DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Driving
Tianqi Wang, Sukmin Kim, Ji Wenxuan, Enze Xie, Chongjian Ge, Junsong Chen, Zhenguo Li, Ping Luo
Abstract
Safety is the primary priority of autonomous driving. Nevertheless, no published dataset currently supports the direct and explainable safety evaluation for autonomous driving. In this work, we propose DeepAccident, a large-scale dataset generated via a realistic simulator containing diverse accident scenarios that frequently occur in real-world driving. The proposed DeepAccident dataset includes 57K annotated frames and 285K annotated samples, approximately 7 times more than the large-scale nuScenes dataset with 40k annotated samples. In addition, we propose a new task, end-to-end motion and accident prediction, which can be used to directly evaluate the accident prediction ability for different autonomous driving algorithms. Furthermore, for each scenario, we set four vehicles along with one infrastructure to record data, thus providing diverse viewpoints for accident scenarios and enabling V2X (vehicle-to-everything) research on perception and prediction tasks. Finally, we present a baseline V2X model named V2XFormer that demonstrates superior performance for motion and accident prediction and 3D object detection compared to the single-vehicle model.
BibTeX
@article{Wang_Kim_Wenxuan_Xie_Ge_Chen_Li_Luo_2024, title={DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Driving}, volume={38}, url={https://ojs.aaai.org/index.php/AAAI/article/view/28370}, DOI={10.1609/aaai.v38i6.28370}, abstractNote={Safety is the primary priority of autonomous driving. Nevertheless, no published dataset currently supports the direct and explainable safety evaluation for autonomous driving. In this work, we propose DeepAccident, a large-scale dataset generated via a realistic simulator containing diverse accident scenarios that frequently occur in real-world driving. The proposed DeepAccident dataset includes 57K annotated frames and 285K annotated samples, approximately 7 times more than the large-scale nuScenes dataset with 40k annotated samples. In addition, we propose a new task, end-to-end motion and accident prediction, which can be used to directly evaluate the accident prediction ability for different autonomous driving algorithms. Furthermore, for each scenario, we set four vehicles along with one infrastructure to record data, thus providing diverse viewpoints for accident scenarios and enabling V2X (vehicle-to-everything) research on perception and prediction tasks. Finally, we present a baseline V2X model named V2XFormer that demonstrates superior performance for motion and accident prediction and 3D object detection compared to the single-vehicle model.}, number={6}, journal={Proceedings of the AAAI Conference on Artificial Intelligence}, author={Wang, Tianqi and Kim, Sukmin and Wenxuan, Ji and Xie, Enze and Ge, Chongjian and Chen, Junsong and Li, Zhenguo and Luo, Ping}, year={2024}, month={Mar.}, pages={5599-5606} }