Search

Recent advances in Deep Neural Networks (DNNs) and sensor technologies are enabling autonomous driving systems (ADSs) with an ever-increasing level of autonomy. However, assessing their dependability remains a critical concern. State-of-the-art ADS testing approaches modify the controllable attributes of a simulated driving environment until the ADS misbehaves. In such approaches, environment instances in which the ADS is successful are discarded, despite the possibility that they could contain hidden driving conditions in which the ADS may misbehave. In this paper, we present GenBo (GENerator of BOundary state pairs), a novel test generator for ADS testing. GenBo mutates the driving conditions of the ego vehicle (position, velocity and orientation), collected in a failure-free environment instance, and efficiently generates challenging driving conditions at the behavior boundary (i.e., where the model starts to misbehave) in the same environment instance. We use such boundary conditions to augment the initial training dataset and retrain the DNN model under test. Our evaluation results show that the retrained model has, on average, up to 3$\times$× higher success rate on a separate set of evaluation tracks with respect to the original DNN model.

Metamorphic testing is a popular approach that aims to alleviate the oracle problem in software testing. At the core of this approach are Metamorphic Relations (MRs), specifying properties that hold among multiple test inputs and corresponding outputs. Deriving MRs is mostly a manual activity, since their automated generation is a challenging and largely unexplored problem. This paper presents GenMorph, a technique to automatically generate MRs for Java methods that involve inputs and outputs that are boolean, numerical, or ordered sequences. GenMorph uses an evolutionary algorithm to search for effective test oracles, i.e., oracles that trigger no false alarms and expose software faults in the method under test. The proposed search algorithm is guided by two fitness functions that measure the number of false alarms and the number of missed faults for the generated MRs. Our results show that GenMorph generates effective MRs for 18 out of 23 methods (mutation score > 20%). Furthermore, it can increase Randoop's fault detection capability in 7 out of 23 methods, and Evosuite's in 14 out of 23 methods. When compared with AutoMR, a state-of-the-art MR generator, GenMorph also outperformed its fault detection capability in 9 out of 10 methods.

Safe deployment of self-driving cars (SDC) necessitates thorough simulated and in-field testing. Most testing techniques consider virtualized SDCs within a simulation environment, whereas less effort has been directed towards assessing whether such techniques transfer to and are effective with a physical real-world vehicle. In this paper, we shed light on the problem of generalizing testing results obtained in a driving simulator to a physical platform and provide a characterization and quantification of the sim2real gap affecting SDC testing. In our empirical study, we compare SDC testing when deployed on a physical small-scale vehicle versus its digital twin. Due to the unavailability of driving quality indicators from the physical platform, we use neural rendering to estimate them through visual odometry, hence allowing full comparability with the digital twin. Then, we investigate the transferability of behavior and failure exposure between virtual and real-world environments, targeting both unintended abnormal test data and intended adversarial examples. Our study shows that, despite the usage of a faithful digital twin, there are still critical shortcomings that contribute to the reality gap between the virtual and physical world, threatening existing testing solutions that only consider virtual SDCs. On the positive side, our results present the test configurations for which physical testing can be avoided, either because their outcome does transfer between virtual and physical environments, or because the uncertainty profiles in the simulator can help predict their outcome in the real world.

In a recent study, Reinforcement Learning (RL) used in combination with many-objective search, has been shown to outperform alternative techniques (random search and many-objective search) for online testing of Deep Neural Network-enabled systems. The empirical evaluation of these techniques was conducted on a state-of-the-art Autonomous Driving System (ADS). This work is a replication and extension of that empirical study. Our replication shows that RL does not outperform pure random test generation in a comparison conducted under the same settings of the original study, but with no confounding factor coming from the way collisions are measured. Our extension aims at eliminating some of the possible reasons for the poor performance of RL observed in our replication: (1) the presence of reward components providing contrasting feedback to the RL agent; (2) the usage of an RL algorithm (Q-learning) which requires discretization of an intrinsically continuous state space. Results show that our new RL agent is able to converge to an effective policy that outperforms random search. Results also highlight other possible improvements, which open to further investigations on how to best leverage RL for online ADS testing.

