{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T16:31:43Z","timestamp":1784392303545,"version":"3.55.0"},"publisher-location":"New York, NY, USA","reference-count":55,"publisher":"ACM","license":[{"start":{"date-parts":[[2020,6,27]],"date-time":"2020-06-27T00:00:00Z","timestamp":1593216000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/100010663","name":"H2020 European Research Council","doi-asserted-by":"publisher","award":["787703"],"award-info":[{"award-number":["787703"]}],"id":[{"id":"10.13039\/100010663","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2020,6,27]]},"DOI":"10.1145\/3377811.3380353","type":"proceedings-article","created":{"date-parts":[[2020,10,1]],"date-time":"2020-10-01T18:25:38Z","timestamp":1601576738000},"page":"359-371","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":127,"title":["Misbehaviour prediction for autonomous driving systems"],"prefix":"10.1145","author":[{"given":"Andrea","family":"Stocco","sequence":"first","affiliation":[{"name":"Universit\u00e0 della Svizzera italiana, Lugano, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael","family":"Weiss","sequence":"additional","affiliation":[{"name":"Universit\u00e0 della Svizzera italiana, Lugano, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marco","family":"Calzana","sequence":"additional","affiliation":[{"name":"Universit\u00e0 della Svizzera italiana, Lugano, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Paolo","family":"Tonella","sequence":"additional","affiliation":[{"name":"Universit\u00e0 della Svizzera italiana, Lugano, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2020,10]]},"reference":[{"key":"e_1_3_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1145\/3238147.3238192"},{"key":"e_1_3_2_1_2_1","volume-title":"Towards Robust Interpretability with Self-Explaining Neural Networks. In Annual Conference on Neural Information Processing Systems (NeurIPS). 7786--7795","author":"Alvarez-Melis David","unstructured":"David Alvarez-Melis and Tommi S. Jaakkola. 2018. Towards Robust Interpretability with Self-Explaining Neural Networks. In Annual Conference on Neural Information Processing Systems (NeurIPS). 7786--7795."},{"key":"e_1_3_2_1_3_1","unstructured":"Jinwon An and Sungzoon Cho. 2015. Variational Autoencoder based Anomaly Detection using Reconstruction Probability."},{"key":"e_1_3_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/3194085.3194091"},{"key":"e_1_3_2_1_5_1","volume-title":"Robust Anomaly Detection in Images using Adversarial Autoencoders. CoRR abs\/1901.06355","author":"Beggel Laura","year":"2019","unstructured":"Laura Beggel, Michael Pfeiffer, and Bernd Bischl. 2019. Robust Anomaly Detection in Images using Adversarial Autoencoders. CoRR abs\/1901.06355 (2019). arXiv:1901.06355 http:\/\/arxiv.org\/abs\/1901.06355"},{"key":"e_1_3_2_1_6_1","volume-title":"2016 31st IEEE\/ACM International Conference on Automated Software Engineering (ASE). 63--74","author":"Abdessalem R. Ben","unstructured":"R. Ben Abdessalem, S. Nejati, L. C. Briand, and T. Stifter. 2016. Testing advanced driver assistance systems using multi-objective search and neural networks. In 2016 31st IEEE\/ACM International Conference on Automated Software Engineering (ASE). 63--74."},{"key":"e_1_3_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/3180155.3180160"},{"key":"e_1_3_2_1_8_1","volume-title":"Waymo's self-driving cars hit 10 million miles. https:\/\/techcrunch.com\/2018\/10\/10\/waymos-self-driving-cars-hit-10-million-miles. Online","author":"Media BGR","year":"2019","unstructured":"BGR Media, LLC. 2018. Waymo's self-driving cars hit 10 million miles. https:\/\/techcrunch.com\/2018\/10\/10\/waymos-self-driving-cars-hit-10-million-miles. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_9_1","volume-title":"Davide Del Testa","author":"Bojarski Mariusz","year":"2016","unstructured":"Mariusz Bojarski, Davide Del Testa, Daniel Dworakowski, Bernhard Firner, Beat Flepp, Prasoon Goyal, Lawrence D. Jackel, Mathew Monfort, Urs Muller, Jiakai Zhang, Xin Zhang, Jake Zhao, and Karol Zieba. 2016. End to End Learning for Self-Driving Cars. CoRR abs\/1604.07316 (2016). http:\/\/arxiv.org\/abs\/1604.07316"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8813817"},{"key":"e_1_3_2_1_11_1","volume-title":"Internationales Stuttgarter Symposium, Michael Bargende, Hans-Christian Reuss, and Jochen Wiedemann (Eds.). Springer Fachmedien Wiesbaden, Wiesbaden, 683--697","author":"Burkhard Georg","unstructured":"Georg Burkhard, S. Vos, N. Munzinger, E. Enders, and D. Schramm. 