mlsanityData to 7 Oct 2026

Formal Scenario-Based Testing of Autonomous Vehicles: From Simulation to the Real World

arXiv 2003.07739 ↗First posted 17 Mar 2020eess.SY cs.LG cs.LOcited by 38

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Abstract (arXiv)

We present a new approach to automated scenario-based testing of the safety of autonomous vehicles, especially those using advanced artificial intelligence-based components, spanning both simulation-based evaluation as well as testing in the real world. Our approach is based on formal methods, combining formal specification of scenarios and safety properties, algorithmic test case generation using formal simulation, test case selection for track testing, executing test cases on the track, and analyzing the resulting data. Experiments with a real autonomous vehicle at an industrial testing facility support our hypotheses that (i) formal simulation can be effective at identifying test cases to run on the track, and (ii) the gap between simulated and real worlds can be systematically evaluated and bridged.

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). First posted on arXiv 17 Mar 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 8; 2022: 3; 2023: 7; 2024: 5; 2025: 6; 2026: 9.

38 papers.

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  1. 2024Towards Guaranteed Safe AI: A Framework for Ensuring Robust and Reliable AI Systemscited by 94
  2. 2021Software Engineering for AI-Based Systems: A Surveycited by 68
  3. 2023How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligencecited by 55
  4. 2023Testing Language Model Agents Safely in the Wildcited by 45
  5. 2022RaLiBEV: Radar and LiDAR BEV Fusion Learning for Anchor Box Free Object Detection Systemscited by 23
  6. 2021Taxonomy of Machine Learning Safety: A Survey and Primercited by 22
  7. 2021Statistical Perspectives on Reliability of Artificial Intelligence Systemscited by 10
  8. 2023Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic Simulationcited by 10
  9. 2024LLM4AD: Large Language Models for Autonomous Driving -- Concept, Review, Benchmark, Experiments, and Future Trendscited by 10
  10. 2021Parallel and Multi-Objective Falsification with Scenic and VerifAIcited by 8
  11. 2021A Scenario-Based Platform for Testing Autonomous Vehicle Behavior Prediction Models in Simulationcited by 6
  12. 2022Formalizing and Evaluating Requirements of Perception Systems for Automated Vehicles using Spatio-Temporal Perception Logiccited by 5
26 more
  1. 2022Discovering Closed-Loop Failures of Vision-Based Controllers via Reachability Analysiscited by 5
  2. 2021Coverage-based Scene Fuzzing for Virtual Autonomous Driving Testingcited by 4
  3. 2023Continual Driving Policy Optimization with Closed-Loop Individualized Curriculacited by 4
  4. 2021Querying Labelled Data with Scenario Programs for Sim-to-Real Validationcited by 3
  5. 2023SAFR-AV: Safety Analysis of Autonomous Vehicles using Real World Data -- An end-to-end solution for real world data driven scenario-based testing for pre-certification of AV stackscited by 3
  6. 2023Pedestrian and Passenger Interaction with Autonomous Vehicles: Field Study in a Crosswalk Scenariocited by 2
  7. 2025Scenario-based Compositional Verification of Autonomous Systems with Neural Perceptioncited by 2
  8. 2021SilGAN: Generating driving maneuvers for scenario-based software-in-the-loop testingcited by 1
  9. 2024A Training Rate and Survival Heuristic for Inference and Robustness Evaluation (TRASHFIRE)cited by 1
  10. 2024Representation Alignment Contrastive Regularization for Multi-Object Trackingcited by 1
  11. 2024Flow to Rare Events: An Application of Normalizing Flow in Temporal Importance Sampling for Automated Vehicle Validationcited by 1
  12. 2025AuthSim: Towards Authentic and Effective Safety-critical Scenario Generation for Autonomous Driving Testscited by 1
  13. 2025Navigating the Edge with the State-of-the-Art Insights into Corner Case Identification and Generation for Enhanced Autonomous Vehicle Safetycited by 1
  14. 2025From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Drivingcited by 1
  15. 2025A Hierarchical Test Platform for Vision Language Model (VLM)-Integrated Real-World Autonomous Drivingcited by 1
  16. 2026Warm Starting State-Space Models with Automata Learningcited by 1
  17. 2026Resolving space-sharing conflicts in road user interactions through uncertainty reduction: An active inference-based computational modelcited by 1
  18. 2026Benchmarking the Robustness of Autonomous Driving to Environmental Illusions: A Lane Perception Perspectivecited by 1
  19. 2023Finding Needles in Haystack: Formal Generative Models for Efficient Massive Parallel Simulationscited by 0
  20. 2025Path Diffuser: Diffusion Model for Data-Driven Traffic Simulatorcited by 0
  21. 2026Emergency Lane-Change Simulation: A Behavioral Guidance Approach for Risky Scenario Generationcited by 0
  22. 2026SPHINX: First Explain, Then Explorecited by 0
  23. 2026Towards Trustworthy Embodied Intelligence: A Systems Framework and Graded Trustworthiness Levelscited by 0
  24. 2026Emotion in an active inference model of human drivingcited by 0
  25. 2026SeFaR: Semantic Feature-aware Robustness Testing of Deep Neural Networkscited by 0
  26. 2026SimVerity: When Does Simulated Agent Success Survive Physical Deployment?cited by 0