发表机构
Zhejiang University; Yinwang Intelligent Technology Co., Ltd.（浙江大学; 银望智能科技有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
ExceptionDrive提出反事实边缘场景基准，通过VLM辅助插入危险到真实场景，评估规划器可靠性，并开发提醒代理提升零样本决策准确性。
AI 中文摘要
常规驾驶基准上的平均性能并不能证明规划器在罕见的安全关键危险情况下的可靠性。我们提出了ExceptionDrive，一个反事实规划基准，它利用VLM辅助筛选、局部多视角编辑和质量审计，将危险插入到真实的nuScenes场景中，同时保持其上下文。其21个任务涵盖六个安全类别，并定义了危险或冲突区域、局部安全约束和可接受的响应。由于危险插入可能使记录的人类轨迹失效，我们的无参考协议使用不安全率（UR）、危险清除合规性（HCC）、危险接近响应（HPR）和反事实轨迹偏移（CTS）来评估编辑后的预测，这些指标衡量核心区域入侵、清除合规性、相对于规定余量的清除以及反事实轨迹变化。七个代表性规划器经常侵入危险区域或提供不足的清除。我们还开发了一个提醒代理，无需样本特定的任务标签，将视觉证据和共享分类法转换为危险存在、类型和推荐的高级策略的结构化记录。该代理既不预测轨迹也不控制车辆；其记录指导基于VLM的决策代理。在零样本实验中，提醒提高了策略准确性并减少了警告不足。
英文摘要
Average performance on routine driving benchmarks does not establish planner reliability under rare, safety-critical hazards. We proposed ExceptionDrive, a counterfactual planning benchmark that uses VLM-assisted screening, localized multi-view editing, and quality auditing to insert hazards into real nuScenes scenes while preserving their context. Its 21 tasks span six safety families and define hazard or conflict regions, local safety constraints, and acceptable responses. Because hazard insertion can invalidate the recorded human trajectory, our reference-free protocol evaluates edited predictions using Unsafe Rate (UR), Hazard Clearance Compliance (HCC), Hazard Proximity Response (HPR), and Counterfactual Trajectory Shift (CTS), which measure core-region intrusion, clearance compliance, clearance relative to a prescribed margin, and counterfactual trajectory change. Seven representative planners frequently intrude into hazard regions or provide insufficient clearance. We also develop a Reminder Agent that, without sample-specific task labels, converts visual evidence and the shared taxonomy into structured records of hazard presence, type, and a recommended high-level strategy. The agent neither predicts trajectories nor controls the vehicle; its records guide a VLM-based decision agent. In zero-shot experiments, the reminders improve strategy accuracy and reduce under-warning.
Comments13 pages, 5 figures, 3 tables; supplementary material included
