FSE 2025
Mon 23 - Fri 27 June 2025 Trondheim, Norway
co-located with ISSTA 2025
Mon 23 Jun 2025 11:40 - 12:00 at Cosmos 3A - Autonomous Driving Chair(s): Nassim Belmecheri

As autonomous driving systems (ADSes) become increasingly complex and integral to daily life, the importance of understanding the nature and mitigation of software bugs in these systems has grown correspondingly. Addressing the intricacies of software maintenance in autonomous driving systems is an evident requirement. The potential of automated tools in this domain is promising, yet there remains a gap in our comprehension of the challenges faced and the strategies employed during manual debugging and repair of such systems. In this paper, we present an empirical study that investigates bug-fix patterns in ADSes, with the aim of improving reliability and safety. We have analyzed the commit histories and bug reports of two major autonomous driving projects, Apollo and Autoware, from 1,331 bug fixes with the study of bug symptoms, root causes, and bug-fix patterns. Our study reveals several dominant bug-fix patterns, including those related to path planning, data flow, and configuration management. Additionally, we find that the frequency distribution of bug-fix patterns varies significantly depending on their nature and types and that certain categories of bugs are recurrent and more challenging to exterminate. Based on our findings, we propose a hierarchy of ADS bugs and two taxonomies of 15 syntactic bug-fix patterns and 27 semantic bug-fix patterns that offer guidance for bug identification and resolution. We also contribute a benchmark of 1,331 ADS bug-fix instances.

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.

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