Henry Dykhne "Automated Generation of Dynamic Occlusion-Caused Collisions"

Dynamic occlusions (occlusions caused by other moving road objects) pose some of the most difficult challenges for autonomous driving systems (ADS). Validating the robustness of ADSs to safety-critical dynamic occlusions is a difficult task due to the rarity of such scenarios in recorded driving logs. We provide a novel typology of dynamic occlusion scenarios involving vehicles, as well as a framework for ADS safety validation in the presence of dynamic occlusions. Our framework allows for the generation of a diverse set of dynamic occlusion-caused collisions (OCCs) across a wide variety of intersections. We provide results demonstrating that our technique achieves higher generation efficiency and diversity of OCCs than prior works while being applicable to a wide range of intersections. In this work, we present our generation technique and provide a detailed analysis of the variety and quality of our generated scenarios, as measured by typology coverage, scenario severity, and robustness to faster reaction times.