mlsanityData to 14 Oct 2026

3CSim: CARLA Corner Case Simulation for Control Assessment in Autonomous Driving

arXiv 2409.10524 ↗First posted 30 Aug 2024cs.RO cs.AIcited by 0

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Abstract (arXiv)

We present the CARLA corner case simulation (3CSim) for evaluating autonomous driving (AD) systems within the CARLA simulator. This framework is designed to address the limitations of traditional AD model training by focusing on non-standard, rare, and cognitively challenging scenarios. These corner cases are crucial for ensuring vehicle safety and reliability, as they test advanced control capabilities under unusual conditions. Our approach introduces a taxonomy of corner cases categorized into state anomalies, behavior anomalies, and evidence-based anomalies. We implement 32 unique corner cases with adjustable parameters, including 9 predefined weather conditions, timing, and traffic density. The framework enables repeatable and modifiable scenario evaluations, facilitating the creation of a comprehensive dataset for further analysis.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 17 of its 25 references that are in the map. First posted on arXiv 30 Aug 2024.

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17 of 25 references.

References · 17

  1. 2020Deep Reinforcement Learning for Autonomous Driving: A Surveycited by 721
  2. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 485
  3. 2023MagicDrive: Street View Generation with Diverse 3D Geometry Controlcited by 252
  4. 2023Drive Like a Human: Rethinking Autonomous Driving with Large Language Modelscited by 160
  5. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectivescited by 114
  6. 2023Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Surveycited by 103
  7. 2022CODA: A Real-World Road Corner Case Dataset for Object Detection in Autonomous Drivingcited by 100
  8. 2022Anomaly Detection in Autonomous Driving: A Surveycited by 87
  9. 2019Deep Imitation Learning for Autonomous Driving in Generic Urban Scenarios with Enhanced Safetycited by 49
  10. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  11. 2021Description of Corner Cases in Automated Driving: Goals and Challengescited by 35
  12. 2021An Application-Driven Conceptualization of Corner Cases for Perception in Highly Automated Drivingcited by 33
5 more
  1. 2023Autonomous Driving with Deep Reinforcement Learning in CARLA Simulationcited by 5
  2. 2023CC-SGG: Corner Case Scenario Generation using Learned Scene Graphscited by 4
  3. 2023Safe Navigation: Training Autonomous Vehicles using Deep Reinforcement Learning in CARLAcited by 4
  4. 2023Stackelberg Driver Model for Continual Policy Improvement in Scenario-Based Closed-Loop Autonomous Drivingcited by 3
  5. 2024First-principles Based 3D Virtual Simulation Testing for Discovering SOTIF Corner Cases of Autonomous Drivingcited by 1

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