# Enhancing Autonomous Driving Safety with Collision Scenario Integration

arXiv: https://arxiv.org/abs/2503.03957 · HTML: https://mlsanity.com/paper/2503.03957/

## Key facts

- Cited by 9 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 39 of its 59 references that are in the map.
- First posted on arXiv 5 Mar 2025.

## Placed in

- End-to-end autonomous driving / [Adversarial scenarios and safety testing](https://mlsanity.com/driving/adversarial-scenarios-and-safety-testing/)
- Offline RL and imitation learning from data / [Imitation and offline RL for driving](https://mlsanity.com/offlinerl/imitation-and-offline-rl-for-driving/)

## Builds on (most cited first, 30 of 39)

- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Rethinking the Role of Demonstrations: What Makes In-Context Learning Work?](https://mlsanity.com/paper/2202.12837/) (2022)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [VAD: Vectorized Scene Representation for Efficient Autonomous Driving](https://mlsanity.com/paper/2303.12077/) (2023)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst](https://mlsanity.com/paper/1812.03079/) (2018)
- [NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking](https://mlsanity.com/paper/2406.15349/) (2024)
- [VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning](https://mlsanity.com/paper/2402.13243/) (2024)
- [Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation](https://mlsanity.com/paper/2406.06978/) (2024)
- [MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction](https://mlsanity.com/paper/2111.14973/) (2021)
- [End-to-end Interpretable Neural Motion Planner](https://mlsanity.com/paper/2101.06679/) (2021)
- [Parting with Misconceptions about Learning-based Vehicle Motion Planning](https://mlsanity.com/paper/2306.07962/) (2023)
- [Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?](https://mlsanity.com/paper/2312.03031/) (2023)
- [MP3: A Unified Model to Map, Perceive, Predict and Plan](https://mlsanity.com/paper/2101.06806/) (2021)
- [Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer](https://mlsanity.com/paper/2207.14024/) (2022)
- [Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations](https://mlsanity.com/paper/2008.05930/) (2020)
- [Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios](https://mlsanity.com/paper/2212.11419/) (2022)
- [ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queries](https://mlsanity.com/paper/2208.01582/) (2022)
- [Synscapes: A Photorealistic Synthetic Dataset for Street Scene Parsing](https://mlsanity.com/paper/1810.08705/) (2018)
- [TrafficGen: Learning to Generate Diverse and Realistic Traffic Scenarios](https://mlsanity.com/paper/2210.06609/) (2022)
- [Baidu Apollo EM Motion Planner](https://mlsanity.com/paper/1807.08048/) (2018)
- [LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving](https://mlsanity.com/paper/2101.06547/) (2021)
- [Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Data](https://mlsanity.com/paper/1810.10093/) (2018)
- [Language Conditioned Traffic Generation](https://mlsanity.com/paper/2307.07947/) (2023)
- [The Waymo Open Sim Agents Challenge](https://mlsanity.com/paper/2305.12032/) (2023)
- [SceneGen: Learning to Generate Realistic Traffic Scenes](https://mlsanity.com/paper/2101.06541/) (2021)
- [SafetyNet: Safe planning for real-world self-driving vehicles using machine-learned policies](https://mlsanity.com/paper/2109.13602/) (2021)
- [FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Driving](https://mlsanity.com/paper/2308.01006/) (2023)

## Built on by (most cited first, 9 of 9)

- [DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planning](https://mlsanity.com/paper/2506.06659/) (2025)
- [Zero-Human Demonstration End-to-end Autonomous Driving with Trajectory Scorer](https://mlsanity.com/paper/2510.24108/) (2025)
- [CrashAgent: Crash Scenario Generation via Multi-modal Reasoning](https://mlsanity.com/paper/2505.18341/) (2025)
- [FlowDrive: moderated flow matching with data balancing for trajectory planning](https://mlsanity.com/paper/2509.21961/) (2025)
- [HAD: Combining Hierarchical Diffusion with Metric-Decoupled RL for End-to-End Driving](https://mlsanity.com/paper/2604.03581/) (2026)
- [The Case for Negative Data: From Crash Reports to Counterfactuals for Reasonable Driving](https://mlsanity.com/paper/2509.18626/) (2025)
- [SafeAlign-VLA: A Negative-Enhanced Safe Alignment Framework for Risk-Aware Autonomous Driving](https://mlsanity.com/paper/2605.19524/) (2026)
- [DiCriTest: Testing Scenario Generation for Decision-Making Agents Considering Diversity and Criticality](https://mlsanity.com/paper/2508.11514/) (2025)
- [Collision Snapshot Guided Time-Reversed Safety-Critical Scenario Generation](https://mlsanity.com/paper/2609.06433/) (2026)

## Abstract (arXiv)

Autonomous vehicle safety is crucial for the successful deployment of self-driving cars. However, most existing planning methods rely heavily on imitation learning, which limits their ability to leverage collision data effectively. Moreover, collecting collision or near-collision data is inherently challenging, as it involves risks and raises ethical and practical concerns. In this paper, we propose SafeFusion, a training framework to learn from collision data. Instead of over-relying on imitation learning, SafeFusion integrates safety-oriented metrics during training to enable collision avoidance learning. In addition, to address the scarcity of collision data, we propose CollisionGen, a scalable data generation pipeline to generate diverse, high-quality scenarios using natural language prompts, generative models, and rule-based filtering. Experimental results show that our approach improves planning performance in collision-prone scenarios by 56% over previous state-of-the-art planners while maintaining effectiveness in regular driving situations. Our work provides a scalable and effective solution for advancing the safety of autonomous driving systems.