Compliance Test Report of the "Qi Ji" Autonomous Driving Vehicle A2 According to Standard T/CSAE 285‑2022

1. Test Basis Explanation

The test follows the group standard T/CSAE 285‑2022 "Functional‑type Unmanned Vehicle Automatic Driving Function Field Test Methods and Requirements", issued by the China Intelligent Connected Vehicle Industry Innovation Alliance and drafted by Beijing Institute of Technology in April 2022. The standard defines general requirements, pass criteria, and test methods for functional‑type unmanned vehicles such as delivery, retail, shuttle, sanitation, patrol, and transport vehicles.

2. Test Company Explanation

The inspection was performed by China Merchants Group Vehicle Technology Research Institute Co., Ltd., a national Torch Program key high‑tech enterprise and one of the six most qualified national automotive testing institutions. It operates three national‑level quality inspection centers for automobiles, motorcycles, and intelligent connected vehicles, and is the drafting organization of T/CSAE 285‑2022.

3. Test Project Explanation

The standard specifies 11 major items comprising 38 sub‑items, including traffic sign and lane marking recognition, traffic signal recognition, obstacle detection, pedestrian and two‑wheel vehicle detection, vehicle detection, parking, car‑following, lane‑changing overtaking, intersection U‑turn, intersection passage, and remote driving. All items were tested and met the standard requirements.

3.1 Intersection Conflict Passage

3.1.1 Technical Requirements

Straight‑through conflict at an intersection.

Right‑turn conflict at an intersection.

Left‑turn conflict at an intersection.

Right‑turn conflict with pedestrians.

3.1.2 Test Results

During left‑turn conflict testing, the test vehicle approached the intersection, and when the target vehicle entered the intersection at 20 km/h, the test vehicle decelerated to a full stop, waited for the target vehicle to pass, then accelerated and completed the turn without collision.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.1.3 Test Video

3.2 Lane‑Changing Overtaking

3.2.1 Technical Requirements

The test vehicle must approach a slower target vehicle, activate the turn signal, overtake safely, and return to the original lane without collision.

3.2.2 Test Results

The test vehicle, traveling at 19‑20 km/h, detected a target vehicle moving at 5 km/h, changed lane to the left, overtook, and completed the maneuver without collision.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.2.3 Test Video

3.3 Two‑Wheel Vehicle Crossing Pedestrian Crossing

3.3.1 Technical Requirements

The test vehicle travels in the rightmost lane while a two‑wheel vehicle (bicycle or motorcycle dummy) crosses the pedestrian crossing at 10‑20 km/h.

The test vehicle must avoid collision.

3.3.2 Test Results

The test vehicle, at 19‑20 km/h, stopped before the crossing, waited for the two‑wheel vehicle to pass, then resumed motion. No collision occurred. Average start‑up time: 1.64 s.

Test/Pass count: 6/6 (three bicycle dummies and three motorcycle dummies).

Compliance judgment: all items meet the test standard.

3.3.3 Test Video

3.4 Pedestrian Crossing the Road

3.4.1 Technical Requirements

A pedestrian (adult dummy or child dummy) crosses the road at 5‑6.5 km/h while the test vehicle travels at 19‑20 km/h.

The test vehicle must avoid collision.

3.4.2 Test Results

The test vehicle decelerated, waited for the pedestrian to cross, then resumed motion without collision. Average start‑up time: 1.58 s.

Test/Pass count: 6/6 (three adult dummies and three child dummies).

Compliance judgment: all items meet the test standard.

3.4.3 Test Video

3.5 Drop‑Down Barrier

3.5.1 Technical Requirements

The test vehicle approaches a lowered barrier, stops for 3 s, then the barrier rises.

The vehicle must stop within 2 m of the barrier without touching it and pass within 3 s after the barrier rises.

3.5.2 Test Results

In three runs, the vehicle stopped 1.29‑1.43 m from the barrier, waited for it to rise, then accelerated and passed within the required time.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.5.3 Test Video

3.6 Static Pedestrian

3.6.1 Technical Requirements

The vehicle must detect a static pedestrian (adult or child dummy) and either stop or safely bypass without collision.

3.6.2 Test Results

The vehicle decelerated, changed to the left lane (turn signal on), and passed the pedestrian without collision.

Test/Pass count: 6/6.

Compliance judgment: all items meet the test standard.

3.6.3 Test Video

3.7 Vehicle Following and Emergency Braking

3.7.1 Technical Requirements

The test vehicle follows a target vehicle for 5 s, then the target decelerates at 6 m/s² to a stop; the test vehicle must brake and avoid collision.

