AV-FUZZER: Finding safety violations in autonomous driving systems

Guanpeng Li, Yiran Li, Saurabh Jha, Timothy Tsai, Michael Sullivan, Siva Kumar Sastry Hari, Zbigniew Kalbarczyk, Ravishankar Iyer

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes AV-FUZZER, a testing framework, to find the safety violations of an autonomous vehicle (AV) in the presence of an evolving traffic environment. We perturb the driving maneuvers of traffic participants to create situations in which an AV can run into safety violations. To optimally search for the perturbations to be introduced, we leverage domain knowledge of vehicle dynamics and genetic algorithm to minimize the safety potential of an AV over its projected trajectory. The values of the perturbation determined by this process provide parameters that define participants' trajectories. To improve the efficiency of the search, we design a local fuzzer that increases the exploitation of local optima in the areas where highly likely safetyhazardous situations are observed. By repeating the optimization with significantly different starting points in the search space, AV-FUZZER determines several diverse AV safety violations. We demonstrate AV-FUZZER on an industrial-grade AV platform, Baidu Apollo, and find five distinct types of safety violations in a short period of time. In comparison, other existing techniques can find at most two. We analyze the safety violations found in Apollo and discuss their overarching causes.

Original languageEnglish (US)
Title of host publicationProceedings - 2020 IEEE 31st International Symposium on Software Reliability Engineering, ISSRE 2020
EditorsMarco Vieira, Henrique Madeira, Nuno Antunes, Zheng Zheng
PublisherIEEE Computer Society
Pages25-36
Number of pages12
ISBN (Electronic)9781728198705
DOIs
StatePublished - Oct 2020
Event31st IEEE International Symposium on Software Reliability Engineering, ISSRE 2020 - Virtual, Coimbra, Portugal
Duration: Oct 12 2020Oct 15 2020

Publication series

NameProceedings - International Symposium on Software Reliability Engineering, ISSRE
Volume2020-October
ISSN (Print)1071-9458

Conference

Conference31st IEEE International Symposium on Software Reliability Engineering, ISSRE 2020
CountryPortugal
CityVirtual, Coimbra
Period10/12/2010/15/20

Keywords

  • Autonomous vehicles
  • Safety-critical applications

ASJC Scopus subject areas

  • Software
  • Safety, Risk, Reliability and Quality

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