A Survey on Scenario-Based Testing for Automated Driving Systems in High-Fidelity Simulation
This is an incremental survey that organizes and compares existing methods for scenario-based testing of ADSs, aiding researchers and practitioners in the field.
The paper addresses the challenge of testing Automated Driving Systems (ADSs) by providing a generic formulation and literature review of scenario-based testing in high-fidelity simulation, comparing existing works and identifying open challenges and future directions.
Automated Driving Systems (ADSs) have seen rapid progress in recent years. To ensure the safety and reliability of these systems, extensive testings are being conducted before their future mass deployment. Testing the system on the road is the closest to real-world and desirable approach, but it is incredibly costly. Also, it is infeasible to cover rare corner cases using such real-world testing. Thus, a popular alternative is to evaluate an ADS's performance in some well-designed challenging scenarios, a.k.a. scenario-based testing. High-fidelity simulators have been widely used in this setting to maximize flexibility and convenience in testing what-if scenarios. Although many works have been proposed offering diverse frameworks/methods for testing specific systems, the comparisons and connections among these works are still missing. To bridge this gap, in this work, we provide a generic formulation of scenario-based testing in high-fidelity simulation and conduct a literature review on the existing works. We further compare them and present the open challenges as well as potential future research directions.