{"id":"https://openalex.org/W4413553311","doi":"https://doi.org/10.1109/tits.2025.3586608","title":"AuthSim: Toward Authentic and Effective Safety-Critical Scenario Generation for Autonomous Driving Tests","display_name":"AuthSim: Toward Authentic and Effective Safety-Critical Scenario Generation for Autonomous Driving Tests","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4413553311","doi":"https://doi.org/10.1109/tits.2025.3586608"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2025.3586608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3586608","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078922746","display_name":"Yukuan Yang","orcid":"https://orcid.org/0000-0002-1358-4012"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yukuan Yang","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1358-4012","affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100972584","display_name":"Xucheng Lu","orcid":"https://orcid.org/0000-0003-2577-8516"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xucheng Lu","raw_affiliation_strings":["School of Mathematical Sciences, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2577-8516","affiliations":[{"raw_affiliation_string":"School of Mathematical Sciences, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104308714","display_name":"Zhili Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhili Zhang","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0004-5748-6045","affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zepeng Wu","orcid":"https://orcid.org/0009-0008-8912-2296"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zepeng Wu","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-8912-2296","affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018970859","display_name":"Guoqi Li","orcid":"https://orcid.org/0000-0002-8994-431X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqi Li","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8994-431X","affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101741512","display_name":"Lingzhong Meng","orcid":"https://orcid.org/0000-0003-4463-2192"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingzhong Meng","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4463-2192","affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101794018","display_name":"Zhiming Ding","orcid":"https://orcid.org/0000-0002-4819-4524"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiming Ding","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4819-4524","affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111131891","display_name":"Yunzhi Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210128818","display_name":"Institute of Software","ror":"https://ror.org/033dfsn42","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhi Xue","raw_affiliation_strings":["Institute of Software, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Software, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210128818"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":1.0785,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75339327,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"10","first_page":"16128","last_page":"16143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/vehicle-safety","display_name":"Vehicle safety","score":0.5303600430488586},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46137914061546326},{"id":"https://openalex.org/keywords/active-safety","display_name":"Active safety","score":0.42414596676826477},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.39527690410614014},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.386863648891449},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.3790717124938965},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.3554846942424774},{"id":"https://openalex.org/keywords/risk-analysis","display_name":"Risk analysis (engineering)","score":0.3407919406890869},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.32967409491539},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.26752421259880066},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.20303943753242493}],"concepts":[{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.5303600430488586},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46137914061546326},{"id":"https://openalex.org/C127757376","wikidata":"https://www.wikidata.org/wiki/Q2056514","display_name":"Active safety","level":2,"score":0.42414596676826477},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.39527690410614014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.386863648891449},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.3790717124938965},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.3554846942424774},{"id":"https://openalex.org/C112930515","wikidata":"https://www.wikidata.org/wiki/Q4389547","display_name":"Risk analysis (engineering)","level":1,"score":0.3407919406890869},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.32967409491539},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.26752421259880066},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.20303943753242493}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2025.3586608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2025.3586608","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G3766337052","display_name":null,"funder_award_id":"202205AF150066","funder_id":"https://openalex.org/F4320323193","funder_display_name":"Natural Science Foundation of Yunnan Province"},{"id":"https://openalex.org/G4758827337","display_name":null,"funder_award_id":"62306305","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323193","display_name":"Natural Science Foundation of Yunnan