摘要:随着人工智能技术的深入发展，自动驾驶已成为人工智能技术的典型应用，近十年来得到了长足的发展，作为一类非确定性系统，自动驾驶车辆的质量和安全性得到越来越多的关注.对自动驾驶系统，特别是自动驾驶智能系统（如感知模块、决策模块、综合功能及整车）的测试技术得到了业界和学界的深入研究.调研了56篇相关领域的学术论文，分别就感知模块、决策模块、综合功能模块及整车系统的测试技术、用例生成方法和测试覆盖度量等维度对目前已有的研究成果进行了梳理，并描述了自动驾驶智能系统测试中的数据集及工具集.最后，对自动驾驶智能系统测试的未来工作进行了展望，从而为该领域的研究人员提供参考.



Abstract:With the development of artificial intelligence, autonomous vehicles have become a typical application in the field of artificial intelligence. In recent 10 years, autonomous vehicles have already made considerable processes. As an uncertain system, their quality and safety have attracted much attention. Autonomous vehicletesting, especially testing the intellectual systems in autonomous vehicles (such as perception module, decision module, synthetical functional module, and the whole vehicle) gain extensive attention from both industry and academia. This survey offers a systematical review on 56 papers related to autonomous vehicle testing. Besides, this survey analyzes the testing techniques with respect to perception model, decision model, synthetical functional module, and the whole vehicle, including test case generation approaches, testing coverage metrics, as well as datasets and tools widely used in autonomous vehicle testing. Finally, this survey highlights future perspectiveson autonomous vehicle testing and provides reference for researchers in this field.



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