Learning to Collide: An Adaptive Safety-Critical Scenarios Generating Method

Abstract

Long-tail and rare event problems become crucial when autonomous driving algorithms are applied in the real world. For the purpose of evaluating systems in challenging settings, we propose a generative framework to create safety-critical scenarios for evaluating specific task algorithms. We first represent the traffic scenarios with a series of autoregressive building blocks and generate diverse scenarios by sampling from the joint distribution of these blocks. We then train the generative model as an agent (or a generator) to investigate the risky distribution parameters for a given driving algorithm being evaluated. We regard the task algorithm as an environment (or a discriminator) that returns a reward to the agent when a risky scenario is generated. Through the experiments conducted on several scenarios in the simulation, we demonstrate that the proposed framework generates safety-critical scenarios more efficiently than grid search or human design methods. Another advantage of this method is its adaptiveness to the routes and parameters.

arXiv commentAccepted to IROS 2020

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Cited by in corpus (7)

• A Survey on Scenario-Based Testing for Automated Driving Systems in High-Fidelity Simulation
• Towards Guaranteed Safety Assurance of Automated Driving Systems with Scenario Sampling: An Invariant Set Perspective (Extended Version)
• AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehicles
• Context-Aware Safe Reinforcement Learning for Non-Stationary Environments
• Multimodal Safety-Critical Scenarios Generation for Decision-Making Algorithms Evaluation
• Corner Case Generation and Analysis for Safety Assessment of Autonomous Vehicles
• A Modeled Approach for Online Adversarial Test of Operational Vehicle Safety (extended version)