Province","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1901616594","https://openalex.org/W1992085841","https://openalex.org/W2153065816","https://openalex.org/W2527863702","https://openalex.org/W2530088678","https://openalex.org/W2744982790","https://openalex.org/W2919115771","https://openalex.org/W2953303875","https://openalex.org/W2957066083","https://openalex.org/W2962901581","https://openalex.org/W2968176166","https://openalex.org/W3090747022","https://openalex.org/W3091936287","https://openalex.org/W3098023203","https://openalex.org/W3101000982","https://openalex.org/W3115511661","https://openalex.org/W3117590843","https://openalex.org/W3127647470","https://openalex.org/W3127869513","https://openalex.org/W3128395826","https://openalex.org/W3130718496","https://openalex.org/W3130897078","https://openalex.org/W3136608531","https://openalex.org/W3175727500","https://openalex.org/W3178194471","https://openalex.org/W3179442871","https://openalex.org/W3181350748","https://openalex.org/W3184179613","https://openalex.org/W3196020871","https://openalex.org/W3198398586","https://openalex.org/W3212274858","https://openalex.org/W4205170504","https://openalex.org/W4210940616","https://openalex.org/W4281385259","https://openalex.org/W4285181401","https://openalex.org/W4308642992","https://openalex.org/W4309116509","https://openalex.org/W4311209558","https://openalex.org/W4312363838","https://openalex.org/W4313563581","https://openalex.org/W4353056919","https://openalex.org/W4384026579","https://openalex.org/W4388936562","https://openalex.org/W4389337793","https://openalex.org/W4399994102","https://openalex.org/W4400188649","https://openalex.org/W4401417383","https://openalex.org/W4402571470","https://openalex.org/W4406461970"],"related_works":["https://openalex.org/W1918870265","https://openalex.org/W629205042","https://openalex.org/W2978072926","https://openalex.org/W577402060","https://openalex.org/W1964016758","https://openalex.org/W4405661570","https://openalex.org/W2102956402","https://openalex.org/W2135159810","https://openalex.org/W2112543960","https://openalex.org/W3036903194"],"abstract_inverted_index":{"The":[0],"generation":[1,182],"of":[2,17,21,84,160,183,234,289,302],"adversarial":[3,42,189],"safety-critical":[4,219],"scenarios":[5,33,50,96,190,238],"is":[6,58,222],"essential":[7],"for":[8,194,298],"rigorously":[9],"evaluating":[10],"autonomous":[11,86,235,303],"driving":[12,156,236,304],"systems,":[13],"enabling":[14,180],"the":[15,45,85,113,155,167,181,192,223,230,272,287,299],"identification":[16],"vulnerabilities":[18],"and":[19,75,90,138,186,217,232,261,294],"enhancement":[20],"system":[22,119],"robustness.":[23],"However,":[24],"existing":[25,251],"methodologies":[26],"predominantly":[27,110],"focus":[28],"on":[29,129,241],"extreme,":[30],"unconstrained":[31],"collision":[32,267],"in":[34,72,94,106,257,265,281],"which":[35],"non-player":[36],"character":[37],"(NPC)":[38],"vehicles":[39,171],"exhibit":[40],"unrealistic":[41],"behaviors":[43,93],"toward":[44],"ego":[46],"vehicle.":[47],"While":[48],"such":[49],"serve":[51],"as":[52],"stress":[53],"tests,":[54],"their":[55],"practical":[56],"utility":[57],"limited":[59],"due":[60],"to":[61,123,213,227,291],"two":[62],"key":[63],"factors:":[64],"1)":[65],"these":[66,95,143],"extreme":[67],"events":[68],"are":[69,80,97],"statistically":[70],"rare":[71],"real-world":[73,131,196],"traffic":[74,132,197,243],"frequently":[76],"involve":[77],"collisions":[78],"that":[79,109,153,169,204,248],"physically":[81],"unavoidable,":[82],"irrespective":[83],"vehicle\u2019s":[87],"decision-making":[88],"capabilities;":[89],"2)":[91],"NPC":[92,170],"often":[98],"intentionally":[99],"aggressive":[100],"(e.g.,":[101],"deliberate":[102],"rear-end":[103],"collisions),":[104],"resulting":[105],"liability":[107],"attribution":[108],"lies":[111],"with":[112,209,271],"NPCs":[114],"rather":[115],"than":[116],"exposing":[117],"meaningful":[118],"limitations.":[120],"Recent":[121],"efforts":[122],"enhance":[124],"scenario":[125,282],"plausibility":[126],"rely":[127],"extensively":[128],"large-scale":[130,242],"datasets,":[133],"introducing":[134],"significant":[135],"computational":[136],"costs":[137],"scalability":[139],"constraints.":[140],"To":[141],"overcome":[142],"limitations,":[144],"we":[145],"propose":[146],"a":[147,202,254,262],"three-layer":[148],"relative":[149,175],"safety":[150,176,207],"region":[151],"model":[152,208],"partitions":[154],"environment":[157],"into":[158],"zones":[159],"varying":[161],"risk":[162],"levels.":[163],"This":[164],"partitioning":[165],"increases":[166],"likelihood":[168],"will":[172],"interact":[173],"within":[174],"boundary":[177],"regions,":[178],"thus":[179],"more":[184],"realistic":[185],"contextually":[187],"relevant":[188],"without":[191,239],"need":[193],"extensive":[195],"data.":[198,244],"We":[199],"introduce":[200],"AuthSim,":[201],"platform":[203],"integrates":[205],"this":[206],"reinforcement":[210],"learning":[211],"(RL)":[212],"generate":[214],"both":[215,229],"authentic":[216],"effective":[218],"scenarios.":[220],"AuthSim":[221,249,290],"first":[224],"comprehensive":[225],"approach":[226],"address":[228],"authenticity":[231],"effectiveness":[233],"test":[237,296],"relying":[240],"Empirical":[245],"results":[246],"demonstrate":[247],"outperforms":[250],"methods,":[252],"achieving":[253],"5.25%":[255],"improvement":[256],"average":[258,266],"cut-in":[259],"distance":[260],"11.94%":[263],"increase":[264],"interval":[268],"time":[269],"compared":[270],"state-of-the-art":[273],"(SOTA)":[274],"results,":[275],"all":[276],"while":[277],"maintaining":[278],"superior":[279],"efficiency":[280],"generation.":[283],"These":[284],"findings":[285],"highlight":[286],"potential":[288],"produce":[292],"high-fidelity":[293],"efficient":[295],"cases":[297],"rigorous":[300],"evaluation":[301],"systems.":[305]},"counts_by_year":[{"year":2026,"cited_by_count":4}],"updated_date":"2026-08-25T07:29:55.448023","created_date":"2025-10-10T00:00:00"}
