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Testing of function safety and Safety Of The Intended Functionality (SOTIF)is important for autonomous vehicles (AVs). It is hard to test the AV's hazardresponse in the real world because it would involve hazards to passengers andother road users. This paper studied on virtual testing of AV on the CARLAplatform and proposed a Humanoid Scenario Generation (HSG) scheme toinvestigate the impacts of hazardous behaviors on AV collision rates. The HSGscheme breakthrough the current limitation on the rarity and reproducibility ofreal scenes. By accurately capturing five prominent human driver behaviors thatdirectly contribute to vehicle collisions in the real world, the methodologysignificantly enhances the realism and diversity of the simulation, asevidenced by collision rate statistics across various traffic scenarios. Thus,the modular framework allows for customization, and its seamless integrationwithin the CARLA platform ensures compatibility with existing tools.Ultimately, the comparison results demonstrate that all vehicles that exhibitedhazardous behaviors followed the predefined random speed distribution and theeffectiveness of the HSG was validated by the distinct characteristicsdisplayed by these behaviors.

Study on the Impacts of Hazardous Behaviors on Autonomous Vehicle Collision Rates Based on Humanoid Scenario Generation in CARLA