av-safety-benchmark suite: core

System-agnostic AV safety benchmark. Any stack that produces trajectory logs in the JSONL contract can be scored; the simulator here is just one producer.

Leaderboard

Family breakdown

Worst-case gallery

cut_in cautious_idm

core-cutin-0010 score 82.03 near_miss

cut_in constant_velocity

core-cutin-0001 score 0.00 critical

cut_in idm

core-cutin-0004 score 67.13 near_miss

ped_occluded cautious_idm

core-ped-0001 score 10.00 critical

ped_occluded constant_velocity

core-ped-0001 score 10.00 critical

ped_occluded idm

core-ped-0001 score 10.00 critical

weather_ramp cautious_idm

core-weather-0008 score 98.21 nominal

weather_ramp constant_velocity

core-weather-0001 score 0.00 critical

weather_ramp idm

core-weather-0011 score 94.10 nominal

hard_brake cautious_idm

core-hardbrake-0007 score 70.58 near_miss

hard_brake constant_velocity

core-hardbrake-0001 score 0.00 critical

hard_brake idm

core-hardbrake-0007 score 55.94 near_miss

Metric distributions

Regulatory traceability (informative only)

Methodology (metric formulas)

• d_min: min over steps and non-static actors of ||p_a p_e|| (r_ego + r_a).
• Collision: any step where d_a 0; delta-v uses a perfectly-plastic closing-speed model delta_v = (m_a / (m_e + m_a)) ||v_e v_a||.
• TTC (2D closing-speed): with r = p_a p_e, v_rel = v_a v_e, c = (r v_rel)/||r||, TTC = d_a / c when c > 0.1 m/s.
• PET: grid-cell (0.5 m) post-encroachment time over disjoint occupancy intervals.
• Hard-brake proxy: fraction of steps and runs where accel_cmd -4.0 m/s.