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NeuroNCAP: Photorealistic Closed-loop Safety Testing for Autonomous Driving
April 12, 2024, 4:45 a.m. | William Ljungbergh, Adam Tonderski, Joakim Johnander, Holger Caesar, Kalle {\AA}str\"om, Michael Felsberg, Christoffer Petersson
cs.CV updates on arXiv.org arxiv.org
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 …
arxiv autonomous autonomous driving cs.cv driving loop photorealistic safety testing type
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