[1] K WRÓBEL, J MONTEWKA, P KUJALA. Towards the assessment of potential impact of unmanned vessels on maritime transportation safety. Reliability Engineering & System Safety, 165, 155-169(2017).

[2] A FELSKI, K ZWOLAK. The ocean-going autonomous ship—challenges and threats. Journal of Marine Science and Engineering, 8, 41(2020).

[4] [4] Bureau veritas guidelines f autonomous ships[EBOL]. (20190711) [20221103]. https:marineoffshe.bureauveritas.comnewsroombureauveritasguidelinesautonomousships.

[5] [5] ClassNK. Rules & guidance[EBOL]. [20221103]. https:www.classnk.comaccountenRules_Guidance.

[7] [7] SON N S, KIM S Y. On the sea trial test f the validation of an autonomous collision avoidance system of unmanned surface vehicle, ARAGON[C]OCEANS 2018 MTSIEEE leston. leston, SC, USA: IEEE, 2018: 1−5.

[8] Y Z WU, C J LIU, S Y LAN et al. Real-time 3D road scene based on virtual-real fusion method. IEEE Sensors Journal, 15, 750-756(2015).

[9] T A PEDERSEN, J A GLOMSRUD, E L RUUD et al. Towards simulation-based verification of autonomous navigation systems. Safety Science, 129, 104799(2020).

[10] L J CHEN, X P YAN, L W HUANG et al. A systematic simulation methodology for LNG ship operations in port waters: a case study in Meizhou Bay. Journal of Marine Engineering & Technology, 17, 12-32(2018).

[12] Y J TANG, J M MOU, L Y CHEN et al. Review of ship behavior characteristics in mixed waterborne traffic. Journal of Marine Science and Engineering, 10, 139(2022).

[18] [18] MENZEL T, BAGSCHIK G, MAURER M. Scenarios f development, test validation of automated vehicles[C]2018 IEEE Intelligent Vehicles Symposium (Ⅳ). Changshu, China: IEEE, 2018: 18211827.

[20] [20] YANG F, LIU J L, LI S J, et al. Virtualreal interaction tests f functional testing of smart ships[C]The 30th International Ocean Polar Engineering Conference. Shanghai: ISOPE, 2020.

[23] J CHOI, C H LIM, Y J JEON et al. Numerical simulation of irregular wave transformation due to wave-induced current. Journal of Hydro-Environment Research, 1, 133-142(2007).

[25] X ZHOU. A comprehensive framework for assessing navigation risk and deploying maritime emergency resources in the South China Sea. Ocean Engineering, 248, 110797(2022).

[26] [26] AMERSBACH C, WINNER H. Defining required feasible test coverage f scenariobased validation of highly automated vehicles[C]2019 IEEE Intelligent Transptation Systems Conference (ITSC). Auckl, New Zeal: IEEE, 2019: 425430.

[27] Q XIA, J L DUAN, F GAO et al. Test scenario design for intelligent driving system ensuring coverage and effectiveness. International Journal of Automotive Technology, 19, 751-758(2018).

[28] J QIU, C WANG, G J LIU et al. Testability demonstration for a flight control system based on sequential probability ratio test method. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 229, 492-501(2015).

[29] D ZHAO, H LAM, H E PENG et al. Accelerated evaluation of automated vehicles safety in lane-change scenarios based on importance sampling techniques. IEEE Transactions on Intelligent Transportation Systems, 18, 595-607(2017).

[32] H RONG, A P TEIXEIRA, SOARES C GUEDES. Ship collision avoidance behaviour recognition and analysis based on AIS data. Ocean Engineering, 245, 110479(2022).

[33] A BAKDI, I K GLAD, E VANEM. Testbed scenario design exploiting traffic big data for autonomous ship trials under multiple conflicts with collision/grounding risks and spatio-temporal dependencies. IEEE Transactions on Intelligent Transportation Systems, 22, 7914-7930(2021).

[34] J M SCANLON, R SHERONY, H C GABLER. Earliest sensor detection opportunity for left turn across path opposite direction crashes. IEEE Transactions on Inteligent Vehicles, 2, 62-70(2017).

[35] [35] GAO Z, LIU Y, ZHENG J Y, et al. Predicting hazardous driving events using multimodal deep learning based on video motion profile kinematics data[C]2018 21st International Conference on Intelligent Transptation Systems (ITSC). Maui, HI, USA: IEEE, 2018: 33523357.

[37] F X ZHU, Z Y ZHOU, H R LU. Randomly testing an autonomous collision avoidance system with real-world ship encounter scenario from AIS data. Journal of Marine Science and Engineering, 10, 1588(2022).

