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ICSE 2020
Wed 24 June - Thu 16 July 2020
Tue 7 Jul 2020 15:24 - 15:36 at Baekje - A1-Autonomous Driving Systems Chair(s): Donghwan Shin

Deep Neural Networks (DNNs) are the core component of modern autonomous driving systems. To date, it is still unrealistic that a DNN will generalize correctly to all driving conditions. Current testing techniques consist of offline solutions that identify adversarial or corner cases for improving the training phase. In this paper, we address the problem of estimating the confidence of DNNs in response to unexpected execution contexts with the purpose of predicting potential safety-critical misbehaviours and enabling online healing of DNN-based vehicles. Our approach SelfOracle is based on a novel concept of self-assessment oracle, which monitors the DNN confidence at runtime, to predict unsupported driving scenarios in advance. SelfOracle uses autoencoder- and time series-based anomaly detection to reconstruct the driving scenarios seen by the car, and to determine the confidence boundary between normal and unsupported conditions. In our empirical assessment, we evaluated the effectiveness of different variants of SelfOracle at predicting injected anomalous driving contexts, using DNN models and simulation environment from Udacity. Results show that, overall, SelfOracle can predict 77% misbehaviours, up to six seconds in advance, outperforming the online input validation approach of DeepRoad.

Tue 7 Jul
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15:00 - 16:00: Paper Presentations - A1-Autonomous Driving Systems at Baekje
Chair(s): Donghwan ShinUniversity of Luxembourg (SnT)
icse-2020-papers15:00 - 15:12
Shafiul Azam ChowdhuryUniversity of Texas at Arlington, Sohil Lal ShresthaThe University of Texas at Arlington, Taylor T JohnsonVanderbilt University, Christoph CsallnerUniversity of Texas at Arlington
Link to publication DOI Media Attached
icse-2020-papers15:12 - 15:24
Husheng ZhouThe University of Texas at Dallas, Wei LiSouthern University of Science and Technology, Zelun KongThe University of Texas at Dallas, Junfeng GuoThe University of Texas at Dallas, Yuqun ZhangSouthern University of Science and Technology, Lingming ZhangThe University of Texas at Dallas, Bei YuThe Chinese University of Hong Kong, Cong LiuUT Dallas
icse-2020-papers15:24 - 15:36
Andrea StoccoUniversità della Svizzera italiana, Michael WeissUniversità della Svizzera Italiana (USI), Marco CalzanaUniversità della Svizzera Italiana (USI), Paolo TonellaUniversità della Svizzera italiana
icse-2020-papers15:36 - 15:48
Claudio MenghiUniversity of Luxembourg, Shiva NejatiUniversity of Ottawa, Lionel BriandSnT Centre/University of Luxembourg, Yago Isasi ParacheLuxSpace
icse-2020-papers15:48 - 16:00
Joshua GarciaUniversity of California, Irvine, Yang FengNanjing University, Junjie ShenUniversity of California, Irvine, Sumaya AlmaneeUniversity of California, Irvine, Yuan XiaUniversity of California, Irvine, Qi Alfred ChenUniversity of California, Irvine