TAADS
时间:2022-10-10 21:30:00
EDS Scenario
Traffic Accident Autonomous Driving Scenario (TAADS)
Why Do This
traffic accident video provide ideas to push AI to it’s boundary
AI would be a better drive than human
EDS already could help on this topic
Data Source
https://www.iqiyi.com/u/1003336869/videosrecommend
China traffic, case number, short description
https://www.iqiyi.com/u/2497282986/videos
https://www.youtube.com/user/CarCrashesTime
https://space.bilibili.com/686490029/
What accidents we don’t need
Stationary/Parked and collision by others
Caused by road condition issues
Caused by bad weather
Cannot be avoided
…
Which role we should/should not play
Not abnormal driver
Not against traffic rule
Basically the one with no responsibility
What accidents we need
Driving Policy Related
Work Steps
Step 1 choose one video (includes multi accidents)
Step 2 quickly go through whole video, pick and classify accident ther
Step 3 pick one classified accident and tag with your name and work on recreate it
Step 3.1 provide pictures about original traffic video and simulating result to help quick understanding
Step 4 mark an accident as DONE
Scenario Setup
Title: TAADS - ${short description}
Description: ${video url} ${No.XX} or ${DurationStart, DurationEnd}
Visibility: Public
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ScenarioList Setup
Add to SceanrioList of VirtualADSFromRealAccident
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Tips of Best Practices while creating Scenarios
Use actions/conditions easier to build a variation
Use actions/conditions easier to react with EGO’s policy change
Actions should carry out smooth and reasonable trajectory
Ego should fully enter a stable stage. (Prediction need at least 10 frames, let’s set it to 3 seconds)
Actor’s behavior should try to be continuous or sudden appear as on road
Ego should be at a similar stage, speed up,slow down,cruise,let Planning enter similar stage.
Plan & Target
Step 1
Finish 20210401 ~ 20210410 https://www.iqiyi.com/u/1003336869/videos
About 100 cases
Step 1.1 classify the 10 videos
爱奇艺 4月:
0401 0402 0403 0404 0411 0425 0426 Mengfei Li DONE
0405 0406 Hepeng Wang
0407 0408 0412 Qiyi Jiang
0409 0410 Han Shen
0413 0414 0415 0416 Mengfei Li DONE
0417 0418 0419 0420 Mengfei Li DONE
0421 0422 0423 0424 Mengfei Li DONE
0427 0428 0429 0430 Mengfei Li DONE
----------------------------------------------------------
爱奇艺 5月:
0501 0502 0503 0504 0505 Hepeng Wang DONE
0510 0511 0512 0513 0516 Hepeng Wang DONE
0527 0528 0529 0530 0531 Hepeng Wang DONE
0506 0507 0508 0509 Mengfei Li DONE
0517 ~ 0522 Mengfei Li DONE
0523 ~ 0531 Hepeng Wang
Step 1.2 get started with a few cases and estimate ADS recreation speed
Step 1.3 recreate all recreation
0610, 53 cases
Step 2 TBD
EDS Issues and Solutions
Issue 1
From cases study of Meeting 0421, existing TAADS need tuning.
And provide detailed tuning steps and consideration to every TAADS.
Han Shen Hepeng Wang Huajia Nie shuo cheng
Highest Priority
Issue 2
FollowTrajectoryAction needs running to ensure line sharp and might need much rerun to get an acceptable trajectory.
Han Shen Changan Tian
Middle Priority
Issue 3 (DONE)
Heading will auto reset to lane heading while move point of FollowTrajectoryAction
Changan Tian
High Priority
Issue 4 (DONE)
No syn-action to easily make 2 actors(EGO) reach position at same time.
shuo cheng
High Priority
Issue 5(TEMPORARILY FOUND SOLUTION BY SPEEDACTION)
Cannot cancel an action, for example cancel speed lock with EGO, must use a new action to overwrite, and provide a new speed action.
