Abstract
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.
Original language | English |
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Title of host publication | Computer Vision – ECCV 2024 |
Subtitle of host publication | 18th European Conference, Milan, Italy, September 29–October 4, 2024, Proceedings, Part XXX |
Editors | Aleš Leonardis, Elisa Ricci, Stefan Roth, Olga Russakovsky, Torsten Sattler, Gül Varol |
Place of Publication | Cham |
Publisher | Springer |
Pages | 161-177 |
Number of pages | 17 |
ISBN (Electronic) | 978-3-031-73404-5 |
ISBN (Print) | 978-3-031-73403-8 |
DOIs | |
Publication status | Published - 2025 |
Event | European Conference on Computer Vision – ECCV 2024 - MiCo Milano, Milan, Italy Duration: 29 Sept 2024 → 4 Oct 2024 https://eccv.ecva.net/ |
Publication series
Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
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Volume | 15088 LNCS |
ISSN (Print) | 0302-9743 |
ISSN (Electronic) | 1611-3349 |
Conference
Conference | European Conference on Computer Vision – ECCV 2024 |
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Abbreviated title | ECCV 2024 |
Country/Territory | Italy |
City | Milan |
Period | 29/09/24 → 4/10/24 |
Internet address |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Keywords
- Autonomous driving
- Closed-loop simulation
- Neural rendering
- Trajectory planning