NVIDIA Drive Sim 帮助解决无人驾驶预期功能安全问题.pdf

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1、JAY YANG, Dec 2020 SOTIF V Add Variance Scenario B: Double Lane Change Cutoff (1 / 30 km) Scenario A: Single Lane Change Cutoff (1 / 10 km) Scenarios Observed During ODD Characterization Reasonable Variance Introduced to Scenarios in Simulation Scenario Bx (1 / 10000 km) Scenario Ax (1 / 10000 km) 2

2、3NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. ACCELERATED TESTING Comparison vs Real World Testing Real World Testing: 3 Scenario Exposures over 30km and 1 hr* Limited by availability of ODD and actual presentation of scenario Accelerated Testing: Infinite exposures and speed as function of SIL and HIL a

3、rchitecture *Assuming 30 kph average speed of vehicle in fleet 24NVIDIA CONFIDENTIAL. DO NOT DISTRIBUTE. HIGH-LEVEL SCENARIO DEFINITION LANGUAGE High-Level Scenario Definition Language (HSDL): Python scenario interface Enable compositing of low-level behaviors into complex actions Directed randomization to find critical scenarios Scenario search and exploration High-quality constraint solver ASAM