Longgao Zhang | Searcharxiv

arXiv2026

GSRAIN: Physically Calibrated High-/Low-Frequency Rainfall Synthesis for 3D Gaussian Driving Scenes

Existing rainfall simulation methods for autonomous driving remain limited in physical controllability and multi-view consistency. This paper presents GSRAIN, a high-/low-frequency rainfall synthesis method for 3D Gaussian Splatting (3DGS) driving scenes. GSRAIN constructs a high-frequency raindrop model from measured rainfall data and generates low-frequency rainy appearance using a geometry-aware single-step diffusion model. The two effects are then fused in a unified 3DGS scene, enabling rainfall-intensity control over the range of 0--13~mm/h. The proposed method achieves a Fr\'{e}chet Inception Distance (FID) of 149.09, outperforming CycleGAN-Turbo (155.71) and WeatherEdit (157.94). Object-detection and closed-loop driving experiments further show that the generated scenes expose scene-dependent performance changes of the evaluated algorithms under controllable rainfall. These results indicate that GSRAIN provides an effective approach for constructing physically controllable, repeatable, and closed-loop-compatible rainy-weather test scenes for autonomous driving.

cs.CV↗

arXiv2025

Make Full Use of Testing Information: An Integrated Accelerated Testing and Evaluation Method for Autonomous Driving Systems

Testing and evaluation is an important step before the large-scale application of the autonomous driving systems (ADSs). Based on the three level of scenario abstraction theory, a testing can be performed within a logical scenario, followed by an evaluation stage which is inputted with the testing results of each concrete scenario generated from the logical parameter space. During the above process, abundant testing information is produced which is beneficial for comprehensive and accurate evaluations. To make full use of testing information, this paper proposes an Integrated accelerated Testing and Evaluation Method (ITEM). Based on a Monte Carlo Tree Search (MCTS) paradigm and a dual surrogates testing framework proposed in our previous work, this paper applies the intermediate information (i.e., the tree structure, including the affiliation of each historical sampled point with the subspaces and the parent-child relationship between subspaces) generated during the testing stage into the evaluation stage to achieve accurate hazardous domain identification. Moreover, to better serve this purpose, the UCB calculation method is improved to allow the search algorithm to focus more on the hazardous domain boundaries. Further, a stopping condition is constructed based on the convergence of the search algorithm. Ablation and comparative experiments are then conducted to verify the effectiveness of the improvements and the superiority of the proposed method. The experimental results show that ITEM could well identify the hazardous domains in both low- and high-dimensional cases, regardless of the shape of the hazardous domains, indicating its generality and potential for the safety evaluation of ADSs.

cs.AI↗