2023/07/15 by Longfei Mo, Mo, Longfei, Min Hua +9
Computer Science · Engineering · Psychology · #Autonomous Vehicle Technology and Safety #FOS: Computer and information sciences #Human-Automation Interaction and Safety #Human-Computer Interaction (cs.HC) #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2307.10229
openalex publication_date 2023/07/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Testing of function safety and Safety Of The Intended Functionality (SOTIF) is important for autonomous vehicles (AVs). It is hard to test the AV's hazard response in the real world because it would involve hazards to passengers and other road users. This paper studied on virtual testing of AV on the CARLA platform and proposed a Humanoid Scenario Generation (HSG) scheme to investigate the impacts of hazardous behaviors on AV collision rates. The HSG scheme breakthrough the current limitation on the rarity and reproducibility of real scenes. By accurately capturing five prominent human driver behaviors that directly contribute to vehicle collisions in the real world, the methodology significantly enhances the realism and diversity of the simulation, as evidenced by collision rate statistics across various traffic scenarios. Thus, the modular framework allows for customization, and its seamless integration within the CARLA platform ensures compatibility with existing tools. Ultimately, the comparison results demonstrate that all vehicles that exhibited hazardous behaviors followed the predefined random speed distribution and the effectiveness of the HSG was validated by the distinct characteristics displayed by these behaviors.