  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 hazard
response in the real world because it would involve hazards to passengers and
other road users. This paper studied on virtual testing of AV on the CARLA
platform and proposed a Humanoid Scenario Generation (HSG) scheme to
investigate the impacts of hazardous behaviors on AV collision rates. The HSG
scheme breakthrough the current limitation on the rarity and reproducibility of
real scenes. By accurately capturing five prominent human driver behaviors that
directly contribute to vehicle collisions in the real world, the methodology
significantly enhances the realism and diversity of the simulation, as
evidenced by collision rate statistics across various traffic scenarios. Thus,
the modular framework allows for customization, and its seamless integration
within the CARLA platform ensures compatibility with existing tools.
Ultimately, the comparison results demonstrate that all vehicles that exhibited
hazardous behaviors followed the predefined random speed distribution and the
effectiveness of the HSG was validated by the distinct characteristics
displayed by these behaviors.