Use a SpeedAction with Step to itself???
Use StopTrigger???
Han Shen create Best practice WIKI page for EDS:
FollowTrajectoryAction to provide points with equal distance/…
How to stop a action(SpeedAction/StopTrigger)
Testing target (provide enough distance for EGO to reaction by unlock in advance)
Use cubic for speed/lane change
Use less time related conduction for better maintain test target
TBD - how to set traffic light - 不要让红绿灯掩盖掉核心问题,宁愿多暴露planning的问题
Provide some tips for how to divide between ACT/Events - provide with GOOD/BAD practice
Set enough buffer time before the watch point (i.e. when the accident happens), so that the modules (such as prediction) could be well initialized.
What is the easiest way to finish a simulation? For example, by setting AcquirePosition for ego/actors, the simulation runs about 60s, but only 20s is for valid testing, the other 40s is for the ego/actors to stop, which is not quite efficient to run.
Highest Priority
Issue 6 (DONE)
Cannot rename Actor Changan Tian
High Priority
Issue 7
Providing binding between ActorName and Perception Obs Number with topic of EDS console message
Changan Tian shuo cheng
Low Priority
Issue 8
Cannot select multi actions/conditions and move together.
Changan Tian
Low Priority
Issue 9
Cannot dynamic control AvoidCollision and ObeyTrafficRule
Han Shen Low Priority
Issue 10(DONE)
Some conditions do not provide quickly-move-to/locate-to button.
shuo cheng Looks already have, double check with Changan Tian
Issue 11
Config action by referencing itself might cause issues. For example:
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Speed Action reference to itself ends with an endless loop.
seems cannot achieve by existing actions right now, need new policy or new action
Han Shen Huajia Nie
Option 1 - new acc action
Option 2 - modify policy of speed action to enable ref self
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LatDistance reference to itself ends with no action.
Han Shen Huajia Nie
Option 1 - modify policy of lat distance?
Need extra discussion
Issue 12
AcquirePosition + LaneChangeAction might cause nested lane change.
Solution:
user had to modify scenario to avoid invalid config
Issue 13
Feature request: Enable to temporarily disable an Action without actually deleting it. This is helpful for trying out different strategies to build the scenario.
Han Shen check if data model could support
Changan Tian check if FE could support with acceptable workload
High Priority
Issue 14
Feature request: When delete the current simresult, reset the link of the current simresult to the latest simresult in the history list.
Low Priority
Issue 15
Use SmartDistanceToLeader to pick cases for:
https://www.iqiyi.com/v_19qcoi3tjz0.html No.26
Guoxi Xu Han Shen
Issue 16
Feature request: Enable to move Actions across sessions by drag-and-drop. For example, move a FollowTrajectoryAction from the Initial Actions to a Maneuver, so that we don’t need to recreate and re-tune the trajectory points.
Low Priority
Meeting Notes - 20210610
Video Classification
202104 - https://www.iqiyi.com/u/1003336869/videos
About 10 for each video. 300 for April?
