Autonomous Evaluation of Unmanned Vehicles: A Survey

Abstract

With the continuous improvement of the technical intelligence level of unmanned vehicle, the autonomy of unmanned vehicle has become one of the important performance indicators. However, the autonomy evaluation of unmanned vehicles is still in the early stage of development, and a complete and scalable metric system is required to promote the further development of the technology. Firstly, we investigates the autonomy framework of the current unmanned system, arranges the autonomy evaluation framework of unmanned vehicle, and constructs a more comprehensive autonomy evaluation framework through the external and internal evaluation of autonomy. Then the evaluation systems of environment complexity, task complexity, manual intervention, perception and cognition, decision-making and planning, control and execution are summarized and reviewed. Finally, we count the distribution of the reviewed literature in our proposed framework, which proves the rationality, comprehensiveness and compatibility of our proposed framework for autonomous vehicle autonomy.