3.7.2 Test Results

The test vehicle followed the target at a 10 m gap, then the target decelerated to a stop; the test vehicle braked, changed lane left, and avoided collision.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.7.3 Test Images

3.8 Traffic Signal, Directional Arrow, and Non‑Motor Vehicle Signal

3.8.1 Technical Requirements

The vehicle approaches a signal that may stay green or turn red (green → yellow 3 s → red 30 s → green). The vehicle must perform straight, right‑turn, and left‑turn maneuvers under both green and red conditions.

During red, the vehicle must stop within 2 m of the stop line and restart within 3 s after green.

3.8.2 Test Results

Straight: 1 green, 2 red; red stops averaged 1.26 m from line, restart time 1.66 s.

Left turn: 1 green, 2 red; red stops averaged 1.30 m, restart time 1.59 s.

Right turn: all three runs passed on green without stopping.

Test/Pass count: 9/9.

Compliance judgment: all items meet the test standard.

3.8.3 Test Video

3.9 Non‑Separated Guardrail

3.9.1 Technical Requirements

The vehicle must stay within its lane while passing a non‑separated guardrail without touching it.

3.9.2 Test Results

In three runs on a right‑hand bend, the vehicle remained stable in the lane, showed no noticeable sway, and did not contact the guardrail.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.9.3 Test Video

3.10 Pedestrian Crossing a Crosswalk

3.10.1 Technical Requirements

The vehicle travels at 9‑20 km/h toward a crosswalk; a pedestrian dummy crosses at 5 km/h.

The vehicle must stop before the pedestrian, wait, then resume without collision.

3.10.2 Test Results

The vehicle stopped, waited 1.58 s on average, then proceeded. No collision.

Test/Pass count: 6/6.

Compliance judgment: all items meet the test standard.

3.10.3 Test Video

3.11 Pedestrian Moving Along the Lane

3.11.1 Technical Requirements

The pedestrian walks at 5‑6.5 km/h; the vehicle may follow or overtake, but must not collide.

3.11.2 Test Results

The vehicle decelerated, changed left, and passed the pedestrian without collision.

Test/Pass count: 6/6.

Compliance judgment: all items meet the test standard.

3.11.3 Test Video

3.12 Static Two‑Wheel Vehicle

3.12.1 Technical Requirements

The vehicle approaches a stationary two‑wheel vehicle (bicycle or motorcycle dummy) and must avoid collision by stopping or bypassing.

3.12.2 Test Results

The vehicle changed left with turn signal and passed without collision.

Test/Pass count: 6/6.

Compliance judgment: all items meet the test standard.

3.12.3 Test Video

3.13 Two‑Wheel Vehicle Moving Along the Lane

3.13.1 Technical Requirements

The two‑wheel vehicle moves at 10‑20 km/h; the test vehicle may follow or overtake, but must not collide.

3.13.2 Test Results

The vehicle followed for 5.18 s, then the two‑wheel vehicle left the lane; the test vehicle accelerated and continued without collision.

Test/Pass count: 6/6.

Compliance judgment: all items meet the test standard.

3.13.3 Test Video

3.14 Front Vehicle Cutting In

3.14.1 Technical Requirements

A target vehicle in the left lane must cut into the test vehicle's lane within 3 s while maintaining speed.

The test vehicle must avoid collision.

3.14.2 Test Results

The target vehicle cut in within 2.11 s; the test vehicle recognized the maneuver, decelerated, followed, and completed the scenario without collision.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.14.3 Test Image

3.15 Front Vehicle Cutting Out

3.15.1 Technical Requirements

The target vehicle ahead in the same lane must change to the adjacent lane within 3 s, staying within 2 m behind the test vehicle before the lane change.

The test vehicle must follow, then accelerate after the target cuts out.

3.15.2 Test Results

The target vehicle cut out in 1.98 s; the test vehicle decelerated, followed, then accelerated after the cut‑out. No collision.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.15.3 Test Image

3.16 Opposite‑Direction Vehicle Borrowing Lane

3.16.1 Technical Requirements

The opposite vehicle occupies 30 % of the test vehicle's lane at 20 km/h. If the test vehicle decelerates >5 km/h, the opposite vehicle returns to its lane; otherwise the test vehicle must pass safely.

3.16.2 Test Results

The test vehicle decelerated, stopped at a 10.26 m gap, waited for the opposite vehicle to return, then resumed motion. No collision.

Test/Pass count: 3/3.

Compliance judgment: all items meet the test standard.

3.16.3 Test Video

Past Review

Links to previous technical articles on deep learning, GIS, blockchain, and other smart‑city technologies are listed in the original document.