A Test Scenario Automatic Generation Strategy for Intelligent Driving Systems

Table 3

Influence factors of LDW system.

Influence factor			Value	Importance index
Traffic environment parameters	Lightning environments	Weather	Sunny	0.0126
			Cloudy	0.0475
			Rainy	0.1101
			Foggy	0.1419
		Time	Day (8:00-17:00)	0.0101
			Dusk/Dawn (17:00-19:30/5:30-8:00)	0.0403
			Night (19:30-5:30)	0.0807
		Rapid changes in light	Pass through tunnel	0.0098
			Pass under footbridge	0.0162
			None	0.0015
Traffic environment parameters	Lane lines parameters	Lane line clarity	Few fade and holes	0.0023
			Intermediate fade and holes	0.0088
			Much fade and holes	0.026
			No fade and holes	0.0009
		Lane line integrity	Lane line on one side	0.0038
			Lane line on both sides	0.0268
		Lane line number	Single	0.0148
			double	0.0049
		Lane line color	White	0.0007
			Yellow	0.0033
		Lane line type	Dashed	0.0276
			Solid	0.003
Traffic environment parameters	Road parameters	Curvature	Straight road (0)	0.0039
			Bend road (1/750)	0.0083
			Bend road (1/500)	0.0186
			Bend road (1/250)	0.0401
		Lane number	1	0.0043
			2	0.001
			3	0.0007
		Lane marks	One mark	0.002
			Combination of two marks	0.0039
			Combination of three marks	0.008
			Combination of four marks	0.0157
			None	0.001
		Slope	Uphill (Slope of +5%)	0.0068
			Downhill (Slope of -5%)	0.0044
			None	0.0011
		Roadside facilities	One facility	0.0062
			Combination of two facilities	0.0103
			Combination of three facilities	0.0176
			Combination of four facilities	0.0277
			Combination of five facilities	0.052
			None	0.0038
Subject vehicle driver's behavior	Longitudinal speed		40 km/h	0.0016
			55 km/h	0.018
			60 km/h	0.0148
			80 km/h	0.0148
			90 km/h	0.0111
			100 km/h	0.0094
			120 km/h	0.0072
			140 km/h	0.0014
Subject vehicle driver's behavior	Lateral speed		0 m/s	0.0013
			0.1 m/s	0.0071
			0.4 m/s	0.0092
			0.8 m/s	0.0114
			1.0 m/s	0.0102
Other traffic participants' state	Road congestion		0 lane lines missing	0.0016
			25% lane lines missing	0.0043
			50% lane lines missing	0.009
			75% lane lines missing	0.015
			90% lane lines missing	0.0215