Double Counterfactual Regret Minimization for Generating Safety-Critical Scenario of Autonomous Driving
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Abstract
Developing a high-quality scenario library is crucial for evaluating more reliable autonomous driving systems. A fundamental prerequisite for constructing such a library is the generation of safety-critical scenarios. In this paper, we propose a nested game algorithm to assign trajectories and their time series to multiple background vehicles. This method aimed to generate safety-critical scenarios with varying degrees of interference for the tested vehicle. To ensure the realism of the generated scenarios, we extracted a series of natural trajectories from an existing dataset as the input for the algorithm. We then analyzed multiple types of scenarios generated by this method and evaluated their danger using generalized metrics, such as the Time-to-Collision (TTC) and Minimum Safe Distance Factor (MSDF), which demonstrated the effectiveness of our approach. The experimental results demonstrate that the nested game-based approach could efficiently construct safety-critical scenarios, contributing to the development of high-quality test scenario libraries.
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