mlsanityData to 7 Oct 2026

DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Driving

arXiv 2304.01168 ↗First posted 3 Apr 2023cs.CV cs.LG cs.ROcited by 73

On the map: End-to-end autonomous driving → Adversarial scenarios and safety testing

Abstract (arXiv)

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.

Key facts. Cited by 73 papers in the map (data through 7 Oct 2026). Placed in Adversarial scenarios and safety testing, one of 9 directions in End-to-end autonomous driving. Builds on 20 of its 25 references that are in the map. First posted on arXiv 3 Apr 2023.

Builds on

20 of 25 references.

Closest ancestors · 1

Same direction, newest first

  1. 2021Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Prior9 Dec

Other references · 19

  1. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,082
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  4. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  5. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,707
  6. 2019PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detectioncited by 890
  7. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  8. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  9. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  10. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 270
  11. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  12. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
7 more
  1. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  2. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  3. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  4. 2021AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehiclescited by 132
  5. 2023Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baselinecited by 40
  6. 2022TAD: A Large-Scale Benchmark for Traffic Accidents Detection from Video Surveillancecited by 20
  7. 2018VIENA2: A Driving Anticipation Datasetcited by 19

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 21; 2025: 26; 2026: 21.

73 papers.

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  1. 2024OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Drivingcited by 76
  2. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 65
  3. 2024Abductive Ego-View Accident Video Understanding for Safe Driving Perceptioncited by 43
  4. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  5. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  6. 2024A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspectivecited by 37
  7. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 37
  8. 2023Vision-Based Traffic Accident Detection and Anticipation: A Surveycited by 31
  9. 2025Nexar Dashcam Collision Prediction Dataset and Challengecited by 21
  10. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End Systemcited by 20
  11. 2025When language and vision meet road safety: leveraging multimodal large language models for video-based traffic accident analysiscited by 20
  12. 2025VRU-Accident: A Vision-Language Benchmark for Video Question Answering and Dense Captioning for Accident Scene Understandingcited by 20
38 more
  1. 2023AccidentGPT: Accident Analysis and Prevention from V2X Environmental Perception with Multi-modal Large Modelcited by 17
  2. 2023Vehicle-to-Everything Cooperative Perception for Autonomous Drivingcited by 15
  3. 2024HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperativecited by 14
  4. 2024AnoVox: A Benchmark for Multimodal Anomaly Detection in Autonomous Drivingcited by 14
  5. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  6. 2024Drones Help Drones: A Collaborative Framework for Multi-Drone Object Trajectory Prediction and Beyondcited by 12
  7. 2024Collaborative Perception Datasets in Autonomous Driving: A Surveycited by 11
  8. 2023Towards Generalizable Multi-Camera 3D Object Detection via Perspective Debiasingcited by 9
  9. 2024Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditionscited by 9
  10. 2025WaymoQA: A Multi-View Visual Question Answering Dataset for Safety-Critical Reasoning in Autonomous Drivingcited by 9
  11. 2024OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mappingcited by 8
  12. 2025Collaborative Perception Datasets for Autonomous Driving: A Reviewcited by 8
  13. 2024Joint Perception and Prediction for Autonomous Driving: A Surveycited by 7
  14. 2024Scaling Multi-Camera 3D Object Detection through Weak-to-Strong Elicitingcited by 6
  15. 2025Foundation Models for Autonomous Driving Perception: A Survey Through Core Capabilitiescited by 6
  16. 2026ACCIDENT: A Benchmark Dataset for Vehicle Accident Detection from Traffic Surveillance Videoscited by 6
  17. 2025Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspectivecited by 5
  18. 2025Simulating the Unseen: Crash Prediction Must Learn from What Did Not Happencited by 5
  19. 2025Ctrl-Crash: Controllable Diffusion for Realistic Car Crashescited by 5
  20. 2024Collective Perception Datasets for Autonomous Driving: A Comprehensive Reviewcited by 4
  21. 2026More than the Sum: Panorama-Language Models for Adverse Omni-Scenescited by 4
  22. 2025Edge-Based Multimodal Sensor Data Fusion with Vision Language Models (VLMs) for Real-time Autonomous Vehicle Accident Avoidancecited by 3
  23. 2026C-CoT: Counterfactual Chain-of-Thought with Vision-Language Models for Safe Autonomous Drivingcited by 3
  24. 2024Learning Ensembles of Vision-based Safety Control Filterscited by 2
  25. 2025Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everythingcited by 2
  26. 2025The Components of Collaborative Joint Perception and Prediction -- A Conceptual Frameworkcited by 2
  27. 2025Towards Vision Zero: The TUM Traffic Accid3nD Datasetcited by 2
  28. 2025EQ-TAA: Equivariant Traffic Accident Anticipation via Diffusion-Based Accident Video Synthesiscited by 2
  29. 2025UrbanTwin: Synthetic Roadside LiDAR Datasetscited by 2
  30. 2025Criticality Metrics for Relevance Classification in Safety Evaluation of Object Detection in Automated Drivingcited by 2
  31. 2026SafeAlign-VLA: A Negative-Enhanced Safe Alignment Framework for Risk-Aware Autonomous Drivingcited by 2
  32. 2024Unified End-to-End V2X Cooperative Autonomous Drivingcited by 1
  33. 2024Cooperative Visual-LiDAR Extrinsic Calibration Technology for Intersection Vehicle-Infrastructure: A reviewcited by 1
  34. 2024Hybrid Video Anomaly Detection for Anomalous Scenarios in Autonomous Drivingcited by 1
  35. 2024Pre-Trained Vision Models as Perception Backbones for Safety Filters in Autonomous Drivingcited by 1
  36. 2025Enhancing Highway Safety: Accident Detection on the A9 Test Stretch Using Roadside Sensorscited by 1
  37. 2025Safety-Critical Learning for Long-Tail Events: The TUM Traffic Accident Datasetcited by 1
  38. 2025Investigating Traffic Accident Detection Using Multimodal Large Language Modelscited by 1

50 most cited of 73 All 73 (JSON)

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  1. 2025Safety2Drive: Safety-Critical Scenario Benchmark for the Evaluation of Autonomous Driving
  2. 2025World Model-Based End-to-End Scene Generation for Accident Anticipation in Autonomous Driving
  3. 2025DRAMA-X: A Fine-grained Intent Prediction and Risk Reasoning Benchmark For Driving
  4. 2026Localized Conformal Safety Monitoring with Vision-Language Models for Autonomous Driving
  5. 2022SafeBench: A Benchmarking Platform for Safety Evaluation of Autonomous Vehicles
  6. 2023Navigating Uncertainty: The Role of Short-Term Trajectory Prediction in Autonomous Vehicle Safety
  7. 2026Collision-Aware Vision-Language Learning for End-to-End Driving with Multimodal Infraction Datasets
  8. 2025CrashAgent: Crash Scenario Generation via Multi-modal Reasoning