DriveSceneGen: Generating Diverse and RealisticDriving Scenarios from Scratch论文要点

Abstract—Realistic and diverse traffic scenarios in large
quantities are crucial for the development and validation of
autonomous driving systems. However, owing to numerous
difficulties in the data collection process and the reliance on
intensive annotations, real-world datasets lack sufficient quan-
tity and diversity to support the increasing demand for data.
This work introduces DriveSceneGen, a data-driven driving
scenario generation method that learns from the real-world
driving dataset and generates entire dynamic driving scenarios
from scratch. Experimental results on 5k generated scenarios
highlight that DriveSceneGen is able to generate novel driving
scenarios that align with real-world data distributions with
high fidelity and diversity. To the best of our knowledge,
Driv