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

arXiv: https://arxiv.org/abs/2304.01168 · HTML: https://mlsanity.com/paper/2304.01168/

## Key facts

- Cited by 73 papers in the map (data through 14 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.

## Placed in

- End-to-end autonomous driving / [Adversarial scenarios and safety testing](https://mlsanity.com/driving/adversarial-scenarios-and-safety-testing/)

## Builds on (most cited first, 20 of 20)

- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [PointPillars: Fast Encoders for Object Detection from Point Clouds](https://mlsanity.com/paper/1812.05784/) (2018)
- [PV-RCNN: Point-Voxel Feature Set Abstraction for 3D Object Detection](https://mlsanity.com/paper/1912.13192/) (2019)
- [BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View](https://mlsanity.com/paper/2112.11790/) (2021)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)
- [OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication](https://mlsanity.com/paper/2109.07644/) (2021)
- [DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection](https://mlsanity.com/paper/2204.05575/) (2022)
- [FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Cameras](https://mlsanity.com/paper/2104.10490/) (2021)
- [CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformers](https://mlsanity.com/paper/2207.02202/) (2022)
- [Learning Distilled Collaboration Graph for Multi-Agent Perception](https://mlsanity.com/paper/2111.00643/) (2021)
- [BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Driving](https://mlsanity.com/paper/2205.09743/) (2022)
- [V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving](https://mlsanity.com/paper/2202.08449/) (2022)
- [Generating Useful Accident-Prone Driving Scenarios via a Learned Traffic Prior](https://mlsanity.com/paper/2112.05077/) (2021)
- [AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehicles](https://mlsanity.com/paper/2101.06549/) (2021)
- [Fast-BEV: A Fast and Strong Bird's-Eye View Perception Baseline](https://mlsanity.com/paper/2301.12511/) (2023)
- [TAD: A Large-Scale Benchmark for Traffic Accidents Detection from Video Surveillance](https://mlsanity.com/paper/2209.12386/) (2022)
- [VIENA2: A Driving Anticipation Dataset](https://mlsanity.com/paper/1810.09044/) (2018)

## Built on by (most cited first, 30 of 73)

- [OccSora: 4D Occupancy Generation Models as World Simulators for Autonomous Driving](https://mlsanity.com/paper/2405.20337/) (2024)
- [A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlook](https://mlsanity.com/paper/2401.01454/) (2024)
- [Abductive Ego-View Accident Video Understanding for Safe Driving Perception](https://mlsanity.com/paper/2403.00436/) (2024)
- [End-to-End Autonomous Driving through V2X Cooperation](https://mlsanity.com/paper/2404.00717/) (2024)
- [Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perception](https://mlsanity.com/paper/2308.16714/) (2023)
- [Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysis](https://mlsanity.com/paper/2506.11526/) (2025)
- [A Survey on Occupancy Perception for Autonomous Driving: The Information Fusion Perspective](https://mlsanity.com/paper/2405.05173/) (2024)
- [Vision-Based Traffic Accident Detection and Anticipation: A Survey](https://mlsanity.com/paper/2308.15985/) (2023)
- [When language and vision meet road safety: leveraging multimodal large language models for video-based traffic accident analysis](https://mlsanity.com/paper/2501.10604/) (2025)
- [Nexar Dashcam Collision Prediction Dataset and Challenge](https://mlsanity.com/paper/2503.03848/) (2025)
- [Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End System](https://mlsanity.com/paper/2404.09496/) (2024)
- [VRU-Accident: A Vision-Language Benchmark for Video Question Answering and Dense Captioning for Accident Scene Understanding](https://mlsanity.com/paper/2507.09815/) (2025)
- [AccidentGPT: Accident Analysis and Prevention from V2X Environmental Perception with Multi-modal Large Model](https://mlsanity.com/paper/2312.13156/) (2023)
- [Vehicle-to-Everything Cooperative Perception for Autonomous Driving](https://mlsanity.com/paper/2310.03525/) (2023)
- [HoloVIC: Large-scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperative](https://mlsanity.com/paper/2403.02640/) (2024)
- [AnoVox: A Benchmark for Multimodal Anomaly Detection in Autonomous Driving](https://mlsanity.com/paper/2405.07865/) (2024)
- [Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directions](https://mlsanity.com/paper/2503.03262/) (2025)
- [Drones Help Drones: A Collaborative Framework for Multi-Drone Object Trajectory Prediction and Beyond](https://mlsanity.com/paper/2405.14674/) (2024)
- [Collaborative Perception Datasets in Autonomous Driving: A Survey](https://mlsanity.com/paper/2404.14022/) (2024)
- [Towards Generalizable Multi-Camera 3D Object Detection via Perspective Debiasing](https://mlsanity.com/paper/2310.11346/) (2023)
- [Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditions](https://mlsanity.com/paper/2410.06380/) (2024)
- [WaymoQA: A Multi-View Visual Question Answering Dataset for Safety-Critical Reasoning in Autonomous Driving](https://mlsanity.com/paper/2511.20022/) (2025)
- [OneBEV: Using One Panoramic Image for Bird's-Eye-View Semantic Mapping](https://mlsanity.com/paper/2409.13912/) (2024)
- [Collaborative Perception Datasets for Autonomous Driving: A Review](https://mlsanity.com/paper/2504.12696/) (2025)
- [Scaling Multi-Camera 3D Object Detection through Weak-to-Strong Eliciting](https://mlsanity.com/paper/2404.06700/) (2024)
- [Joint Perception and Prediction for Autonomous Driving: A Survey](https://mlsanity.com/paper/2412.14088/) (2024)
- [ACCIDENT: A Benchmark Dataset for Vehicle Accident Detection from Traffic Surveillance Videos](https://mlsanity.com/paper/2604.09819/) (2026)
- [Foundation Models for Autonomous Driving Perception: A Survey Through Core Capabilities](https://mlsanity.com/paper/2509.08302/) (2025)
- [Systematic Literature Review on Vehicular Collaborative Perception -- A Computer Vision Perspective](https://mlsanity.com/paper/2504.04631/) (2025)
- [Simulating the Unseen: Crash Prediction Must Learn from What Did Not Happen](https://mlsanity.com/paper/2505.21743/) (2025)

## 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.