| Autor: |
Ljungbergh, William, Tonderski, Adam, Johnander, Joakim, Caesar, Holger, Åström, Kalle, Felsberg, Michael, Petersson, Christoffer |
| Rok vydání: |
2024 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
We present a versatile NeRF-based simulator for testing autonomous driving (AD) software systems, designed with a focus on sensor-realistic closed-loop evaluation and the creation of safety-critical scenarios. The simulator learns from sequences of real-world driving sensor data and enables reconfigurations and renderings of new, unseen scenarios. In this work, we use our simulator to test the responses of AD models to safety-critical scenarios inspired by the European New Car Assessment Programme (Euro NCAP). Our evaluation reveals that, while state-of-the-art end-to-end planners excel in nominal driving scenarios in an open-loop setting, they exhibit critical flaws when navigating our safety-critical scenarios in a closed-loop setting. This highlights the need for advancements in the safety and real-world usability of end-to-end planners. By publicly releasing our simulator and scenarios as an easy-to-run evaluation suite, we invite the research community to explore, refine, and validate their AD models in controlled, yet highly configurable and challenging sensor-realistic environments. Code and instructions can be found at https://github.com/atonderski/neuro-ncap |
| Databáze: |
arXiv |
| Externí odkaz: |
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