Autonomous driving systems (ADSs) have the potential to enhance safety through advanced perception and reaction capabilities, reduce emissions by alleviating congestion, and contribute to various improvements in quality of life. Despite significant advancements in ADSs, several real-world accidents resulting in fatalities have occurred due to failures in the autonomous driving perception modules. As a critical component of autonomous vehicles, LiDAR-based perception systems are marked by high complexity and low interpretability, necessitating the development of effective testing methods for these systems. Current testing methods largely depend on manual data collection and labeling, which restricts their ability to detect a diverse range of erroneous behaviors. This process is not only time-consuming and labor-intensive, but it may also result in the recurrent discovery of similar erroneous behaviors during testing, hindering a comprehensive assessment of the systems.In this paper, we propose and implement a fuzzing framework for LiDAR-based autonomous driving perception systems, named LDFuzz, grounded in metamorphic testing theory. This framework offers the first uniform solution for the automated generation of tests with oracle information. To enhance testing efficiency and increase the number of tests that identify erroneous behaviors, we incorporate spatial and semantic coverage based on the characteristics of point cloud data to guide the generation process. We evaluate the performance of LDFuzz through experiments conducted on four LiDAR-based autonomous driving perception systems designed for the 3D object detection task. The experimental results demonstrate that the tests produced by LDFuzz can effectively detect an average of 7.5% more erroneous behaviors within LiDAR-based perception systems than the optimal baseline. Furthermore, the findings indicate that LDFuzz significantly enhances the diversity of failed tests.

Multi-objective evolutionary algorithms (MOEAs) are widely used for searching optimal solutions in complex multi-component applications. Traditional MOEAs for multi-component deep learning (MCDL) systems face challenges in enhancing the search efficiency while maintaining the diversity. To combat these, this paper proposes the first LLM-empowered adaptive evolutionary search algorithm to detect safety violations in MCDL systems. Inspired by the context-understanding ability of Large Language Models (LLMs), our approach promotes the LLM to comprehend the optimization problem and generate an initial population tailed to evolutionary objectives. Subsequently, it employs adaptive selection and variation to iteratively produce offspring, balancing the evolutionary efficiency and diversity. During the evolutionary process, to navigate away from the local optima, our approach integrates the evolutionary experience back into the LLM. This utilization harnesses the LLM's quantitative reasoning prowess to generate differential seeds, breaking away from current optimal solutions. We evaluate our approach in finding safety violations of MCDL systems, and compare its performance with state-of-the-art MOEA methods. Experimental results show that our approach can significantly improve the efficiency and diversity of the evolutionary search.

Perceiving the complex driving environment precisely is crucial to the safe operation of autonomous vehicles. With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) cooperative perception has the potential to address limitations in sensing distant objects and occlusion for a single-agent perception system. V2X cooperative perception systems are software systems characterized by diverse sensor types and cooperative agents, varying fusion schemes, and operation under different communication conditions. Therefore, their complex composition gives rise to numerous operational challenges. Furthermore, when cooperative perception systems produce erroneous predictions, the types of errors and their underlying causes remain insufficiently explored.To bridge this gap, we take an initial step by conducting an empirical study of V2X cooperative perception. To systematically evaluate the impact of cooperative perception on the ego vehicle’s perception performance, we identify and analyze six prevalent error patterns in cooperative perception systems. We further conduct a systematic evaluation of the critical components of these systems through our large-scale study and identify the following key findings: (1) The LiDAR-based cooperation configuration exhibits the highest perception performance; (2) Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication exhibit distinct cooperative perception performance under different fusion schemes; (3) Increased cooperative perception errors may result in a higher frequency of driving violations; (4) Cooperative perception systems are not robust against communication interference when running online. Our results reveal potential risks and vulnerabilities in critical components of cooperative perception systems. We hope that our findings can better promote the design and repair of cooperative perception systems.

Perceiving the complex driving environment precisely is crucial to the safe operation of autonomous vehicles. With the tremendous advancement of deep learning and communication technology, Vehicle-to-Everything (V2X) collaboration has the potential to address limitations in sensing distant objects and occlusion for a single-agent perception system. However, despite spectacular progress, several communication challenges can undermine the effectiveness of multi-vehicle cooperative perception. The low interpretability of Deep Neural Networks (DNNs) and the high complexity of communication mechanisms make conventional testing techniques inapplicable for the cooperative perception of autonomous driving systems (ADS). Besides, the existing testing techniques, depending on manual data collection and labeling, become time-consuming and prohibitively expensive. In this paper, we design and implement CooTest, the first automated testing tool of the V2X-oriented cooperative perception module. CooTest devises the V2X-specific metamorphic relation and equips communication and weather transformation operators that can reflect the impact of the various cooperative driving factors to produce transformed scenes. Furthermore, we adopt a V2X-oriented guidance strategy for the transformed scene generation process and improve testing efficiency. We experiment CooTest with multiple cooperative perception models with different fusion schemes to evaluate its performance on different tasks. The experiment results show that CooTest can effectively detect erroneous behaviors under various V2X-oriented driving conditions. Also, the results confirm that CooTest can improve detection average precision and decrease misleading cooperation errors by retraining with the generated scenes.

Autonomous driving systems (ADSs) have undergone remarkable development and are increasingly employed in safety-critical applications. However, recently reported data on fatal accidents involving ADSs suggests that the desired level of safety has not yet been fully achieved. Consequently, there is a growing need for more comprehensive and targeted testing approaches to ensure safe driving. Scenarios from real-world accident reports provide valuable resources for ADS testing, including critical scenarios and high-quality seeds. However, existing scenario reconstruction methods from accident reports often exhibit limited accuracy in information extraction. Moreover, due to the diversity and complexity of road environments, matching current accident information with the simulation map data for reconstruction poses significant challenges.

With the tremendous advancement of Deep Neural Networks (DNNs), autonomous driving systems (ADS) have achieved significant development and been applied to assist in many safety-critical tasks. However, despite their spectacular progress, several real-world accidents involving autonomous cars even resulted in a fatality. While the high complexity and low interpretability of DNN models, which empowers the perception capability of ADS, make conventional testing techniques inapplicable for the perception of ADS, the existing testing techniques depending on manual data collection and labeling become time-consuming and prohibitively expensive.