Conditional Flow-VAE for Safety-Critical Traffic Scenario Generation

TL;DR

This paper presents a novel conditional flow-based generative model that efficiently produces realistic, safety-critical traffic scenarios for autonomous vehicle testing, combining simulation and real-world data.

Contribution

It introduces a scalable, data-driven approach using conditional flow matching to generate diverse safety-critical scenarios for autonomous vehicle development.

Findings

More consistent generation of safety-critical scenarios

Realistic and diverse scenario synthesis

Effective use of simulation and real-world data

Abstract

Safety-critical scenarios are essential for the development of autonomous vehicles (AVs) but are rare in real-world driving data. While simulation offers a way to generate such scenarios, manually designed test cases lack scalability, and adversarial optimization often produces unrealistic behaviors. In this work, we introduce a conditional latent flow matching approach for scalable and realistic safety-critical scenario generation. Our method uses distribution matching to transform nominal scenes into safety-critical rollouts. Furthermore, we demonstrate that incorporating both simulation and real-world data enables our framework to efficiently generate diverse, data-driven scenarios. Experimental results highlight that our approach is able to more consistently and realistically generate novel safety-critical scenarios, making it a valuable tool for training and benchmarking AV systems.