TEST SCENARIO GENERATION METHOD, SYSTEM AND DEVICE FOR RISKY LANE-CHANGING TEST OF AUTONOMOUS DRIVING

The present disclosure provides a test scenario generation method, system and device for risky lane-changing test of autonomous driving. The method includes: obtaining a real risky lane change trajectory set; generating an adversarial network TimeGAN, and obtaining a constructed risky lane change trajectory generation model Traj-TimeGAN; inputting the data in the real risky lane change trajectory set into Traj-TimeGAN, and outputting a lane change trajectory of a lane change background vehicle with human driving characteristics; analyzing safety constraint conditions of an autonomous driving vehicle and constructing a critical safety distance model for the vehicle; constructing a critical lane change scenario test case, and generating critical lane change test scenarios corresponding to all risky lane change trajectories through scenario generalization. The present disclosure can generate multi-directional lane change entry angles to meet the needs for high-risk testing of autonomous driving.