Utilizing S-TaLiRo as an automatic test generation framework for autonomous vehicles
Utilizing S-TaLiRo as an automatic test generation framework for autonomous vehicles
复制标题
利用 S-TaLiRo 作为自动驾驶汽车的自动测试生成框架
DOI：
10.1109/itsc.2016.7795751
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Georgios Fainekos
中科院分区：
文献类型：
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作者：
Cumhur Erkan Tuncali;Theodore P. Pavlic;Georgios Fainekos
针对自主车辆运动控制器的测试问题，提出了一种自动生成测试用例的方法。测试场景可以由单个或多个车辆同时测试组成。在模拟环境中进行测试。该方法是基于使用的鲁棒性度量作为成本函数的仿真结果进行评估。初始状态和输入更新的随机优化方法之间的测试，以实现更小的鲁棒性值。测试生成框架已在工具箱S-TaLiRo中实现。所提出的框架的能力，产生有趣的测试用例的案例研究表明。
This paper proposes an approach to automatically generating test cases for testing motion controllers of autonomous vehicular systems. Test scenarios may consist of single or multiple vehicles under test at the same time. Tests are performed in simulation environments. The approach is based on using a robustness metric for evaluating simulation outcomes as a cost function. Initial states and inputs are updated by stochastic optimization methods between the tests for achieving smaller robustness values. The test generation framework has been implemented in the toolbox S-TaLiRo. The proposed framework's ability to generate interesting test cases is demonstrated by a case study.