Analysis of Road Representations in Search-Based Testing of Autonomous Driving Systems

Ezequiel Castellano, Ahmet Cetinkaya, Paolo Arcaini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Validating Autonomous Driving Systems (ADSs) is essential to ensure that the ADS meets the necessary requirements to be widely accepted. Simulation-based testing is one of the main validation approaches, in which the ADS is run in a simulated environment over different scenarios. In this context, search-based testing (SBT) is used to generate scenarios that possibly expose particular failures of the ADS under test. Most SBT approaches search for behaviors of other traffic participants, but usually fix the road map of the scenario in advance. Recently, the SBT community started investigating the search for road structures, which is particularly useful when testing specific components of the ADS, such as the lane-keeping component. However, roads can be represented in multiple ways and the impact of using a particular representation on the effectiveness of SBT is unclear. To fill this gap, this paper investigates the usage of six road representations for SBT of ADSs. As a representative SBT approach, we test the lane-keeping component of an ADS in the BeamNG.tech simulator, aiming to generate roads in which the autonomous vehicle drives off the lane. We study the effectiveness of each road representation in terms of triggered failures and also diversity of the generated roads.

Original languageEnglish
Title of host publicationProceedings - 2021 21st International Conference on Software Quality, Reliability and Security, QRS 2021
PublisherInstitute of Electrical and Electronics Engineers
Pages167-178
Number of pages12
ISBN (Electronic)9781665458139
DOIs
Publication statusPublished - 2021
Externally publishedYes
Event21st International Conference on Software Quality, Reliability and Security, QRS 2021 - Hainan, China
Duration: 2021 Dec 62021 Dec 10

Publication series

NameIEEE International Conference on Software Quality, Reliability and Security, QRS
Volume2021-December
ISSN (Print)2693-9177

Conference

Conference21st International Conference on Software Quality, Reliability and Security, QRS 2021
Country/TerritoryChina
CityHainan
Period21/12/621/12/10

Keywords

  • Autonomous Driving Systems
  • Road Representation
  • Search-Based Testing
  • Simulation-Based Testing

ASJC Scopus subject areas

  • Software
  • Safety, Risk, Reliability and Quality

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