SafeBench

A Benchmark for Evaluating Autonomous Vehicles in Safety-critical Scenarios

In SafeBench, we provide 8 scenario templates, 10 scenario generation polices, and 100 routes in maps.

8 Scenario Templates

10 Scenario Generating Methods

Human Design	Control	Reference	Code
Random Purterbation	Control	Reference	Code
Learning to Collide	Control	Reference	Code
Multi-modal Scenario Generation	Control	Reference	Code
SAC	Control	Reference	Code
PPO	Control	Reference	Code
AdvSim	Control	Reference	Code
Adversarial Trajectory	Control	Reference	Code
MADDPG	Control	Reference	Code
Scenic	Control	Reference	Code
Adversarial Patch	Perception	Reference	Code