https://www.iqiyi.com/v_19qcoi3tjz0.html (0412) DONE Qiyi Jiang
2021交通事故合集(0410期)-资讯-搜索最新资讯-爱奇艺 (0410) DONE Han Shen
2021交通事故合集(0409期)-资讯-搜索最新资讯-爱奇艺 (0409) DONE Han Shen
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 (0408) DONE Qiyi Jiang
2021交通事故合集(0407期)-资讯-搜索最新资讯-爱奇艺 (0407) DONE Qiyi Jiang
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 (0406) DONE Hepeng Wang
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 (0405) DONE Hepeng Wang
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 (0401) DONE Mengfei Li
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 (0402) DONE Mengfei Li
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 (0403) Done Mengfei Li
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 (0404) Done Mengfei Li
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 (0411) Simulation Mengfei Li
202103 - 热门影视_明星点评-爱奇艺
TODO
Run Red Light
Case 1 Qiyi Jiang
https://www.iqiyi.com/v_1yt8bhslu38.html No.7
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Scenario Id: 606f185ee490261c63fe020b
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Case 2 Hepeng Wang
https://www.iqiyi.com/v_msxfx2099w.html No.34
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Scenario Id: 6076cac288a8ea7d7adc95d0
Illegal Across Road
Case 1
https://www.iqiyi.com/v_1yt8bhslu38.html No.10
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Scenario Id: 60701b1de490261c63fe0231
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Case 2 QiYi Jiang
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.16
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Scenario Id: 6086b41ec10514568f8fd42c
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Illegal Side Pass
Case 1
2021交通事故合集(0407期)-资讯-搜索最新资讯-爱奇艺 No. 12
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Scenario Id: 60702d8d6df48f1d80d422cf
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Case 2 Qiyi Jiang
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.14
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Case 3
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.14z
Illegal Lane Change
Case 1 Hepeng Wang
2021交通事故合集(0407期)-资讯-搜索最新资讯-爱奇艺 No.18
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Scenario Id: 6076b81788a8ea7d7adc930e
Case 2 Hepeng Wang
2021交通事故合集(0407期)-资讯-搜索最新资讯-爱奇艺 No.23
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Scenario Id: 609a2f6ac10514568f8fd60b
Case 3 Huajia Nie
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.3
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Ego acts as the video-taking vehicle. Scenario Id: 607938ea5c28653137d3a8e5
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Ego acts as the right-turn vehicle. Scenario Id: 60963e30f600404fd54a800a
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Case 4 Hepeng Wang
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.15
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Scenario Id: 60ab50e7addd52296e9f7c41
Case 5
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.28 Mengfei Li
Case 6
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.45 Mengfei Li
Case 7
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.11
Case 8 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.25
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Scenario Id: 60ab5d4aaddd52296e9f7c4a
Case 9
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.2 Mengfei Li
Scenario Id: 6082a657762aff4c9b471bd7
Case 10
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.14 Mengfei Li
Scenario Id : 6082aa47762aff4c9b471c5b
Case 11
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.22 Mengfei Li
Case 12
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.24 Mengfei Li
Case 13
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 (05:27) Mengfei Li
Case14 jinbin zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺No.16
Case 15 Jinbin Zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺No.12
Case 16 jinbin Zhou
https://www.iqiyi.com/v_1qc2dhhf4rc.html No.18 Jinbin Zhou
Case 17 Binhua Fan
13-Apr No.40
Case 18 Hs Yang
https://www.iqiyi.com/v_uscurycmg8.html N0.05 Hs Yang
Case 19 Hs Yang
https://www.iqiyi.com/v_uscurycmg8.html N0.09 Hs Yang
Case 20 Hs Yang
https://www.iqiyi.com/v_uscurycmg8.html N0.39 Hs Yang
Case 21 Hs Yang
https://www.iqiyi.com/v_uscurycmg8.html N0.40 Hs Yang
Case 22 Jinbin Zhou
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.29
Case 23 Hepeng Wang
5-May No.12
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Scenario id: 610b516171e9d134c0372d7b
Another perspective: ego drive out of roundabout from inner ring.
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Scenario id: 610b58d7b9124589ec6f6e9e
Merge With Guilty
Case 1 Han Shen
2021交通事故合集(0407期)-资讯-搜索最新资讯-爱奇艺 No.24 (after No.23)
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Scenario id: 607d2e053f24f81dd11e60f8
Case 2 Hepeng Wang
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.20
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Scenario id: 60fe9fe2f1c617650d45c22f
Case 3
9-Apr No.9
Case 4
9-Apr No.15
Case 5
9-Apr No.16
Did not find a similar road.
