Evaluation methods of automatic driving behavior based on the actual road test

This paper puts forward the method and process of road test for vehicles with the autonomous driving function from the perspective of the third-party testing organization. In view of the operational design domain (ODD) of the autopilot function and the road environment element library, the corresponding test roads are selected. At the same time, taking the synchronous data acquisition equipment as the test system, a true-value system equipped with traffic environment detection and dynamic data recording of the vehicle is installed on the tested vehicle to carry out the real vehicle road test. A safety driving model based on the driver’s response and vehicle dynamics is proposed in different scenarios, which is used as the evaluation model of autonomous driving behaviors to verify the safety of the automatic driving function of the vehicles. The test method is provided for the actual road test of the automatic driving function.