Gotten for Autonomous Vehicles

Gotten, Generic MDE framework fOr meTamorphic TEstiNg, for Autonomous Vehicles.

Gotten for autonomous vehicles running example

The goal here is to test autonomous vehicle controllers that govern the behaviour of such vehicles while following a route under varying environmental conditions. To this end, the inputs to these systems are test-case models that describe elements such as the target nominal speed, the number of obstacles, and the sequence of reference waypoints.

The mrDSL program for autonomous vehicles

Since it is difficult to establish an oracle to determine whether an autonomous vehicle controller S behaves as expected while navigating routes with different speeds, obstacles, and waypoints, we use MT. The following listing shows the mrDSL program created with the Gotten framework to apply MT to the autonomous vehicles domain.

avehicles input Features {
  nominalSpeed: Int	// Target nominal speed, at which the controller attempts to maintain the ego-vehicle whilst following the route.
  context TestCase_Input def: obstacleCount: Int = obstacles->size()
  context TestCase_Input def: waypointsCount: Int = refPoses->size()
}

avehicles output Features {
  timeToDestination: Int
  distance: Int
  balancing: Int
}

MetamorphicRelations {
  // Slower vehicles implies higher time to destination
  MR1  = [ (nominalSpeed(m1) > nominalSpeed(m2)) implies ((timeToDestination(m2) >= timeToDestination(m1)) and (distance(m2) <= distance(m1)))]
  // Less obstacles implies lower time to destination, Distance≈ (±15%)
  MR2  = [ (obstacleCount(m1) < obstacleCount(m2) ) implies ((timeToDestination(m1) <= timeToDestination(m2) ) and (distance(m2) - distance(m1) <= 0.15 * distance(m2) ))]
  // Less waypoints implies TTD≈, Distance≈ (±15%) 
  MR3  = [ (waypointsCount(m1) < waypointsCount(m2)) implies (timeToDestination(m2) - timeToDestination(m1) <= 0.15 * timeToDestination(m1) )]
}

MRs for autonomous vehicles brief description

Below we provide a brief description of these 3 MRs for autonomous vehicles:

Gotten for autonomous vehicles projects download links

Acknowledgements

This work has been funded by the Spanish Ministry of Science (RTI2018-095255-B-I00, project “MASSIVE”) and the R&D programme of Madrid (P2018/TCS-4314, project “FORTE”).