Generating realistic safety–critical scenarios for vehicle–pedestrian interactions

Abstract

Automated driving system (ADS) deployment requires rigorous validation across safety–critical vehicle–pedestrian interactions, yet real-world datasets rarely capture high-risk scenarios while simulation platforms lack realistic behavior. In response, this study proposes a three-stage framework that combines real-world grounding with adaptive simulation to generate behaviorally realistic safety–critical scenarios at scale. Stage 1 pre-trains multi-agent state-space Transformer-enhanced DDPG (MA-SST-DDPG) agents on real-world safety–critical data to learn human-like interactive evasive behaviors through data-driven learning. Stage 2 deploys pre-trained multi-agents in CARLA for online reinforcement learning to generalize across diverse scenarios, integrating real-world knowledge with simulation experience to produce a refined MA-SST-DDPG model. Stage 3 uses CARLA with the refined model to generate over 198,000 high-resolution interaction episodes from eight intersection scenarios, culminating in the Vehicle–Pedestrian Safety-Critical Interaction (VPSCI) dataset. The Refined MA-SST-DDPG model outperformed baseline methods in reproducing realistic evasive behaviors, achieving the lowest trajectory errors (ADE = 0.072 m, FDE = 0.142 m). Statistical comparison confirmed distributional equivalence between the generated and real-world data in both conflict severity and behavioral response. A Turing test confirmed that the three-stage framework generated evasive behaviors were indistinguishable from real-world interactions. The generated data revealed realistic behavioral patterns: conflict rates rose with speed, and pedestrian yielding increased with vehicle proximity and speed—trends matching real-world observations. These results demonstrate the framework’s effectiveness in producing high-fidelity safety–critical data, offering valuable sources for the development of ADS and simulation-based safety evaluations.