Case 6
9-Apr No.21
Case 7
9-Apr No.22
Case 8 Hepeng Wang
10-Apr No.10
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Scenario id: 60ab6b02addd52296e9f7c51
Case 9
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.28
Case 10
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.11 Mengfei Li
Scenario id : 6082a8e3762aff4c9b471c21
Car U-Turning from Outside Lane
Case 11
https://www.iqiyi.com/v_fnv2jl6aqc.html No.18 Mengfei Li
Scenario Id : 6082ab9b762aff4c9b471c8d
Case 12
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.14 Mengfei Li
Scenario Id : 6082aec4762aff4c9b471d21
Case 13 Jinbin Zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺 No.24
Case 14 Jinbin Zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺 No.25
High Speed with TL Change
Case 1 Hepeng Wang
https://www.iqiyi.com/v_19qcoi3tjz0.html No.7
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Scenario Id: 607e67a73f24f81dd11e6132
Large Vehicle Issue
Case 1 Huajia Nie
https://www.iqiyi.com/v_19qcoi3tjz0.html No.22
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Scenario Id: 607d4afa652f3f66f4fbd992
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NOTE:
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Release the binding between ego and the truck earlier, so that ego has a chance to avoid collision.
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Smooth the trajectory by using Catmull Rom instead of Polyline as the shape type for the FollowTrajectoryAction.
Case 2 Hepeng Wang
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.23
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Scenario Id : 60d2c3a5503b9d196c53c964
Case 3
https://www.iqiyi.com/v_2bufryvc36k.html No.25 Mengfei Li
Case 4
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.12 Mengfei Li
Scenario Id : 6082a980762aff4c9b471c3e
Illegal Overtake from Opposite Lane
Case 1 Han Shen
https://www.iqiyi.com/v_19qcoi3tjz0.html No.24
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Scenario id: 607d7b65c10514568f8fd361
Case 2 Hepeng Wang
10-Apr No.16
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Scenario id: 60ab63f17a6de41ad5b6f1eb
Case 3
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.7 Mengfei Li
Case4 Jinbin Zhou
https://www.iqiyi.com/v_1qc2dhhf4rc.html No.20
Case 5 Jinbin Zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺 No.22
High Speed to Avoid Rear-end collision
Case 1 Han Shen
https://www.iqiyi.com/v_19qcoi3tjz0.html No.26
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Scenario id: 607d8d73c10514568f8fd368
26-Apr Tuning:
Add an Event, in which Actor1 cuts in its original lane when Ego’s speed is less than 4m/s.
Reason:
In the old scenario, Actor1 kept driving side by side with Actor0, in which situation, EGO could do nothing but go out of the lane to avoid collision. However, from the view of a human driver, it’s reasonable too if he could brake timely to let Actor1 cut in. So I add an Event to control Actor1 to go back its original lane if EGO slows down. In the new scenario, EGO has 2 choices to pass. The scenario becomes more valuable.
Case 2
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.10 Mengfei Li
Case 3
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.32 Mengfei Li
Case 4
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.32 Mengfei Li
Case 5 Hepeng Wang
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.25
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Scenario id: 60ac69967a6de41ad5b6f201
Case 6
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.35 Mengfei Li
Scenario id : 60af5daa95b6e259f5f7e7cd
Case 7 Binhua Fan
13-Apr No.12
Case 8 Binhua Fan
13-Apr No.36
Case 9 Jinbin Zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺 No.26
Not Avoid Going Straight inside Junction
Case 1 Huajia Nie
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.33
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Ego acts as the video-taking vehicle. Scenario Id: 607d75d6652f3f66f4fbe287
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Ego acts as the straight-going vehicle. Scenario Id: 607e4426652f3f66f4fbe62c
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TODO:
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Release the binding between ego and the left-turn vehicle earlier, so that ego has a chance to avoid collision.
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Add the parked vehicle to block the right lane of ego.
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Try to use the sync function developed by shuo cheng.