2018. Requirements on driving dynamics in autonomous driving with regard to motion and comfort. In 18. Internationales Stuttgarter Symposium, Michael Bargende, Hans-Christian Reuss, and Jochen Wiedemann (Eds.). Springer Fachmedien Wiesbaden, Wiesbaden, 683--697."},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10618-015-0444-8"},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3177753"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1080\/00401706.1969.10490731"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-59081-3_23"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1145\/1143844.1143874"},{"key":"e_1_3_2_1_17_1","volume-title":"Tesla Model S driver crashes into a van while on Autopilot. https:\/\/electrek.co\/2016\/05\/26\/tesla-model-s-crash-autopilot-video\/. Online","year":"2019","unstructured":"Electrek. 2016. Tesla Model S driver crashes into a van while on Autopilot. https:\/\/electrek.co\/2016\/05\/26\/tesla-model-s-crash-autopilot-video\/. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3293882.3330566"},{"key":"e_1_3_2_1_19_1","volume-title":"Automated Technology for Verification and Analysis, Shuvendu K","author":"Gopinath Divya","unstructured":"Divya Gopinath, Guy Katz, Corina S. P\u0103s\u0103reanu, and Clark Barrett. 2018. Deep-Safe: A Data-Driven Approach for Assessing Robustness of Neural Networks. In Automated Technology for Verification and Analysis, Shuvendu K. Lahiri and Chao Wang (Eds.). Springer International Publishing, Cham, 3--19."},{"key":"e_1_3_2_1_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICST46399.2020.00019"},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1109\/aitest.2019.00-12"},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1997.9.8.1735"},{"key":"e_1_3_2_1_23_1","volume-title":"Introduction to Mathematical Statistics","author":"Hoel Paul","unstructured":"Paul Hoel. 1984. Introduction to Mathematical Statistics. John Wiley."},{"key":"e_1_3_2_1_24_1","volume-title":"d.]. Building Autoencoders in Keras. https:\/\/blog.keras.io\/building-autoencoders-in-keras.html. Online","year":"2019","unstructured":"keras. [n. d.]. Building Autoencoders in Keras. https:\/\/blog.keras.io\/building-autoencoders-in-keras.html. Online; accessed 21 August 2019."},{"key":"e_1_3_2_1_25_1","volume-title":"d.]. VGG19. https:\/\/keras.io\/applications\/#vgg19\/. Online","year":"2019","unstructured":"Keras. [n. d.]. VGG19. https:\/\/keras.io\/applications\/#vgg19\/. Online; accessed 21 August 2019."},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE.2019.00108"},{"key":"e_1_3_2_1_27_1","volume-title":"LSTM-based Encoder-Decoder for Multi-sensor Anomaly Detection. CoRR abs\/1607.00148","author":"Malhotra Pankaj","year":"2016","unstructured":"Pankaj Malhotra, Anusha Ramakrishnan, Gaurangi Anand, Lovekesh Vig, Puneet Agarwal, and Gautam Shroff. 2016. LSTM-based Encoder-Decoder for Multi-sensor Anomaly Detection. CoRR abs\/1607.00148 (2016). arXiv:1607.00148 http:\/\/arxiv.org\/abs\/1607.00148"},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-21735-7_7"},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jss.2017.10.031"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2015.427"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2801475"},{"key":"e_1_3_2_1_32_1","unstructured":"particle-system 2019. Unity3d Particle System. https:\/\/docs.unity3d.com\/ScriptReference\/ParticleSystem.html."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593375"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1145\/3132747.3132785"},{"key":"e_1_3_2_1_35_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0118432"},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1145\/2689746.2689747"},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1002\/j.1538-7305.1948.tb01338.x"},{"key":"e_1_3_2_1_38_1","unstructured":"Karen Simonyan and Andrew Zisserman. [n. d.]. Very Deep Convolutional Networks for Large-Scale Image Recognition. ([n. d.]). arXiv:cs.CV\/1409.1556v6 VGGNet https:\/\/gist.github.com\/baraldilorenzo\/07d7802847aaad0a35d3."},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461160"},{"key":"e_1_3_2_1_40_1","volume-title":"Steering angle model: Chauffeur. https:\/\/github.com\/udacity\/self-driving-car\/tree\/master\/steering-models\/community-models\/chauffeur. Online","author":"Chauffeur Team","year":"2019","unstructured":"Team Chauffeur. 2016. Steering angle model: Chauffeur. https:\/\/github.com\/udacity\/self-driving-car\/tree\/master\/steering-models\/community-models\/chauffeur. