A Comprehensive Study of Bug-Fix Patterns in Autonomous Driving Systems
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 JunDisplayed time zone: Amsterdam, Berlin, Bern, Rome, Stockholm, Vienna change
10:30 - 12:30 | Autonomous DrivingDemonstrations / Research Papers / Industry Papers at Cosmos 3A Chair(s): Nassim Belmecheri | ||
10:30 20mTalk | 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 20mTalk | 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 10mTalk | 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 10mTalk | 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 20mTalk | 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 10mTalk | 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 20mTalk | 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 | ||
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.