GB/T 47025-2026Intelligent and connected vehicles - Simulation test methods and requirements for automated driving functions (English PDF)

4.1 General requirements

4.1.1 The test object of this document shall include, at a minimum, the automated driving system.

4.1.2 No changes shall be made to the automated driving system or the simulation test toolchain during the execution of simulation tests.

4.1.3 The credibility of the simulation test shall be evaluated in accordance with Appendix A.

4.1.4 In addition to the test items selected from Table 1, further test items shall be generated based on the design operating conditions of the automated driving system, to ensure test coverage. These test items shall include, at a minimum, test scenarios, test procedures, requirements for recorded test information, pass criteria; concrete test scenarios shall be constructed in accordance with 5.3; simulation tests shall be executed in accordance with 5.4.

4.1.5 Commercial test vehicles shall be tested in both the curb mass state and the maximum permissible gross mass state; mass descriptions shall comply with GB/T 3730.2; the condition of the test vehicle shall not be altered once testing has commenced. For semi-trailer tractors, tests shall be conducted in both the curb mass state of the vehicle combination and the maximum permissible mass state of the vehicle combination.

4.2 Requirements for simulation test toolchain

4.2.1 The confidence level of the simulation test toolchain shall comply with the requirements specified in A.2 ~ A.5 of Appendix A.

4.2.2 The simulation test toolchain shall support, at a minimum, the simulation test items selected in accordance with 5.2.

4.2.3 The simulation test toolchain shall be capable of executing concrete test scenarios (including but not limited to road networks, target objects, etc.). Target object dimensions are specified in Appendix B.

4.2.4 The simulation test toolchain shall be capable of interfacing with the model, algorithm, or hardware of the automated driving system under test.

4.2.5 The simulation test toolchain should be capable of processing raw sensor signal- level data or interfacing with sensor hardware (e.g., cameras, radar, etc.).

4.2.6 The simulation test toolchain shall be capable of executing vehicle dynamics models or interfacing with vehicle actuation systems.

4.2.7 The simulation test toolchain shall support the evaluation of simulation test results and ensure their traceability; it shall at least support the recording and preservation of the test data required in 4.3.

4.3 Requirements for test record information During simulation testing, in addition to recording the test information for each test item specified in Appendixes C ~ I, the following information shall also be recorded.

a) Simulation test-in-the-loop testing method;

b) Configuration and version information of the simulation test toolchain;

c) Configuration and version information of the automated driving system under test;

d) Information regarding the test vehicle's lighting and human-machine interaction (HMI), or relevant request information required by the automated driving system;

e) Information on the relative distance between the outer edge of the test vehicle's wheels and the outer edge of the lane markings;

f) Information on the minimum distance between the test vehicle's outer profile and road infrastructure (e.g., road traffic signs, tunnels, etc.), or other information used to determine whether a collision has occurred.

5.2 Requirements for test item selection

5.2.1 Determine whether the driving area involves expressways, urban express roads, or urban roads, based on the road types within the design operating conditions of the test vehicle's automated driving system.

Note. In this document, urban road driving areas refer to arterial roads, secondary arterial roads, branch roads, excluding urban express roads.

5.2.2 Determine the simulation test items in accordance with Table 1, based on the driving area determined in 5.2.1.If the test vehicle is a bus, test items related to bus stop areas shall be selected from Table 1, as supplementary test items for the corresponding driving area.

Note. For scenario parameters where only a value range is specified for a concrete test scenario, the actual parameter value shall be determined through consultation among the parties involved in the test, based on the automated driving function.

5.2.3 If the test vehicle cannot meet the initial conditions of a concrete test scenario due to the automated driving system's design operating conditions, the conclusion shall be that the concrete test scenario is not applicable to that automated driving system; for example.

a) The initial speed of the test vehicle for the concrete test scenario exceeds the maximum design operating speed vmax of the automated driving system for that scenario;

b) For Item No.14 (i.e., D.6) in Table 1, the automated driving system cannot be activated on a ramp;

c) For Item No.29 (i.e., F.3) in Table 1, the automated driving system cannot be activated inside a tunnel;

d) For Item Nos.33 (i.e., F.7) and 35 (i.e., F.9) in Table 1, the automated driving system does not possess lane-changing capabilities other than the minimum risk maneuver.

5.2.4 To meet the initial conditions of a concrete test scenario, the test vehicle shall simultaneously satisfy the following requirements.

a) The automated driving system is in an activated state;

b) The test vehicle reaches or maintains the initial test vehicle speed;

c) The test vehicle reaches the initial test vehicle position;

d) If the concrete test scenario specifies additional conditions for reaching the initial state, the test vehicle shall also satisfy those additional conditions (e.g., the test vehicle is stably following the target vehicle);

5.4 Requirements for conducting simulation tests

5.4.1 Each concrete test scenario shall be executed three times.

5.4.2 The termination conditions for the simulation test shall comply with

5.4.3 or meet the specific termination conditions for each test item listed in Appendices C ~ I.

5.4.3 The simulation test shall conclude, when any of the following termination conditions are met.

a) The test vehicle violates road traffic regulations;

b) The automated driving system disengages.