arXiv:2511.20726cs.LGcs.AI2025-11被引 2

用大模型生成高风险交通场景,提升自动驾驶安全测试效果。

Learning from Risk: LLM-Guided Generation of Safety-Critical Scenarios with Prior Knowledge

  • 结合CVAE与大语言模型,从真实数据学习交通结构并生成逼真场景。
  • 生成场景覆盖更多高风险与长尾事件,且与真实交通分布更一致。
  • 适合自动驾驶安全验证、系统压力测试的研究者和工程师使用。

自动驾驶在罕见的长尾事件和复杂的多智能体交互中面临严峻挑战,这些情况在真实数据中稀缺但对安全验证至关重要。本文提出一种高保真场景生成框架,融合条件变分自编码器(CVAE)与大语言模型(LLM)。CVAE基于大规模自然驾驶数据中的历史轨迹与地图信息,学习潜在交通结构,生成物理上一致的基础场景。在此基础上,LLM作为对抗性推理引擎,将非结构化场景描述解析为领域特定的损失函数,并动态引导不同风险等级下的场景生成。该知识驱动的优化方法在真实性与可控性间取得平衡,确保生成场景既合理又具备风险敏感性。在CARLA和SMARTS平台上的大量实验表明,本框架显著提升了高风险与长尾事件的覆盖率,改善了仿真与真实交通分布的一致性,并使自动驾驶系统暴露于比现有规则或数据驱动方法更复杂的交互中。结果为安全验证开辟了新路径,实现了对罕见但关键事件的有原则的压力测试。

原文摘要 · Abstract (English)

Autonomous driving faces critical challenges in rare long-tail events and complex multi-agent interactions, which are scarce in real-world data yet essential for robust safety validation. This paper presents a high-fidelity scenario generation framework that integrates a conditional variational autoencoder (CVAE) with a large language model (LLM). The CVAE encodes historical trajectories and map information from large-scale naturalistic datasets to learn latent traffic structures, enabling the generation of physically consistent base scenarios. Building on this, the LLM acts as an adversarial reasoning engine, parsing unstructured scene descriptions into domain-specific loss functions and dynamically guiding scenario generation across varying risk levels. This knowledge-driven optimization balances realism with controllability, ensuring that generated scenarios remain both plausible and risk-sensitive. Extensive experiments in CARLA and SMARTS demonstrate that our framework substantially increases the coverage of high-risk and long-tail events, improves consistency between simulated and real-world traffic distributions, and exposes autonomous driving systems to interactions that are significantly more challenging than those produced by existing rule- or data-driven methods. These results establish a new pathway for safety validation, enabling principled stress-testing of autonomous systems under rare but consequential events.

自动驾驶场景生成大模型安全验证

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