Simulation-based testing represents an important step to ensure the reliability of autonomous driving software. In practice, when companies rely on third-party general-purpose simulators, either for in-house or outsourced testing, the generalizability of testing results to real autonomous vehicles is at stake. In this paper, we enhance simulation-based testing by introducing the notion of digital siblings—a multi-simulator approach that tests a given autonomous vehicle on multiple general-purpose simulators built with different technologies, that operate collectively as an ensemble in the testing process. We exemplify our approach on a case study focused on testing the lane-keeping component of an autonomous vehicle. We use two open-source simulators as digital siblings, and we empirically compare such a multi-simulator approach against a digital twin of a physical scaled autonomous vehicle on a large set of test cases. Our approach requires generating and running test cases for each individual simulator, in the form of sequences of road points. Then, test cases are migrated between simulators, using feature maps to characterize the exercised driving conditions. Finally, the joint predicted failure probability is computed, and a failure is reported only in cases of agreement among the siblings. Our empirical evaluation shows that the ensemble failure predictor by the digital siblings is superior to each individual simulator at predicting the failures of the digital twin. We discuss the findings of our case study and detail how our approach can help researchers interested in automated testing of autonomous driving software.

We propose a human-in-the-loop approach for oracle improvement and analyse whether the proposed oracle improvement process is helping developers to create better oracles. For this, we conducted two human studies with 68 participants overall: an oracle assessment study and an oracle improvement study. Our results show that developers exhibit poor performance (29 percent accuracy) when manually assessing whether an assertion oracle contains a false positive, a false negative or none of the two. This shows that automated detection of these oracle deficiencies is beneficial for the users. Our tool OASIs (Oracle ASsessment and Improvement) helps developers produce assertions with higher quality. Participants who used OASIs in the improvement study were able to achieve 33 percent of full and 67 percent of partial correctness as opposed to participants without the tool who achieved only 21 percent of full and 43 percent of partial correctness.

Deep Neural Networks (DNNs) are becoming a crucial component of modern software systems, but they are prone to fail under conditions that are different from the ones observed during training (out-of-distribution inputs) or on inputs that are truly ambiguous, i.e., inputs that admit multiple classes with nonzero probability in their labels. Recent work proposed DNN supervisors to detect high-uncertainty inputs before their possible misclassification leads to any harm. To test and compare the capabilities of DNN supervisors, researchers proposed test generation techniques, to focus the testing effort on high-uncertainty inputs that should be recognized as anomalous by supervisors. However, existing test generators aim to produce out-of-distribution inputs. No existing model- and supervisor independent technique targets the generation of truly ambiguoustest inputs, i.e., inputs that admit multiple classes according to expert human judgment. In this paper, we propose a novel way to generate ambiguous inputs to test DNN supervisors and used it to empirically compare several existing supervisor techniques. In particular, we propose AmbiGuessto generate ambiguous samples for image classification problems. AmbiGuessis based on gradient-guided sampling in the latent space of a regularized adversarial autoencoder. Moreover, we conducted what is -to the best of our knowledge -the most extensive comparative study of DNN supervisors, considering their capabilities to detect 4 distinct types of high-uncertainty inputs, including truly ambiguous ones. We find that the tested supervisors’ capabilities are complementary: Those best suited to detect true ambiguity perform worse on invalid, out-of-distribution and adversarial inputs and vice-versa.

