Abstract: Provided are systems, methods, and computer program products for severity classification of simulated collisions in self-driving systems of simulated environments, comprising controlling a simulated autonomous vehicle (AV) in a road during a plurality of simulated driving scenarios involving a road actor, automatically detecting a collision based on an intersection between affected portions of a simulated AV and affected portions the road actor, generating a plurality of collision impact scores, wherein each impact score of the plurality of collision impact scores signals a severity of a different impact type of collision, and classifying the severity of the collision based on the plurality of collision impact scores for the affected portion of the simulated AV and road actor.