[38] F GAO, J L DUAN, Y D HE et al. A test scenario automatic generation strategy for intelligent driving systems. Mathematical Problems in Engineering, 2019, 3737486(2019).

[39] [39] LEE R, KOCHENDERFER M J, MENGSHOEL O J, et al. Adaptive stress testing of airbne collision avoidance systems[C]2015 IEEEAIAA 34th Digital Avionics Systems Conference (D). Prague, Czech Republic: IEEE, 2015: 124.

[40] [40] KEN M, ALSAIF S, LEE R, et al. Adaptive stress testing f autonomous vehicles[C]2018 IEEE Intelligent Vehicles Symposium (Ⅳ). Changshu, China: IEEE, 2018: 17.

[42] [42] WANG X Y, WANG Y H, MA I L, et al. Research on the processbased generation method of scenarios database f maritime autonomous surface ship test[C]ICETIS 2022; 7th International Conference on Electronic Technology Infmation Science. Harbin, China: VDE, 2022: 1−8.

[43] Z Y ZHOU, Y J ZHANG. A system for the validation of collision avoidance algorithm performance of autonomous ships. Ocean Engineering, 280, 114600(2023).

[45] S J LI, Z Q XU, J L LIU et al. Towards the testing and validation of autonomous ships: design of a variable stability ship control system. Journal of Marine Science and Engineering, 11, 1274(2023).

[46] V BOLBOT, C GKEREKOS, G THEOTOKATOS et al. Automatic traffic scenarios generation for autonomous ships collision avoidance system testing. Ocean Engineering, 254, 111309(2022).

[48] [48] ZHAO D, GUO Y H, JIA Y J. Traffic: An open naturalistic driving scenario library[C]2017 IEEE 20th International Conference on Intelligent Transptation Systems (ITSC). Yokohama, Japan: IEEE, 2017: 1−8.

[49] [49] PRES I, AZIMI S, LILIUS J. Scenariobased testing of a ship collision avoidance system[C]2020 46th Euromicro Conference on Software Engineering Advanced Applications (SEAA). Ptoz, Slovenia: IEEE, 2020: 545−552.

[50] [50] RIES L, LANGNER J, OTTEN S, et al. A driving scenario representation f scalable realdata analytics with neural wks[C]2019 IEEE Intelligent Vehicles Symposium (Ⅳ). Paris, France: IEEE, 2019: 2215−2222.

[51] [51] DU Z B, ZHANG L, ZHAO S, et al. Research on test evaluation method of L3 intelligent vehicle based on Chinese acteristics scene[C]2020 IEEE 4th Infmation Technology, wking, Electronic Automation Control Conference (ITNEC). Chongqing, China: IEEE, 2020: 26−32.

[52] J YU, S K DUAN, X J YE. A white-box testing for deep neural networks based on neuron coverage. IEEE Transactions on Neural Networks and Learning Systems, 34, 9185-9197(2023).

[53] N KARASIAK, J F DEJOUX, C MONTEIL et al. Spatial dependence between training and test sets: another pitfall of classification accuracy assessment in remote sensing. Machine Learning, 111, 2715-2740(2022).

[54] S HACKS, L PERSSON, N HERSÉN. Measuring and achieving test coverage of attack simulations extended version. Software and Systems Modeling, 22, 31-46(2023).

[55] S KATOCH, S S CHAUHAN, V KUMAR. A review on genetic algorithm: past, present, and future. Multimedia Tools and Applications, 80, 8091-8126(2021).

[56] D NALIC, H X LI, A EICHBERGER et al. Stress testing method for scenario-based testing of automated driving systems. IEEE Access, 8, 224974-224984(2020).

[57] [57] DING W H, CHEN B M, XU M J, et al. Learning to collide: An adaptive safetycritical scenarios generating method[C]2020 IEEERSJ International Conference on Intelligent Robots Systems (IROS). Las Vegas, NV, USA: IEEE, 2020: 2243−2250.

[58] [58] LAURENT T, ARCAINI P, ISHIKAWA F, et al. A mutationbased approach f assessing weight coverage of a path planner[C]2019 26th AsiaPacific Software Engineering Conference (APSEC). Putrajaya, Malaysia: IEEE, 2019: 94−101.

[59] J L DUAN, F GAO, Y D HE. Test scenario generation and optimization technology for intelligent driving systems. IEEE Intelligent Transportation Systems Magazine, 14, 115-127(2022).

[60] [60] MULLINS G E, STANKIEWICZ P G, GUPTA S K. Automated generation of diverse challenging scenarios f test evaluation of autonomous vehicles[C]2017 IEEE International Conference on Robotics Automation (ICRA). Singape: IEEE, 2017: 1443−1450.