Videos for the Paper "Online Adaptive Generation of Critical Boundary Scenarios
for Evaluation of Autonomous Vehicles”

The real case study was conducted at the intersection between Xuanhuai Avenue and East Nanyang Road on the campus of Shanghai Jiaotong University. Scenario I captures the initial naturalistic traffic scenario and the scenario complexity trend in the naturalistic traffic scenario. The red box indicates the vehicle under test, the yellow box indicates the background vehicle, the blue box indicates the background bicycle, and the green box indicates the background pedestrian. The vehicle under test drives into the intersection area from the left side of the intersection, and then turns left through the intersection. Other background traffic participants enter the intersection area from the right side of the intersection and then go straight through the intersection. There is a trajectory conflict between the tested vehicle and other traffic participants near the center of the intersection.

Scenario II captures the optimized traffic scenario and the enhanced scenario complexity.

Scenario III is the generated critical boundary test scenario. There is a serious traffic conflict between the tested vehicle and the surrounding traffic participants in the video, but there is no collision. The scenario complexity is also relatively high.