Method, system, apparatus, and medium for generating critical scenarios in autonomous driving tests

A method, system, apparatus, and medium for generating critical scenarios in autonomous driving tests are provided. The method includes: generating an initial scenario based on a lane-coordinate system; constructing a one-way single-lane car-following scenario, specifically including: creating a road and vehicles based on the initial scenario, the vehicles including an autonomous vehicle controlled by an intelligent driving model (IDM) and an agent vehicle; constructing a one-way dual-lane cut-in scenario, specifically including: creating a dual-lane road and vehicles based on the initial scenario, the vehicles including an autonomous vehicle controlled by the IDM model and an intelligent-agent vehicle; and generating, based on the constructed one-way single-lane car-following scenario and the constructed one-way dual-lane cut-in scenario, critical scenarios for autonomous-vehicle testing. The method efficiently and accurately produces critical scenarios for autonomous-driving systems, thereby accelerating the testing and verification of their performance and safety in complex, high-risk environments.