FSE 2025
Mon 23 - Fri 27 June 2025 Trondheim, Norway
Mon 23 Jun 2025 12:10 - 12:30 at Cosmos 3A - Autonomous Driving Chair(s): Nassim Belmecheri

The autonomous driving system is both a real-time and safety-critical system. Performance bugs in such systems can lead to serious accidents. However, when a performance problem occurs, it is challenging to analyze due to the difficulty in obtaining runtime data. In this work, we propose AutoTracer, a low-overhead end-to-end tracing framework helping developers analyze performance issues at each layer of the autonomous driving system. To make AutoTracer practical for deployment in autonomous vehicles, we have introduced several optimizations to control its time and space overhead, ensuring minimal impact on system performance. Our evaluation of AutoTracer on a real-world industrial autonomous driving system demonstrates that its impact on the end-to-end latency of autonomous driving system is consistently less than 1.2% in terms of average, p90, p99, maximum, and standard deviation values, making it suitable for in-vehicle deployment. Furthermore, with the deployment of AutoTracer, our engineers have reduced the p99 long-tail latency of our autonomous driving system by 300 ms through identifying and addressing a set of high-impact performance bugs.

Mon 23 Jun

Displayed time zone: Amsterdam, Berlin, Bern, Rome, Stockholm, Vienna change

10:30 - 12:30
10:30
20m
Talk
On-Demand Scenario Generation for Testing Automated Driving Systems
Research Papers
Songyang Yan Xi'an Jiaotong University, Xiaodong Zhang Xidian University, Kunkun Hao Synkrotron, Inc., Haojie Xin Xi'an Jiaotong University, Yonggang Luo Chongqing Changan Automobile Co. Ltd, Jucheng Yang Chongqing Changan Automobile Co. Ltd, Ming Fan Xi'an Jiaotong University, Chao Yang Xidian University, Jun Sun Singapore Management University, Zijiang Yang University of Science and Technology of China and Synkrotron, Inc.
DOI Pre-print
10:50
20m
Talk
Multi-Modal Traffic Scenario Generation for Autonomous Driving System Testing
Research Papers
Zhi Tu Purdue University, Liangkun Niu Purdue University, Wei Fan Purdue University, Tianyi Zhang Purdue University
DOI Pre-print
11:10
10m
Talk
CCTest: Critical Configuration Testing for Autonomous Driving Systems
Demonstrations
Changwen Li , Joseph Sifakis University Grenoble Alpes; CNRS; Grenoble INP; VERIMAG, Rongjie Yan Institute of Software at Chinese Academy of Sciences; University of Chinese Academy of Sciences, Jian Zhang Institute of Software at Chinese Academy of Sciences; University of Chinese Academy of Sciences
11:20
10m
Talk
HazSim: An Urban Driving Simulator for Testing Perception Systems of ADSes Against Hazards
Demonstrations
Xiaodong Zhang Xidian University, Jie Bao Xi'an Jiaotong University, Yulong Shen Xidian University, Qin Xia Xi'an Jiaotong University, Zijiang Yang University of Science and Technology of China and Synkrotron, Inc.
11:40
20m
Talk
A Comprehensive Study of Bug-Fix Patterns in Autonomous Driving Systems
Research Papers
Yuntianyi Chen University of California, Irvine, Yuqi Huai University of California, Irvine, Yirui He University of California, Irvine, Shilong Li University of California, Irvine, Changnam Hong University of California, Irvine, Alfred Chen University of California, Irvine, Joshua Garcia University of California, Irvine
DOI Pre-print
12:00
10m
Talk
PCLA: A Framework for Testing Autonomous Agents in the CARLA Simulator
Demonstrations
Masoud Jamshidiyan Tehrani Università della Svizzera italiana, Jinhan Kim Università della Svizzera italiana (USI), Paolo Tonella USI Lugano
12:10
20m
Talk
AutoTracer: A Low-Overhead Tracing Framework for Autonomous Driving System
Industry Papers
Bo Jiang Beihang University, Fancheng Shu SKLCCSE,Beihang University, Yuyang Cui SKLCCSE,Beihang University, Xiangjie Wang SKLCCSE,Beihang University, Peng Tang SKLCCSE,Beihang University, Lei Wang SKLCCSE,Beihang University, Weiping Zhang DiDi Global, Yong Wang Beihang University, Guobin Wu DiDi Global

Information for Participants
Mon 23 Jun 2025 10:30 - 12:30 at Cosmos 3A - Autonomous Driving Chair(s): Nassim Belmecheri
Info for room Cosmos 3A:

Cosmos 3A is the first room in the Cosmos 3 wing.

When facing the main Cosmos Hall, access to the Cosmos 3 wing is on the left, close to the stairs. The area is accessed through a large door with the number “3”, which will stay open during the event.