摘要：AbstractWith the development of autonomous vehicles (AV), safety assessment for control policies becomes more and more important. Test with actual vehicles is dangerous, while high-fidelity simulators, such as Airsim, will cost plenty of time. Thus, an accelerated assessment method is badly needed in practice. As a kind of application scene for AV, open environments have fewer uncertainties but need whole-process tests for safety assessment of control policies. In this article, we propose an accelerated safety assessment method for control policies of AV in open environments. Our method can accelerate the process of safety assessment and also has a high accuracy rate. In our test of a desert road scene, our method used 1/695 of the time of the Airsim with Unreal Engine 4 (UE4), and the accuracy rate is 92%.
关键词：Keywordsautonomous vehiclessafety assessmentaccelerated test method
