Injecting Conflict Situations in Autonomous Driving Simulation using CARLA

Tsvetomila Mihaylova; Stefan Reitmann; Elin A. Topp; Ville Kyrki

doi:10.1109/HRI61500.2025.10974213

Injecting Conflict Situations in Autonomous Driving Simulation using CARLA

Tsvetomila Mihaylova, Stefan Reitmann, Elin A. Topp, Ville Kyrki

Lund University

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

Abstract

Simulation of conflict situations for autonomous driving research is crucial for understanding and managing interactions between Automated Vehicles (AVs) and human drivers. This paper presents a set of exemplary conflict scenarios in CARLA that arise in shared autonomy settings, where both AVs and human drivers must navigate complex traffic environments. We explore various conflict situations, focusing on the impact of driver behavior and decision-making processes on overall traffic safety and efficiency. We build a simple extendable toolkit for situation awareness research, in which the implemented conflicts can be demonstrated.

Original language	English
Title of host publication	Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction
Publisher	IEEE
Pages	1052–1056
Number of pages	5
ISBN (Electronic)	979-8-3503-7893-1
DOIs	https://doi.org/10.1109/HRI61500.2025.10974213
Publication status	Published - 2025
MoE publication type	A4 Conference publication
Event	ACM/IEEE International Conference on Human-Robot Interaction - Melbourne, Australia Duration: 4 Mar 2025 → 6 Mar 2025

Conference

Conference	ACM/IEEE International Conference on Human-Robot Interaction
Abbreviated title	HRI
Country/Territory	Australia
City	Melbourne
Period	04/03/2025 → 06/03/2025

Keywords

automated driving
conflict detection
driving simulation
human-ai interaction
shared autonomy
situation awareness
Human-AI interaction

Access to Document

10.1109/HRI61500.2025.10974213

https://arxiv.org/abs/2503.16476Licence: CC BY

Cite this

@inproceedings{ebc7af3fde6c4d4597192cf860abeceb,

title = "Injecting Conflict Situations in Autonomous Driving Simulation using CARLA",

abstract = "Simulation of conflict situations for autonomous driving research is crucial for understanding and managing interactions between Automated Vehicles (AVs) and human drivers. This paper presents a set of exemplary conflict scenarios in CARLA that arise in shared autonomy settings, where both AVs and human drivers must navigate complex traffic environments. We explore various conflict situations, focusing on the impact of driver behavior and decision-making processes on overall traffic safety and efficiency. We build a simple extendable toolkit for situation awareness research, in which the implemented conflicts can be demonstrated.",

keywords = "automated driving, conflict detection, driving simulation, human-ai interaction, shared autonomy, situation awareness, Human-AI interaction",

author = "Tsvetomila Mihaylova and Stefan Reitmann and Topp, {Elin A.} and Ville Kyrki",

year = "2025",

doi = "10.1109/HRI61500.2025.10974213",

language = "English",

pages = "1052–1056",

booktitle = "Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction",

publisher = "IEEE",

address = "United States",

note = "ACM/IEEE International Conference on Human-Robot Interaction, HRI ; Conference date: 04-03-2025 Through 06-03-2025",

}

Mihaylova, T, Reitmann, S, Topp, EA & Kyrki, V 2025, Injecting Conflict Situations in Autonomous Driving Simulation using CARLA. in Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction. IEEE, pp. 1052–1056, ACM/IEEE International Conference on Human-Robot Interaction, Melbourne, Australia, 04/03/2025. https://doi.org/10.1109/HRI61500.2025.10974213

Injecting Conflict Situations in Autonomous Driving Simulation using CARLA. / Mihaylova, Tsvetomila; Reitmann, Stefan; Topp, Elin A. et al.
Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction. IEEE, 2025. p. 1052–1056.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - Injecting Conflict Situations in Autonomous Driving Simulation using CARLA

AU - Mihaylova, Tsvetomila

AU - Reitmann, Stefan

AU - Topp, Elin A.

AU - Kyrki, Ville

PY - 2025

Y1 - 2025

N2 - Simulation of conflict situations for autonomous driving research is crucial for understanding and managing interactions between Automated Vehicles (AVs) and human drivers. This paper presents a set of exemplary conflict scenarios in CARLA that arise in shared autonomy settings, where both AVs and human drivers must navigate complex traffic environments. We explore various conflict situations, focusing on the impact of driver behavior and decision-making processes on overall traffic safety and efficiency. We build a simple extendable toolkit for situation awareness research, in which the implemented conflicts can be demonstrated.

AB - Simulation of conflict situations for autonomous driving research is crucial for understanding and managing interactions between Automated Vehicles (AVs) and human drivers. This paper presents a set of exemplary conflict scenarios in CARLA that arise in shared autonomy settings, where both AVs and human drivers must navigate complex traffic environments. We explore various conflict situations, focusing on the impact of driver behavior and decision-making processes on overall traffic safety and efficiency. We build a simple extendable toolkit for situation awareness research, in which the implemented conflicts can be demonstrated.

KW - automated driving

KW - conflict detection

KW - driving simulation

KW - human-ai interaction

KW - shared autonomy

KW - situation awareness

KW - Human-AI interaction

UR - http://www.scopus.com/inward/record.url?scp=105004872415&partnerID=8YFLogxK

UR - https://dl.acm.org/doi/abs/10.5555/3721488.3721620

U2 - 10.1109/HRI61500.2025.10974213

DO - 10.1109/HRI61500.2025.10974213

M3 - Conference article in proceedings

SP - 1052

EP - 1056

BT - Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction

PB - IEEE

T2 - ACM/IEEE International Conference on Human-Robot Interaction

Y2 - 4 March 2025 through 6 March 2025

ER -

Injecting Conflict Situations in Autonomous Driving Simulation using CARLA

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this