Autonomous Driving Safety Evaluation

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Overview

The field assesses whether automated vehicles can avoid collisions, follow traffic rules, handle uncertainty, and recover from failures across interactions with people, vehicles, and road infrastructure. Common approaches include closed-loop simulation and road tests, safety-critical scenario generation, risk and near-miss metrics, formal rule checking, and fault or sensor-perturbation testing. Benchmarks increasingly probe long-tail events, vulnerable road users, domain shifts, and the gap between open-loop prediction scores and real driving behavior. A central challenge is making tests both realistic and broad enough to reveal failures, while ensuring that improvements in simulation or benchmark scores transfer to deployed vehicles.

Latest papers

CardsList

159 papers20 papers in the last four weeks, level with the four weeks before. 0.1% of all new papers.

  1. TRACE: Topology-aware Reconstruction of Accidents in CARLA for AV Evaluation

    Apr 23, 2026Nahian Salsabil, Sebastian ElbaumAutonomous Driving DatasetsAutonomous Driving Benchmarks

    University of Virginia Charlottesville, Virginia, USA

  2. Towards a Systematic Risk Assessment of Deep Neural Network Limitations in Autonomous Driving Perception

    Apr 21, 2026Svetlana Pavlitska, Christopher Gerking, J. Marius ZöllnerAI Risk ManagementAutonomous Driving Safety Evaluation

    FZI Research Center for Information Technology, Germany · Karlsruhe Institute of Technology, Germany

  3. From Particles to Perils: SVGD-Based Hazardous Scenario Generation for Autonomous Driving Systems Testing

    Apr 20, 2026Linfeng Liang, Xiao Cheng, Tsong Yueh Chen +1Autonomous Driving Safety EvaluationAutonomous Driving Simulation

    Macquarie University, Australia · Swinburne University of Technology, Australia

  4. Driving risk emerges from the required two-dimensional joint evasive acceleration

    Apr 20, 2026Hao Cheng, Yanbo Jiang, Wenhao Yu +9Collision AvoidanceAutonomous Driving Safety Evaluation

    School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China · State Key Laboratory of Intelligent Green Vehicle and Mobility, Beijing 100084, China · School of Traffic & Transportation Engineering, Central South University, Changsha 410000, China +2

  5. RACF: A Resilient Autonomous Car Framework with Object Distance Correction

    Apr 14, 2026Chieh Tsai, Hossein Rastgoftar, Salim HaririAutonomous DrivingAdversarial Robustness

    Department of Electrical and Computer Engineering, University of Arizona, Tucson, AZ, USA · Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ, USA

  6. Using Unwrapped Full Color Space Recording to Measure the Exposedness of Vehicle Exterior Parts for External Human Machine Interfaces

    Apr 13, 2026Jose Gonzalez-Belmonte, Jaerock KwonAutonomous DrivingAutonomous Driving Safety Evaluation

    Electrical and Computer Engineering, University of Michigan-Dearborn, Dearborn, United States of America

  7. CrashSight: A Phase-Aware, Infrastructure-Centric Video Benchmark for Traffic Crash Scene Understanding and Reasoning

    Apr 9, 2026Rui Gan, Junyi Ma, Pei Li +4Autonomous Driving BenchmarksAutonomous Driving Safety Evaluation

    University of Wisconsin–Madison · University of Wyoming · Columbia University

  8. Evaluation as Evolution: Transforming Adversarial Diffusion into Closed-Loop Curricula for Autonomous Vehicles

    Apr 8, 2026Yicheng Guo, Jiaqi Liu, Chengkai Xu +2Autonomous Driving Safety EvaluationAdversarial Scenario Generation

    College of Transportation, Tongji University, Shanghai 201804, China · Department of Computer Science, University of North Carolina at Chapel Hill, United States

  9. ICR-Drive: Instruction Counterfactual Robustness for End-to-End Language-Driven Autonomous Driving

    Apr 7, 2026Kaiser Hamid, Can Cui, Nade LiangRobustness of VLA ModelsAutonomous Driving Safety Evaluation

    Texas Tech University · Bosch Center for Artificial Intelligence (BCAI)

