Rapidly-exploring Random Trees for Testing Automated Vehicles

Cumhur Erkan Tuncali, Georgios Fainekos

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

2 Scopus citations

Abstract

One of the expectations from fully or partially automated vehicles is to never cause an accident and actively avoid dangerous situations. However, an automated vehicle may not be able to avoid all collisions, e.g., collisions caused by other vehicles. Hence, it is important for the system developers to understand the boundary case scenarios where an autonomous vehicle can no longer avoid a collision. In this paper, an automated test generation approach that utilizes Rapidly-exploring Random Trees is presented to explore these boundary scenarios. An important advantage of the approach is the openness of the test scenarios: one can set the road geometry and the number of adversarial objects and let the system search for interesting trajectories and environment parameters. A cost function is proposed which guides the test generation toward almost-avoidable collisions or near-misses.

Original languageEnglish (US)
Title of host publication2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages661-666
Number of pages6
ISBN (Electronic)9781538670248
DOIs
StatePublished - Oct 2019
Event2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 - Auckland, New Zealand
Duration: Oct 27 2019Oct 30 2019

Publication series

Name2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Conference

Conference2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
CountryNew Zealand
CityAuckland
Period10/27/1910/30/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Management Science and Operations Research
  • Instrumentation
  • Transportation

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  • Cite this

    Tuncali, C. E., & Fainekos, G. (2019). Rapidly-exploring Random Trees for Testing Automated Vehicles. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 (pp. 661-666). [8917375] (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2019.8917375