1 Introduction
Taking into consideration the manifold activities in this area, it can be regarded as an accepted fact in the community that synthetic data is required in order to make AI for autonomous driving safe. Critical road situations are too rare and too divers - we cannot find enough real data for training or validating, even when collecting another few million miles. Road situations apparently follow a longtail distribution: relatively few situations happen very often (like “car approaching from the right at an intersection”), while a large number situations happen only rarely (like “child running in front of car”). Also, for many critical situations (like “child running in front of car”) we do not even want to collect real data.