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_41_1","volume-title":"Steering angle model: Epoch. https:\/\/github.com\/udacity\/self-driving-car\/tree\/master\/steering-models\/community-models\/cg23. Online","author":"Epoch Team","year":"2019","unstructured":"Team Epoch. 2016. Steering angle model: Epoch. https:\/\/github.com\/udacity\/self-driving-car\/tree\/master\/steering-models\/community-models\/cg23. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_42_1","volume-title":"A Google self-driving car caused a crash for the first time. https:\/\/www.theverge.com\/2016\/2\/29\/11134344\/google-self-driving-car-crash-report. Online","author":"Verge The","year":"2019","unstructured":"The Verge. 2016. A Google self-driving car caused a crash for the first time. https:\/\/www.theverge.com\/2016\/2\/29\/11134344\/google-self-driving-car-crash-report. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_43_1","volume-title":"Tesla hit with another lawsuit over a fatal Autopilot crash. https:\/\/www.theverge.com\/2019\/8\/1\/20750715\/tesla-autopilot-crash-lawsuit-wrongful-death. Online","author":"Verge The","year":"2019","unstructured":"The Verge. 2019. Tesla hit with another lawsuit over a fatal Autopilot crash. https:\/\/www.theverge.com\/2019\/8\/1\/20750715\/tesla-autopilot-crash-lawsuit-wrongful-death. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1145\/3180155.3180220"},{"key":"e_1_3_2_1_45_1","unstructured":"SelfOracle 2020. Misbehaviour Prediction for Autonomous Driving Systems. https:\/\/github.com\/testingautomated-usi\/selforacle\/."},{"key":"e_1_3_2_1_46_1","unstructured":"track3 2019. Unity3D Snow Mountain Track. https:\/\/assetstore.unity.com\/packages\/3d\/environments\/roadways\/mountain-race-track-53775."},{"key":"e_1_3_2_1_47_1","volume-title":"A self-driving car simulator built with Unity. https:\/\/github.com\/udacity\/self-driving-car-sim. Online","year":"2019","unstructured":"Udacity. 2017. A self-driving car simulator built with Unity. https:\/\/github.com\/udacity\/self-driving-car-sim. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_48_1","volume-title":"Udacity self-driving car's challenge. https:\/\/github.com\/udacity\/self-driving-car\/. Online","year":"2019","unstructured":"Udacity. 2017. Udacity self-driving car's challenge. https:\/\/github.com\/udacity\/self-driving-car\/. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_49_1","volume-title":"Udacity self-driving car's datasets. https:\/\/github.com\/udacity\/self-driving-car\/tree\/master\/datasets. Online","year":"2019","unstructured":"Udacity. 2017. Udacity self-driving car's datasets. https:\/\/github.com\/udacity\/self-driving-car\/tree\/master\/datasets. Online; accessed 18 August 2019."},{"key":"e_1_3_2_1_50_1","volume-title":"7th International Conference on Learning Representations, ICLR 2019","author":"Uesato Jonathan","year":"2019","unstructured":"Jonathan Uesato, Ananya Kumar, Csaba Szepesv\u00e1ri, Tom Erez, Avraham Ruderman, Keith Anderson, Krishnamurthy (Dj) Dvijotham, Nicolas Heess, and Pushmeet Kohli. 2019. Rigorous Agent Evaluation: An Adversarial Approach to Uncover Catastrophic Failures. In 7th International Conference on Learning Representations, ICLR 2019, New Orleans, LA, USA, May 6--9, 2019."},{"key":"e_1_3_2_1_51_1","unstructured":"unity 2019. Unity3D. https:\/\/unity.com."},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICASSP.2019.8683359"},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE.2019.00126"},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1145\/3178876.3185996"},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1145\/3238147.3238187"}],"event":{"name":"ICSE '20: 42nd International Conference on Software Engineering","location":"Seoul South Korea","acronym":"ICSE '20","sponsor":["SIGSOFT ACM Special Interest Group on Software Engineering","KIISE Korean Institute of Information Scientists and Engineers","IEEE CS"]},"container-title":["Proceedings of the ACM\/IEEE 42nd International Conference on Software Engineering"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3377811.3380353","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3377811.3380353","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T23:23:57Z","timestamp":1750202637000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3377811.3380353"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,6,27]]},"references-count":55,"alternative-id":["10.1145\/3377811.3380353","10.1145\/3377811"],"URL":"https:\/\/doi.org\/10.1145\/3377811.3380353","relation":{},"subject":[],"published":{"date-parts":[[2020,6,27]]},"assertion":[{"value":"2020-10-01","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}