DOI: 10.5281/zenodo.15014147
title: HazGTSimulator

description: An introduction to the files.

1. Details-of-Hazards.pdf

We have defined a total of 70 hazards, which fall into four categories. This document shows the details of the hazards.

2. 智能网联汽车预期功能安全场景库建设报告.pdf

(Research on the Construction of a Scenario Library for the Safety Of The Intended Functionality(SOTIF) in Connected and Autonomous Vehicles)

This research report studies the scenario framework and architecture for SOTIF testing needs of intelligent driving, aiming to provide a reference for the development of simulation and testing software for SOTIF of intelligent driving, as well as the design of testing procedures and test cases.

Pages 7 to 22 of the document provide a detailed overview of the external hazards that lead to perception limitations, i.e., the details of visual hazards.

3. Conflicting Hazard Value Assignment Scheme (CHVAS).pdf

We have defined an assignment scheme for assigning values to conflicting hazards. By assigning values to hazards in order through this scheme, we avoid some unnatural phenomena, such as the combination of dense fog and strong light.

4. Data

NOTE1: To save space, we deleted most of the images in the dataset. But we still kept the first sample of each sub-experiment for the convenience of readers to conduct inspections. 

NOTE2: Although he test dataset used in the ChatGPT4 experiment is the same as the test dataset used in the random-sampling experiment, we still listed 3 extra samples for comparison to demonstrate the results of the ChatGPT4 experiment. 

|--RQ2-RQ4-RandomSampling: the data obtained from the random-sampling experiment in RQ2 and the random-sampling experiment in RQ4. 

|--TrainDataset: the hazard dataset for re-training YOLO. 

|--NoHazard: the no-hazard dataset.

|--0: the 0th sample. 

|--GroundtruthLabels: the ground truth labels of the scenario. 

|--Attributes.json: the hazard config file of the sample(used by HazGT Simulator to set the scenario). 

|--Simulation1.jpg: the 1st frame image of the scenario. 

|--......

|--Simulation10.jpg: the 10thframe image of the scenario. 

|--4999: the 4999th sample. 

|--Weather: the weather dataset. 

|--Participants: the traffic participant dataset. 

|--Road: the road structure dataset. 

|--Facilities: the traffic facility dataset. 

|--TestDataset: the hazard dataset for testing YOLO. 

|--Evaluation.json: the evaluation result of the model. 

|--NoHazard: the no-hazard dataset.

|--0: the 0th sample. 

|--GroundtruthLabels: the ground truth labels of the scenario. 

|--GroundtruthImages: the images labeled with ground truth labels. 

|--Attributes.json: the hazard config file of the sample(used by HazGT Simulator to set the scenario). 

|--Yolo_trained: the detection results of YOLO. 

|--Initial: the detection results of YOLO before re-training. 

|-- labels: the labels in the detection results of YOLO. 

|-- Simulation1.jpg: the 1st frame image of the scenario. 

|--......

|--Simulation10.jpg: the 10thframe image of the scenario. 

|--Optimized: the detection results of YOLO after re-training. 

|--Simulation1.jpg: the 1st frame image of the scenario. 

|--......

|--Simulation10.jpg: the 10thframe image of the scenario. 

|--4999: the 4999th sample. 

|--Weather: the weather dataset. 

|--Participants: the traffic participant dataset. 

|--Road: the road structure dataset. 

|--Facilities: the traffic facility dataset. 

|--RQ2-RandomSampling_ChatGPT4: the data obtained from the ChatGPT4 experiment in RQ2. 

|--labels.json: the numbers of the objects detected by ChatGPT4. 

|--false.json: Statistical information file of false negatives and false positives. 

|--false count.json: the numbers of false negatives and false positives. 

|--NoHazard: the no-hazard dataset.

|--0: the 0th sample. 

|--GroundtruthLabels: the ground truth labels of the scenario. 

|--GroundtruthImages: the images labeled with ground truth labels. 

|--Attributes.json: the hazard config file of the sample(used by HazGT Simulator to set the scenario). 

|--Gpt: the detection results of ChatGPT4. 

|--Simulation1.txt: the 1st label of the scenario. 

|--......

|--Simulation10.txt: the 10th label of the scenario. 

|--Simulation1.jpg: the 1st frame image of the scenario. 

|--......

|--Simulation10.jpg: the 10thframe image of the scenario. 

|--4999: the 4999th sample. 

|--Weather: the weather dataset. 

|--Participants: the traffic participant dataset. 

|--Road: the road structure dataset. 

|--Facilities: the traffic facility dataset. 

|--RQ3: the data obtained from the experiment in RQ3. 

|--HazGT: the experimental results of HazGT. 

|--weather: the weather experiment. 

|--cqss.json: the PS values of the optimal points for each iteration during the YOLO and FRCNN experiments. 

|--false_yolo.json: the false negatives and false positives of the optimal points for each iteration during the YOLO experiment. 

|--false_frcnn.json: the false negatives and false positives of the optimal points for each iteration during the FRCNN experiment. 

|--Done: the flag used in the experiment. 

|--targets: the optimal points for each iteration . 

|--0: the optimal point in the 0th iteration . 

|--Attributes.json: the hazard config file of the sample(used by HazGT Simulator to set the scenario). 

|--GroundtruthLabels: the ground truth labels of the scenario. 

|--Yolo: the detection results of YOLO. 

|--labels: the labels in the detection results of YOLO. 

|--Frcnn: the detection results of Frcnn.

|--labels: the labels in the detection results of Frcnn.

|--images: the statistical chart of experimental results. 

|--cache: the scenario samples generated during the experiment. 

|--0: the samples in the 0th iteration. 

|--0: the 0th sample.

|--......

|--19: the 19th sample.

|--......

|--29: the 29th iteration. 

|--participants: the traffic participant experiment. 

|--road: the road structure experiment. 

|--facilities: the traffic facility experiment. 

|--HazGT': the experimental results of HazGT'. 

|--HazGTr: the experimental results of HazGTr. 

5. Hazard Generator

|--Hazard Generator

|--HazGTSimulator: the simulator we used to generate hazardous traffic scenarios. To save space, we only show the unity version. 

|--HazGTSimulator.exe: the executable program of the simulator. 

|--......: the unity files unrelated to this study.