The test case generation is intrinsically a multi-objective problem, since the goal is covering multiple test targets (e.g., branches). Existing search-based approaches either consider one target at a time or aggregate all targets into a single fitness function (whole-suite approach). Multi and many-objective optimisation algorithms (MOAs) have never been applied to this problem, because existing algorithms do not scale to the number of coverage objectives that are typically found in real-world software. In addition, the final goal for MOAs is to find alternative trade-off solutions in the objective space, while in test generation the interesting solutions are only those test cases covering one or more uncovered targets. In this paper, we present Dynamic Many-Objective Sorting Algorithm (DynaMOSA), a novel many-objective solver specifically designed to address the test case generation problem in the context of coverage testing. DynaMOSA extends our previous many-objective technique Many-Objective Sorting Algorithm (MOSA) with dynamic selection of the coverage targets based on the control dependency hierarchy. Such extension makes the approach more effective and efficient in case of limited search budget. We carried out an empirical study on 346 Java classes using three coverage criteria (i.e., statement, branch, and strong mutation coverage) to assess the performance of DynaMOSA with respect to the whole-suite approach (WS), its archive-based variant (WSA) and MOSA. The results show that DynaMOSA outperforms WSA in 28 percent of the classes for branch coverage (+8 percent more coverage on average) and in 27 percent of the classes for mutation coverage (+11 percent more killed mutants on average). It outperforms WS in 51 percent of the classes for statement coverage, leading to +11 percent more coverage on average. Moreover, DynaMOSA outperforms its predecessor MOSA for all the three coverage criteria in 19 percent of the classes with +8 percent more code coverage on average.

Offline model-level testing of autonomous driving software is much cheaper, faster, and diversified than in-field, online system-level testing. Hence, researchers have compared empirically model-level vs system-level testing using driving simulators. They reported the general usefulness of simulators at reproducing the same conditions experienced in-field, but also some inadequacy of model-level testing at exposing failures that are observable only in online mode. In this work, we replicate the reference study on model vs system-level testing of autonomous vehicles while acknowledging several assumptions that we had reconsidered. These assumptions are related to several threats to validity affecting the original study that motivated additional analysis and the development of techniques to mitigate them. Moreover, we also extend the replicated study by evaluating the original findings when considering a physical, radio-controlled autonomous vehicle. Our results show that simulator-based testing of autonomous driving systems yields predictions that are close to the ones of real-world datasets when using neural-based translation to mitigate the reality gap induced by the simulation platform. On the other hand, model-level testing failures are in line with those experienced at the system level, both in simulated and physical environments, when considering the pre-failure site, similar-looking images, and accurate labels.

Annotation of Business Processes with semantic tags taken from a domain ontology is beneficial to several activities conducted on Business Processes, such as comprehension, documentation, analysis and evolution. On the other hand, the task of semantically annotating Business Processes is time-consuming and far from trivial. The authors support Business Process designers in the annotation of process elements by automatically suggesting candidate concepts. The annotation suggestions are computed on the basis of a similarity measure between the text information associated with process element labels and the ontology concepts. In turn, this requires support for the disambiguation of terms appearing in ontology concepts, which admit multiple linguistic senses, and for ontology extension, when the available concepts are insufficient.

Object oriented programming promotes reuse of classes in multiple contexts. Thus, a class is designed and implemented with several usage scenarios in mind, some of which possibly open and generic. Correspondingly, the unit testing of classes cannot make too strict assumptions on the actual method invocation sequences, since these vary from application to application.In this paper, a genetic algorithm is exploited to automatically produce test cases for the unit testing of classes in a generic usage scenario. Test cases are described by chromosomes, which include information on which objects to create, which methods to invoke and which values to use as inputs. The proposed algorithm mutates them with the aim of maximizing a given coverage measure. The implementation of the algorithm and its application to classes from the Java standard library are described.

Test management aims at organizing, documenting and executing test cases, and at generating execution reports. The adoption of a support tool and of a standard process for such activities is expected to improve the current practice. ITALO is a European project devoted to the evaluation of the benefits coming from test management automation. In this paper the experiences collected and the lessons learned during ITALO are summarized. A formal methodology was adopted for the selection of a support tool among those available from the market. A survey of the current practice in component testing was conducted to adapt the existing process model so as to obtain the greatest benefits from automation. An empirical study was then designed to measure the effects that are expected to be produced by the new test process complemented with the introduction of the support tool. Three pilot projects were conducted to measure the benefits obtained from tool usage and process modification. Results are presented and discussed in this paper.