TEASER: Simulation-Based CAN Bus Regression Testing for Self-Driving Cars Software

Safety-critical systems such as self-driving cars (SDCs) must be rigorously tested. Especially electronic control units (ECUs) of SDCs should be tested with realistic input data. In this context, a communication protocol called Controller Area Network (CAN) is typically used to transfer sensor data...

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Vydáno v:IEEE/ACM International Conference on Automated Software Engineering : [proceedings] s. 2058 - 2061
Hlavní autoři: Birchler, Christian, Rohrbach, Cyrill, Kim, Hyeongkyun, Gambi, Alessio, Liu, Tianhai, Horneber, Jens, Kehrer, Timo, Panichella, Sebastiano
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 11.09.2023
Témata:
Automation
Automobiles
Autonomous automobiles
Autonomous systems
CAN Bus
Companies
Pipelines
Protocols
Regression Testing
Simulation Environment
Software
ISSN:2643-1572
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Shrnutí:Safety-critical systems such as self-driving cars (SDCs) must be rigorously tested. Especially electronic control units (ECUs) of SDCs should be tested with realistic input data. In this context, a communication protocol called Controller Area Network (CAN) is typically used to transfer sensor data to the SDC control units. A challenge for SDC maintainers and testers is the need to manually define the CAN inputs that realistically represent the state of the SDC in the real world. To address this challenge, we developed TEASER; a tool that generates realistic CAN signals for SDCs obtained from sensors from state-of-the-art car simulators. We evaluated TEASER based on its integration capability into a DevOps pipeline of aicas GmbH, a company in the automotive sector. Concretely, we integrated TEASER in a Continous Integration (CI) pipeline configured with Jenkins. The pipeline executes the test cases in simulation environments and sends the sensor data over the CAN bus to a physical CAN device, the test subject. Our evaluation shows the ability of TEASER to generate and execute CI test cases that expose simulation-based faults (using regression strategies); the tool produces CAN inputs that realistically represent the state of the SDC in the real world. This result is critically important for increasing the automation and effectiveness of simulation-based CAN bus regression testing for SDCs.
ISSN:2643-1572
DOI:10.1109/ASE56229.2023.00154