arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2408.13686cs.SE
收藏

面向自动驾驶系统仿真实景测试的感知引导模糊测试

Perception-Guided Fuzzing for Simulated Scenario-Based Testing of Autonomous Driving Systems

Tri Minh Triet Pham, Bo Yang, Jinqiu Yang

AI总结:

提出SimsV,一种面向多模块自动驾驶系统的感知引导模糊测试方法,通过高保真模拟器生成测试输入和预言机,成功发现商业级4级ADS Apollo的感知弱点及碰撞等严重问题。

摘要:

自动驾驶系统(ADS)已取得巨大进展,并开始道路测试甚至商业化试运营。ADS复杂且难以测试:它从多个传感器接收输入数据,并使用多个深度神经网络模型和代码逻辑的组合来做出决策。ADS的安全性至关重要,因为其不当行为可能导致灾难性的后果,包括人员伤亡。在本研究中,我们提出了SimsV,对多模块ADS执行系统级测试。SimsV针对ADS的感知故障,并进一步评估感知故障对整个系统的影响。SimsV利用高保真模拟器,通过持续应用预定义的变异算子来生成测试输入和测试预言机。此外,SimsV利用各种指标来指导测试过程。我们实现了SimsV的原型,使用流行的开源驾驶平台模拟器对商业级4级ADS(即Apollo)进行测试。我们的评估表明,SimsV能够发现Apollo在感知方面的弱点。此外,我们展示了通过利用这种弱点,SimsV发现了Apollo中的严重问题,包括碰撞。

英文摘要:

Autonomous Driving Systems (ADS) have made huge progress and started on-road testing or even commercializing trials. ADS are complex and difficult to test: they receive input data from multiple sensors and make decisions using a combination of multiple deep neural network models and code logic. The safety of ADS is of utmost importance as their misbehavior can result in costly catastrophes, including the loss of human life. In this work, we propose SimsV, which performs system-level testing on multi-module ADS. SimsV targets perception failures of ADS and further assesses the impact of perception failure on the system as a whole. SimsV leverages a high-fidelity simulator for test input and oracle generation by continuously applying predefined mutation operators. In addition, SimsV leverages various metrics to guide the testing process. We implemented a prototype SimsV for testing a commercial-grade Level 4 ADS (i.e., Apollo) using a popular open-source driving platform simulator. Our evaluation shows that SimsV is capable of finding weaknesses in the perception of Apollo. Furthermore, we show that by exploiting such weakness, SimsV finds severe problems in Apollo, including collisions.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

↑