  Safety is the primary priority of autonomous driving. Nevertheless, no
published dataset currently supports the direct and explainable safety
evaluation for autonomous driving. In this work, we propose DeepAccident, a
large-scale dataset generated via a realistic simulator containing diverse
accident scenarios that frequently occur in real-world driving. The proposed
DeepAccident dataset includes 57K annotated frames and 285K annotated samples,
approximately 7 times more than the large-scale nuScenes dataset with 40k
annotated samples. In addition, we propose a new task, end-to-end motion and
accident prediction, which can be used to directly evaluate the accident
prediction ability for different autonomous driving algorithms. Furthermore,
for each scenario, we set four vehicles along with one infrastructure to record
data, thus providing diverse viewpoints for accident scenarios and enabling V2X
(vehicle-to-everything) research on perception and prediction tasks. Finally,
we present a baseline V2X model named V2XFormer that demonstrates superior
performance for motion and accident prediction and 3D object detection compared
to the single-vehicle model.
