自动化学报2026，Vol.52Issue(3)：441-450,10.DOI:10.16383/j.aas.c250347
自动驾驶系统逻辑场景全覆盖测试用例生成方法
Full Coverage Test Cases Generating Method for Automated Driving System in Logical Scenario
摘要
Abstract
The scenario-based testing method is the mainstream means to verify the safety of the automated driv-ing system(ADS).However,the logical scenario uses the form of parameter space to describe the scenario.It is dif-ficult for the third-party detection organizations to use the same test case to ensure the test fairness and test cover-age when the performance of the system under test is different.For this reason,this paper proposes a full coverage test cases generating method for ADS in logical scenario based on the test case representativeness.First,a systemat-ic full coverage testing framework tailored for ADS is established.Subsequently,a quantitative evaluation method is introduced to assess the representativeness of test cases by jointly analyzing naturalistic driving probability distri-butions and hazardous event characteristics.Finally,an optimization calculation method for achieving full coverage of the differentiated sample combination space is developed,based on a heat-driven hierarchical greedy algorithm integrated with a genetic algorithm,enabling the efficient acquisition of representative parameter combinations that achieve full coverage of the logical scenario parameter space.The proposed approach is empirically validated using a lead-vehicle cut-in scenario.The results indicate that the proposed method achieves a logical scenario parameter space coverage rate of 100%and a boundary fitting error of 0.08,both of which significantly outperform current mainstream approaches,including the Monte Carlo method(coverage rate:84.3%,fitting error:0.19)and combinat-orial testing(coverage rate:86.5%,fitting error:0.14).These findings demonstrate the method's potential to effect-ively support testing organizations in developing a fair and efficient scenario generation framework.关键词
自动驾驶系统/测试场景/全覆盖测试/测试用例代表性Key words
automated driving system/test scenario/full coverage testing/test case representativeness引用本文复制引用
闵海涛,张志强,范天昕,张培兴,张诚,曲歌..自动驾驶系统逻辑场景全覆盖测试用例生成方法[J].自动化学报,2026,52(3):441-450,10.基金项目
国家自然科学基金(52402496),吉林省科技发展计划(20250102122JC)资助Supported by National Natural Science Foundation of China(52402496)and Science and Technology Development Plan of Jilin Province(20250102122JC) （52402496）
