Causality-driven Testing of Autonomous Driving SystemsJust Accepted

Testing Autonomous Driving Systems (ADS) is essential for safe development of self-driving cars. For thorough and realistic testing, ADS are usually embedded in a simulator and tested in interaction with the simulated environment. However, their high complexity and the multiple safety requirements lead to costly and ineffective testing. Recent techniques exploit many-objective strategies and ML to efficiently search the huge input space. Despite the indubitable advances, the need for smartening the search keep being pressing. This article presents CART ( CAusal-Reasoning-driven Testing ), a new technique that formulates testing as a causal reasoning task. Learning causation, unlike correlation, allows assessing the effect of actively changing an input on the output, net of possible confounding variables. CART first infers the causal relations between test inputs and outputs, then looks for promising tests by querying the learnt model. Only tests suggested by the model are run on the simulator. An extensive empirical evaluation, using Pylot as ADS and CARLA as simulator, compares CART with state-of-the-art algorithms used recently on ADS. CART shows a significant gain in exposing more safety violations and more efficiently. More broadly, the work opens to a wider exploitation of causal learning beside (or on top of) ML for testing-related tasks.