Towards Benchmarking and Assessing the Safety and Robustness of Autonomous Driving on Safety-critical Scenarios

Autonomous driving has made significant progress in both academia and industry, including performance improvements in perception task and the development of end-to-end autonomous driving systems. However, the safety and robustness assessment of autonomous driving has not received sufficient attention. Current evaluations of autonomous driving are typically conducted in natural driving scenarios. However, many accidents often occur in edge cases, also known as safety-critical scenarios. These safety-critical scenarios are difficult to collect, and there is currently no clear definition of what constitutes a safety-critical scenario. In this work, we explore the safety and robustness of autonomous driving in safety-critical scenarios. First, we provide a definition of safety-critical scenarios, including static traffic scenarios such as adversarial attack scenarios and natural distribution shifts, as well as dynamic traffic scenarios such as accident scenarios. Then, we develop an autonomous driving safety testing platform to comprehensively evaluate autonomous driving systems, encompassing not only the assessment of perception modules but also system-level evaluations. Our work systematically constructs a safety verification process for autonomous driving, providing technical support for the industry to establish standardized test framework and reduce risks in real-world road deployment.

DynamicPAE: Generating Scene-Aware Physical Adversarial Examples in Real-Time

Physical adversarial examples (PAEs) are regarded as "whistle-blowers" of real-world risks in deep-learning applications. However, current PAE generation studies show limited adaptive attacking ability to diverse and varying scenes. The key challenges in generating dynamic PAEs are exploring their patterns under noisy gradient feedback and adapting the attack to agnostic scenario natures. To address the problems, we present DynamicPAE, the first generative framework that enables scene-aware real-time physical attacks beyond static attacks. Specifically, to train the dynamic PAE generator under noisy gradient feedback, we introduce the residual-driven sample trajectory guidance technique, which redefines the training task to break the limited feedback information restriction that leads to the degeneracy problem. Intuitively, it allows the gradient feedback to be passed to the generator through a low-noise auxiliary task, thereby guiding the optimization away from degenerate solutions and facilitating a more comprehensive and stable exploration of feasible PAEs. To adapt the generator to agnostic scenario natures, we introduce the context-aligned scene expectation simulation process, consisting of the conditional-uncertainty-aligned data module and the skewness-aligned objective re-weighting module. The former enhances robustness in the context of incomplete observation by employing a conditional probabilistic model for domain randomization, while the latter facilitates consistent stealth control across different attack targets by automatically reweighting losses based on the skewness indicator. Extensive digital and physical evaluations demonstrate the superior attack performance of DynamicPAE, attaining a 1.95 $\times$ boost (65.55% average AP drop under attack) on representative object detectors (e.g., Yolo-v8) over state-of-the-art static PAE generating methods.