A Review of Testing Object-Based Environment Perception for Safe Automated Driving

Abstract Safety assurance of automated driving systems must consider uncertain environment perception. This paper reviews literature addressing how perception testing is realized as part safety assurance. The focuses on for verification and validation purposes at the interface between planning, structures analysis along three axes (1) test criteria metrics, (2) scenarios, (3) reference data. Furthermore, analyzed includes related standards, safety-independent algorithm benchmarking, sensor modeling. It found that realization safety-oriented remains an open issue since challenges concerning their interdependencies currently do not appear to be sufficiently solved.