Case 2
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.34
Case 3
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.4 Mengfei Li
Case 4
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.9 Mengfei Li
Scenario id : 60af811995b6e259f5f7eabc
Case 5
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.21 Mengfei Li
Scenario id : 60bde9627660074e2e25e043
Case 6
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.25 Mengfei Li
Case 7
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.28 Mengfei Li
Case 8 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.14
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Scenario id : 60d31ec3503b9d196c53c999
Case 9 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.27
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Scenario id : 60ff6f7cf1c617650d45c3b9
Case 10 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.28
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Scenario id: 60ac610a7a6de41ad5b6f1fb
Case 11
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.1
Case 12
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.1 Mengfei Li
Scenario Id : 6082a40d762aff4c9b471bb2
Case 13
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.6 Mengfei Li
Scenario Id: 6082a8a5762aff4c9b471c08
Case 14
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.16 Mengfei Li
Scenario Id: 6082aa47762aff4c9b471c5b
Case 15
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.19 Mengfei Li
Scenario Id : 60ab615f37759734be1f5077
Case 16
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 No.2 Mengfei Li
Case 17
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 No.7 Mengfei Li
Case 18
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 No.13 Mengfei Li
Case 19 Binhua Fan
13-Apr No.33
Case 20 Jinbin Zhou
2021交通事故合集(0417期)-资讯-搜索最新资讯-爱奇艺 No.23
Illegal Cut-In
Case 1 shuo cheng
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.35Guilty
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60743837e490261c63fe027c
Case 2 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.1
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60ac928aaddd52296e9f7c6e
Case 3
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.9
Case 4 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.10转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60dbe2d656ce12961105a07a
Case 5
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.35
Case 6 Hepeng Wang
10-May No.1
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 611367f87f68c1ec319f71c0
Illegal Turning inside Junction
Case 1 Hepeng Wang
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.36
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6074269a1cf4de2efa614440
Case 2
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.32 Mengfei Li
Scenario id : 60af467295b6e259f5f7e5fa
Case 3 Binhua Fan
13-Apr No.17
Case 4 Binhua Fan
13-Apr No.30
Not Avoid U-turn
Case 1 shuo cheng
2021交通事故合集(0412期)-资讯-搜索最新资讯-爱奇艺 No.37
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario id: 607592461cf4de2efa6144c5
Case 2 Mengfei Li
https://www.iqiyi.com/v_2bufryvc36k.html No.17
Case 3 Hepeng Wang
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.38
转存失败重新上传取消
转存失败重新上传取消
Ego U-Turn:
转存失败重新上传取消
Scenario Id: 607fbc7bc10514568f8fd3c8
Actor U-Turn:
转存失败重新上传取消
Scenario Id: 6087b1c8c10514568f8fd453
Case 4 Hepeng Wang
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.3
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60ff9ac25487713eb51af631
转存失败重新上传取消
Scenario Id: 60ffc376f1c617650d45c749
Case 5 Hepeng Wang
5-May No.27
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610b8043b9124589ec6f7251
Illegal Cross the Road
Case 1 shuo cheng
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 No.2
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario id: 607655cae490261c63fe0327
Case 2 Hepeng Wang
