automotive-sotif-highway-testing

Automotive Sotif Highway Testing

Sotif Highway Testing

SOTIF Highway Testing & Evaluation — Structured Test Framework for Highway ADAS/ADS

Overview

Specialized SOTIF testing framework for highway scenarios including ACC, LCC, ICA, HWA, and L3 highway pilot. Covers scenario design, test execution, performance evaluation, and evidence generation for ISO 21448 compliance on highway applications.

Highway SOTIF Test Architecture

高速公路SOTIF测试架构
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━
            ┌─────────────┐
            │  场景库       │
            │ Scenario DB  │
            └──────┬──────┘
                   │
     ┌─────────────┼─────────────┐
     ▼             ▼             ▼
┌─────────┐ ┌──────────┐ ┌──────────┐
│ 仿真测试  │ │ 场地测试  │ │ 道路测试  │
│   SiL    │ │  Track   │ │ Public   │
│  >10M km │ │  >1K km  │ │ >100K km │
└────┬────┘ └────┬─────┘ └────┬─────┘
     │           │            │
     └─────────┬─┴────────────┘
               ▼
        ┌──────────────┐
        │ 综合评估       │
        │ Assessment    │
        └──────────────┘
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━

Highway Critical Scenario Catalog

Category 1: Longitudinal Scenarios

longitudinal_scenarios = {
    "L-001_前车正常跟车": {
        "description": "Normal car-following on highway",
        "ego_speed_range": [60, 120],  # km/h
        "target_speed_range": [60, 120],
        "thw_range": [1.0, 3.0],  # time headway (s)
        "criticality": "low",
        "sotif_relevance": "baseline performance",
    },
    "L-002_前车紧急制动": {
        "description": "Lead vehicle emergency braking",
        "ego_speed": 120,
        "target_decel": [-6, -9.8],  # m/s²
        "initial_thw": [1.5, 2.5],
        "criticality": "high",
        "sotif_relevance": "perception delay + system response",
    },
    "L-003_前车切出暴露静止车辆": {
        "description": "Lead vehicle cut-out revealing stationary vehicle",
        "ego_speed": [100, 120],
        "target_speed": 0,
        "cut_out_ttc": [2.0, 5.0],  # s before collision
        "criticality": "critical",
        "sotif_relevance": "radar static filter + camera late detection",
        "known_accidents": "Tesla Autopilot incidents, NIO NOP incidents",
    },
    "L-004_旁车切入": {
        "description": "Adjacent vehicle cut-in",
        "ego_speed": [80, 120],
        "cut_in_speed": [60, 100],
        "overlap_rate": [0.5, 1.0],
        "cut_in_ttc": [1.0, 3.0],
        "criticality": "high",
        "sotif_relevance": "prediction + planning response",
    },
    "L-005_慢速车辆逼近": {
        "description": "Approaching slow vehicle (speed differential >40km/h)",
        "ego_speed": 120,
        "target_speed": [20, 60],
        "detection_distance_required": ">150m",
        "criticality": "high",
        "sotif_relevance": "long-range detection capability",
    },
}