Virtual scenario-based testing methods to validate autonomous driving systems are predominantly centred around collision avoidance, and lack a comprehensive approach to evaluate optimal driving behaviour holistically. Furthermore, current validation approaches do not align with authorisation and monitoring requirements put forth by regulatory bodies. We address these validation gaps by outlining a universal evaluation framework that: incorporates the notion of careful and competent driving, unifies behavioural competencies and evaluation criteria, and is amenable at a scenario-specific and aggregate behaviour level. This framework can be leveraged to evaluate optimal driving in scenario-based testing, and for post-deployment monitoring to ensure continual compliance with regulation and safety standards.

翻译：基于虚拟场景的自动驾驶系统验证方法主要围绕碰撞规避展开，缺乏评估整体最优驾驶行为的综合方法。此外，当前验证方法未能符合监管机构提出的授权与监测要求。我们通过提出一个通用评估框架来解决这些验证空白，该框架：融合了谨慎与胜任驾驶的概念，统一了行为能力与评估标准，并适用于场景特定层面和聚合行为层面的分析。该框架可用于基于场景的测试中评估最优驾驶行为，并支持部署后监测以确保持续符合法规与安全标准。