Study on Test and Evaluation Method of Autonomous Driving Vehicle at Intersection

At intersection, accidents often happen due to the complexity of traffic flow. The rapid development autonomous driving technology helps alleviate this problem. However, few test scenarios at intersection are involved in current standards and regulations. This paper analyzes typical conflict forms distribution laws flow proposes an regulation consisting 28 with their specific evaluation methods corresponding scores based on Analytic Hierarchy Process method, which provides guidance for further tests.