同济大学学报（自然科学版）2025，Vol.53Issue(2)：223-232,10.DOI:10.11908/j.issn.0253-374x.23406
基于反事实推断的自动驾驶路测险态场景推演
Autonomous Driving Road Test Risk Scenario Inference Based on Counterfactual Analysis
摘要
Abstract
Based on the data of takeover cases in autonomous driving road testing,this paper analyzes the types of takeover interventions,and sets up three types of risky scenarios:trust,risk-avoidance,and optimization takeovers.By developing a CARLA-SUMO joint simulation platform under the OpenCDA framework and using the counterfactual inference method,the operating conditions of autonomous driving in risky scenarios are deduced from the road-testing datasets.From the perspectives of safety,efficiency,comfort,etc.,multi-dimensional evaluation indicators for the intelligent driving level of autonomous driving are proposed.The results show that the counterfactual inference method is capable of achieving the deduction of risky scenarios under the takeover conditions.In similar risky scenarios,the intelligent driving of autonomous passenger cars is better than that of trucks.The differences in fundamental elements and operational indicators among risky scenarios are significant,and intelligent driving in risk-avoidance takeover scenarios is more reliable compared to trust takeover scenarios.关键词
交通运输/自动驾驶路测/接管干预/险态场景/反事实推断Key words
transportation/autonomous driving road testing/takeover intervention/risky scenario/counterfactual inference分类
交通工程引用本文复制引用
涂辉招,刘建泉,卫雨桐,王万锦,郭静秋,汪敏..基于反事实推断的自动驾驶路测险态场景推演[J].同济大学学报（自然科学版）,2025,53(2):223-232,10.基金项目
上海市科委项目(22dz1203400) （22dz1203400）
国家自然科学基金(52372339) （52372339）
