This project is the official implementation of paper:

BehAVExplor: Behavior Diversity Guided Testing for Autonomous Driving Systems
Authors: Mingfei Cheng, Yuan Zhou and Xiaofei Xie
Accepted to ISSTA 2023

Step 1: Config Baidu Apollo (no less than 6.0 version) according to Apollo

Step 2: Clone BehAVExplor Project (BehAVExplor.zip) and unzip it under /apollo in the apollo container

• Project Structure

  /apollo
  ├── BehAVExplor
  └── other apollo folders
  

Step 3: Compile required files in the apollo container (current path is /apollo)

sh BehAVExplor/prepare.sh
bazel build //BehAVExplor:main

Step 4: Config our custom LGSVL 2021.3 (Download from link)

• Put simulator.zip at ~/lgsvl outside the apollo container
• Double click ~/lgsvl/simulator/simulator/simulator to open LGSVL Simulator
• NOTE: LGSVL was closed, therefore, we will plan to extend this project to CARLA.

Step 5: Start Apollo & LGSVL. Run in another terminal (current path is /apollo in apollo container)

./bazel-bin/BehAVExplor/main --config=/apollo/BehAVExplor/configs/[scenario config yaml file]

If you use this code and our results for your research, please cite our paper.

@inproceedings{BehAVExplor_ISSTA_2023,
  title={BehAVExplor: Behavior Diversity Guided Testing for Autonomous Driving Systems},
  author={Cheng, Mingfei and Zhou, Yuan and Xie, Xiaofei},
  booktitle={Proceedings of the 32nd ACM SIGSOFT International Symposium on Software Testing and Analysis (ISSTA)},
  year={2023}
}