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Scenario-based simulation test method is an important means of automated driving vehicle safety verification； however， current test scenarios generation methods are mostly for independent scenarios. How to simulate the human real driving process to generate continuous interactive test scenario with challenges has become a problem that needs to be solved urgently in automated driving test evaluation. In this paper， an automated driving anthropomorphic continuous interactive test scenarios generation method is proposed. Firstly， the architecture for anthropomorphic continuous interactive test scenarios generation is established， and the vehicle motion behavior analysis is conducted based on the HighD dataset. On this basis， the current behavior of tested automated driving vehicle based on the trajectory similarity feature is analyzed， and the prediction of the future trajectory through the state transfer matrix is realized. Then， the type of the future behaviors of the traffic vehicles based on the trajectory interaction rules are determined， and the specific trajectory is generated by Transform network. Finally， the key performance indicators such as danger and anthropomorphism of the generated test scenarios are evaluated in simulation test environment， which proves the effectiveness of the method proposed in this paper.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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