Before deploying autonomous vehicles (AV), comprehensive safety assessments are essential. To enhance efficiency, generating safety-critical scenarios to accelerate testing is crucial. This paper proposes an adversarial strategy based on deep reinforcement learning to generate safety-critical scenarios for evaluating autonomous vehicle performance. First, a highway ramp merging scenario is modeled using a Markov process. Second, deep reinforcement learning is used to train the background vehicle (BV) to generate adversarial behaviors against the autonomous vehicle. A reasonable reward mechanism is introduced to prevent extreme dangerous behaviors and ensure scenario rationality. Simulation results show that the generated safety-critical scenarios significantly increase collision rates and reduce the performance of AV. Additionally, this method can generate scenarios with varying levels of danger, supporting more refined testing.

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Adversarial Generation for Autonomous Vehicles in Safety-Critical Ramp Merging Scenarios

  • Zhaotai Zeng,
  • Qing Shi,
  • Weichao Zhuang,
  • Xiaopeng Wang,
  • Xuan Fan

摘要

Before deploying autonomous vehicles (AV), comprehensive safety assessments are essential. To enhance efficiency, generating safety-critical scenarios to accelerate testing is crucial. This paper proposes an adversarial strategy based on deep reinforcement learning to generate safety-critical scenarios for evaluating autonomous vehicle performance. First, a highway ramp merging scenario is modeled using a Markov process. Second, deep reinforcement learning is used to train the background vehicle (BV) to generate adversarial behaviors against the autonomous vehicle. A reasonable reward mechanism is introduced to prevent extreme dangerous behaviors and ensure scenario rationality. Simulation results show that the generated safety-critical scenarios significantly increase collision rates and reduce the performance of AV. Additionally, this method can generate scenarios with varying levels of danger, supporting more refined testing.