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.32
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 607d786cc10514568f8fd35d
Case 3 Hepeng Wang
1-May No.20
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6100e3b25487713eb51af68e
Case 4 Hepeng Wang
2-May No.25
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 61014284f1c617650d45d03f
Case 5 Hepeng Wang
3-May No.23
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id:6103abdb5487713eb51af778
Case 6 Hepeng Wang
5-May No.26
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610b5e85b9124589ec6f704b
Case 7 Hepeng Wang
10-May No.14
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6113834b7f68c1ec319f7991
Car Turning Left from Opposite Lane at Crossroads
Case 1 Hepeng Wang
9-Apr No.1
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60dbfc6d56ce12961105a086
Case 2
9-Apr No.24
Case 3 Binhua Fan
13-Apr No.9
Case 4 Binhua Fan
13-Apr No.20
Case 4 Hs Yang
2021交通事故合集(0421期)-资讯-搜索最新资讯-爱奇艺 No.6 Hs Yang
Case 5 Hs Yang
2021交通事故合集(0421期)-资讯-搜索最新资讯-爱奇艺 No.7 Hs Yang
Case 6 Hepeng Wang
3-May No.12
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 61039faff1c617650d45dbc2
Car Turning Right from Inside Lane at Crossroads
Case 1 Hepeng Wang
9-Apr No.6
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60d3f546503b9d196c53c9a4
Case 2 Binhua Fan
13-Apr No.34
Case 3 Binhua Fan
13-Apr No.35
Car Merging from Left
Case 1
9-Apr No.10
Car Cutting-In Passively
Case 1
9-Apr No.8
Case 2
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.39
Case 3
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.15
Case 4 Hepeng Wang
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.11
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 607e3e8de5a2d4278a2f7634
Case 5 Binhua Fan
13-Apr No.31
Case 6 Hepeng Wang
1-May No.11
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60ffea215487713eb51af659
Case 7 Hepeng Wang
1-May No.26
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6101103c5487713eb51af6b5
Case 8 Hepeng Wang
4-May No.32
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario id:610a3213b9124589ec6f5098
Case 9 Hepeng Wang
4-May No.10
转存失败重新上传取消
转存失败重新上传取消
Scenario id:6109223863e8c66ce00ad7b5
Car Cutting-In from Outside Lane
Case 1
9-Apr No.12
Case 2
9-Apr No.23
Case 3
10-Apr No.12
Case 4
https://www.iqiyi.com/v_2bufryvc36k.html No.14 Mengfei Li
Scenario id:60b606b7c5dcaf206d0ec166
Case 5
https://www.iqiyi.com/v_lmhkxrqwlk.html No.28 Mengfei Li
Scenario Id : 60adf8014b2f8337f4d3d97f
Car Cutting-In from Outside Lane Passively
Case 1
10-Apr No.11
Case 2 Hepeng Wang
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.8
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id : 60dc2a9e56ce12961105a092
Case 3
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.24
Case 4
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.30 Mengfei Li
Scenario Id : 60ae01534b2f8337f4d3dae4
Case 5 Binhua Fan
13-Apr No.25
Trailer/Truck Cutting-In from Outside Lane
Case 1 Hepeng Wang
9-Apr No.11
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id : 60ffda24f1c617650d45c85c
Case 2
10-Apr No.8
Case 3
10-Apr No.15
Motorbike Crossing Diagonally
Case 1
9-Apr No.13
Case 2
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.53 Mengfei Li
Car/Trailer Missing Exit and Changing Lane Forcedly
Case 1
9-Apr No.27
Case 2
10-Apr No.14
Case 3
10-Apr No.26
Car U-Turning from Outside Lane
Case 1
10-Apr No.9
Case 2 Hepeng Wang
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.15
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60893d993f24f81dd11e6243
Case 3 Hepeng Wang
5-May No.5
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610a7b3ab9124589ec6f5ddb
Illegal U-Turn
Case 1 Hepeng Wang
https://www.iqiyi.com/v_hbk4n4wja8.html No.15
Case 1 Hepeng Wang
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 608a8fc63f24f81dd11e6273
Case 2 Hs Yang
