费专项资金(ZYTS24138); 陕西省技术创新引导计划(2024QCY-KXJ-171); 中国电子科技集团第三十六研究所科研项目(HX01202310065) |
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| Survey on Vehicle System Safety Testing Research for Autonomous Driving |
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REN Rui-Han1, YANG Chao1, YANG Kai1, ZHANG Bai-Di1, ZHANG Xiao-Dong2, WANG Li-Juan1, MA Jian-Feng1
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1.School of Cyber Engineering, Xidian University, Xi’an 710071, China;2.School of Computer Science and Technology, Xidian University, Xi’an 710071, China
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| Abstract: |
| Autonomous driving systems (ADSs) have gained significant attention from both industry and academia due to their substantial economic, safety, and societal benefits, leading to in-depth research and the gradual popularization of applications. However, the introduction of such complex ecosystems can give rise to new safety issues that threaten the lives of pedestrians and impact the existing legal system. Therefore, it is imperative to validate ADSs through various methods such as simulation testing, access reviews, and pilot operations before the implementation and commercialization of ADSs. While the research on module safety has matured, there is still a lack of comprehensive research and organization regarding the safety of complete vehicle systems. Therefore, this study systematically analyzes vehicle system safety testing for ADSs and comprehensively reviews the current mainstream work. First, the architecture of ADSs and the basic procedure of simulation testing are outlined. The literature on vehicle system safety testing over the past six years is reviewed. Based on a universal testing framework, an autonomous driving safety testing framework tailored for vehicle systems is developed. Second, five core research issues are identified based on the aforementioned framework, namely critical scenario generation, test adequacy, adversarial sample generation, test optimization, and test oracle. A detailed analysis and organization of the key technologies, research status, and development context for each issue are provided. The commonly used evaluation metrics and comparative methods in current research are also summarized. Finally, the severe challenges faced by various research directions are summarized, and future research opportunities are anticipated, along with potential solutions. |
| Key words: autonomous driving system (ADS) vehicle system safety simulation testing |
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