  10. Adversarial Robustness Analysis of Cloud-Assisted Autonomous Driving Systems

    Apr 6, 2026Maher Al Islam, Amr S. El-WakeelAdversarial Attacks on Object DetectorsAdversarial Robustness

    Lane Department of Computer Science and Electrical Engineering, West Virginia University, WV, USA

  11. Spatiotemporal-Aware Bit-Flip Injection on DNN-based Advanced Driver Assistance Systems (extended version)

    Apr 4, 2026Taibiao Zhao, Xiang Zhang, Mingxuan Sun +2Autonomous Driving Safety EvaluationIntelligent Transportation Systems

    Louisiana State University, Baton Rouge, Louisiana, USA

  12. Safety-Aligned 3D Object Detection: Single-Vehicle, Cooperative, and End-to-End Perspectives

    Apr 2, 2026Brian Hsuan-Cheng Liao, Chih-Hong Cheng, Hasan Esen +13D Object DetectionAutonomous Driving Safety Evaluation

    DENSO AUTOMOTIVE Deutschland GmbH, 85386 Eching, Germany. · Department of Computer Engineering, Technical University of Munich, 85748 Garching, Germany. · Department of Computer Science, Carl von Ossietzky University of Oldenburg, 26129 Oldenburg, Germany.

  13. LLM-Generated Fault Scenarios for Evaluating Perception-Driven Lane Following in Autonomous Edge Systems

    Apr 1, 2026Faezeh Pasandideh, Achim RettbergAutonomous Driving Safety EvaluationAutonomous Driving

    Department of Electrical Engineering Hamm-Lippstadt University. of Applied Sciences (HSHL) Lippstadt, Germany

  14. Heterogeneous Self-Play for Realistic Highway Traffic Simulation

    Mar 31, 2026Jinkai Qiu, Alessandro Saviolo, Chaojie Wang +2Autonomous Driving SimulationAutonomous Driving Scenario Generation

    PlusAI · University of Michigan - Ann Arbor

  15. A Semantic Observer Layer for Autonomous Vehicles: Pre-Deployment Feasibility Study of VLMs for Low-Latency Anomaly Detection

    Mar 30, 2026Kunal Runwal, Swaraj Gajare, Daniel Adejumo +3Anomaly DetectionVLMs for Autonomous Driving

    Department of Mechanical and Aerospace Engineering, Tandon School of Engineering, New York University, 6 MetroTech Center, Brooklyn, NY 11201, USA (ASAS-Labs). · Department of Electrical and Computer Engineering, Tandon School of Engineering, New York University, 6 MetroTech Center, Brooklyn, NY 11201, USA (ASAS-Labs). · The City College of New York, Grove School of Engineering, New York, NY 10031, USA.

  16. Effort-Based Criticality Metrics for Evaluating 3D Perception Errors in Autonomous Driving

    Mar 30, 2026Sharang Kaul, Simon Bultmann, Mario Berk +1Autonomous Driving Safety EvaluationAutonomous Driving Perception

    CARIAD SE, Germany · Department of Computer Science, University of Freiburg, Germany

  17. Dual-Stage LLM Framework for Scenario-Centric Semantic Interpretation in Driving Assistance

    Mar 29, 2026Jean Douglas Carvalho, Hugo Taciro Kenji, Ahmad Mohammad Saber +3LLM AuditingAutonomous Driving Safety Evaluation

  18. Robust Global-Local Behavior Arbitration via Continuous Command Fusion Under LiDAR Errors

    Mar 28, 2026Mohamed Elgouhary, Amr S. El-WakeelAutonomous DrivingAutonomous Driving Safety Evaluation

    The Authors are with the Lane Department of Computer Science and Electrical Engineering, West Virginia University, Morgantown, WV, USA.