2021交通事故合集(0421期)-资讯-搜索最新资讯-爱奇艺 No.17 Hs Yang
Case 3 Hs Yang
https://www.iqiyi.com/v_uscurycmg8.html No.18 Hs Yang
Case 4 Hepeng Wang
5-May No.34
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610b8e2ab9124589ec6f74fa
Not Yielding Right-Hand
Case 1
9-Apr No.7
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 609a3ad0c10514568f8fd61a
Case 2
10-Apr No.6
Case 3
10-Apr No.7
Case 4
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.17
Case 5
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.18
Case 6
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺l No.31
Dynamic nudge pass and fail
Case 1
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 No.33 Mengfei Li
Case 2
2021交通事故合集(0401期)-资讯-搜索最新资讯-爱奇艺 No.22 Mengfei Li
Scenario id : 6082ac65762aff4c9b471cd6 (issue)
No Traffic Light/TL Error Junction
Case 1
2021交通事故合集(0404期)-资讯-搜索最新资讯-爱奇艺 N0.26 Mengfei Li
Case 2
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.12
Case 3
2021交通事故合集(0411期)-资讯-搜索最新资讯-爱奇艺 No.4 Mengfei Li
Case 4 Hepeng Wang
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario id : 610b440cb9124589ec6f68f0
Case 5 Hepeng Wang
10-May No.5
转存失败重新上传取消
转存失败重新上传取消
Scenario id : 6113717c7f68c1ec319f7393
Bicycle Speed Fast overtake
Case 1
2021交通事故合集(0403期)-资讯-搜索最新资讯-爱奇艺 No.20 Mengfei Li
Scenario id : 60bddf90cdbb584ec2d888ff
Case 2
https://www.iqiyi.com/v_lmhkxrqwlk.html No.37 Mengfei Li
Illegal Sudden Stop in Middle of Road
Case 1
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.6
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6098cf76c10514568f8fd592
Case 2
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.17
Car Cutting-Out Passively
Case 1 Hepeng Wang
2021交通事故合集(0405期)-资讯-搜索最新资讯-爱奇艺 No.2
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60d039dfd7f78b4d55e8331f
Set actor invisible at first:
转存失败重新上传取消
Scenario Id: 60dbdd57d1ba1357bb926172
Case 2
2021交通事故合集(0406期)-资讯-搜索最新资讯-爱奇艺 No.23
Blind-spot issues
Case 1
https://www.iqiyi.com/v_fnv2jl6aqc.html No.24 Mengfei Li
Scenario Id: 6082ada3762aff4c9b471cef
Case 2
2021交通事故合集(0402期)-资讯-搜索最新资讯-爱奇艺 No.6 Mengfei Li
Scenario Id: 6082ae75762aff4c9b471d0c
Case 3 Hepeng Wang
2021交通事故合集(0408期)-资讯-搜索最新资讯-爱奇艺 No.14
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 60ac60ccaddd52296e9f7c5e
Case 4 Hepeng Wang
1-May No.11
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
TAADS - Motoboke Across In Blind Spot - Visible At first
Scenario Id: 60fffad7f1c617650d45c9ab
转存失败重新上传取消
TAADS - Motoboke Across In Blind Spot - Invisible At first
Scenario Id: 6100c200f1c617650d45cb1a
Counterflow Driving
Case 1 Hepeng Wang
1-May No.31
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6100ef995487713eb51af69b
Case 2 Hepeng Wang
1-May No.32
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 61010a7cf1c617650d45cd4b
Case 3 Hepeng Wang
3-May No.34
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6103c84a5487713eb51af7a4
Case 4 Hepeng Wang
3-May time = 7:52
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6108ad8663e8c66ce00acc18
Case 5 Hepeng Wang
3-May the last one
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6108ca5f63e8c66ce00ad187
Case 6 Hepeng Wang
4-May No.29
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610a23b7b9124589ec6f4887
Case 7 Hepeng Wang
4-May No.34
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610a3e4cb9124589ec6f54f1
Unprotected Turn Left Junction
Case 1 Hepeng Wang
10-May No.7
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 61137dd77f68c1ec319f78bc
Car Turn Left Passively
Case 1 Hepeng Wang
1-May No.6
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 61012a175487713eb51af6d5
Case 2 Hepeng Wang
5-May No.9
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 610b4a6eb9124589ec6f6a85
Car PullOut Passively
Case 1 Hepeng Wang
3-May No.27
转存失败重新上传取消
转存失败重新上传取消
转存失败重新上传取消
Scenario Id: 6103ba4bf1c617650d45dd7a