  19. Uncertainty-Aware Vision-based Risk Object Identification via Conformal Risk Tube Prediction

    Mar 25, 2026Kai-Yu Fu, Yi-Ting ChenAutonomous Driving PerceptionAutonomous Driving

    National Yang Ming Chiao Tung University

  20. Disengagement Analysis and Field Tests of a Prototypical Open-Source Level 4 Autonomous Driving System

    Mar 23, 2026Marvin Seegert, Christian Oefinger, Korbinian Moller +2Autonomous DrivingAutonomous Driving Safety Evaluation

    Professorship of Autonomous Vehicle Systems, TUM School of Engineering and Design, Technical University of Munich, 85748 Garching, Germany; Munich Institute of Robotics and Machine Intelligence (MIRMI).

  21. CounterScene: Counterfactual Causal Reasoning in Generative World Models for Safety-Critical Closed-Loop Evaluation

    Mar 22, 2026Bowen Jing, Ruiyang Hao, Weitao Zhou +1Autonomous Driving Scenario GenerationAdversarial Scenario Generation

    Tuojing Intelligence · King’s College London · Tsinghua University +1

  22. From Optimizable to Interactable: Mixed Digital Twin-Empowered Testing of Vehicle-Infrastructure Cooperation Systems

    Mar 18, 2026Jianghong Dong, Chunying Yang, Mengchi Cai +4Intelligent Transportation SystemsDigital Twins

    School of Vehicle and Mobility, Tsinghua University, 100084 Beijing, China

  23. Safety Case Patterns for VLA-based driving systems: Insights from SimLingo

    Mar 16, 2026Gerhard Yu, Fuyuki Ishikawa, Oluwafemi Odu +1Autonomous Driving Safety EvaluationAutonomous Driving

    York University, North York ON M3J 1P3, Canada · National Institute of Informatics, Chiyoda City Tokyo 101-8430, Japan

  24. CRASH: Cognitive Reasoning Agent for Safety Hazards in Autonomous Driving

    Mar 16, 2026Erick Silva, Rehana Yasmin, Ali ShokerAutonomous Driving Safety EvaluationAgent Failure Analysis

    King Abdullah University of Science and Technology, Thuwal, Saudi Arabia

  25. Composing Driving Worlds through Disentangled Control for Adversarial Scenario Generation

    Mar 13, 2026Yifan Zhan, Zhengqing Chen, Qingjie Wang +7Compositional Video GenerationAutonomous Driving Simulation

    The University of Tokyo · Horizon Robotics · University of Glasgow

  26. STADA: Specification-based Testing for Autonomous Driving Agents

    Mar 11, 2026Joy Saha, Trey Woodlief, Sebastian Elbaum +1Specification-Based TestingAutomated Test Generation

    University of Virginia, Virginia, USA · William & Mary, Virginia, USA

  27. General-purpose LLMs as Models of Human Driver Behavior: The Case of Simplified Merging

    Mar 11, 2026Samir H. A. Mohammad, Wouter Mooi, Arkady ZgonnikovHuman Behavior SimulationAutonomous Driving Safety Evaluation

    Department of Transport and Planning, Delft University of Technology · Department of Cognitive Robotics, Delft University of Technology, The Netherlands

  28. Declarative Scenario-based Testing with RoadLogic

    Mar 10, 2026Ezio Bartocci, Alessio Gambi, Felix Gigler +2Autonomous Driving Scenario GenerationAutomated Test Generation

    TU Wien Vienna, Austria · AIT Austrian Institute of Technology Vienna, Austria

  29. Fusing Driver Perceived and Physical Risk for Safety Critical Scenario Screening in Autonomous Driving

    Mar 7, 2026Chen Xiong, Ziwen Wang, Deqi Wang +4Autonomous Driving Safety Evaluation

    Guangdong Provincial Key Laboratory of Intelligent Transportation System, School of Intelligent Systems Engineering, Shenzhen Campus of Sun Yat-sen University, Shenzhen, China · school of Transportation and Logistics, Southwest Jiaotong University, Chengdu, China

  30. ADAS-TO: A Large-Scale Multimodal Naturalistic Dataset and Empirical Characterization of Human Takeovers during ADAS Engagement

    Mar 7, 2026Yuhang Wang, Yiyao Xu, Jingran Sun +1Autonomous Driving DatasetsAutonomous Driving

    Department of Civil and Environmental Engineering, University of South Florida, Tampa, FL 33620, USA