{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,12]],"date-time":"2026-10-12T00:28:14Z","timestamp":1791764894399,"version":"4.3.4"},"publisher-location":"New York, NY, USA","reference-count":95,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,2,6]],"date-time":"2024-02-06T00:00:00Z","timestamp":1707177600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key Research and Development Program of China","doi-asserted-by":"publisher","award":["2021YFB3101200"],"award-info":[{"award-number":["2021YFB3101200"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62172104"],"award-info":[{"award-number":["62172104"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62172105"],"award-info":[{"award-number":["62172105"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62102091"],"award-info":[{"award-number":["62102091"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62102093"],"award-info":[{"award-number":["62102093"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013105","name":"Shanghai Rising-Star Program","doi-asserted-by":"publisher","award":["21QA1400700"],"award-info":[{"award-number":["21QA1400700"]}],"id":[{"id":"10.13039\/501100013105","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Shanghai Pilot Program for Basic Research","award":["21TQ1400100 (21TQ012)"],"award-info":[{"award-number":["21TQ1400100 (21TQ012)"]}]},{"name":"Ministry of Industry and Information Technology of the People's Republic of China","award":["TC220H079"],"award-info":[{"award-number":["TC220H079"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,2,6]]},"DOI":"10.1145\/3597503.3623350","type":"proceedings-article","created":{"date-parts":[[2024,2,6]],"date-time":"2024-02-06T20:53:16Z","timestamp":1707252796000},"page":"1-13","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":17,"title":["SCTrans: Constructing a Large Public Scenario Dataset for Simulation Testing of Autonomous Driving Systems"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0009-0002-5636-7808","authenticated-orcid":false,"given":"Jiarun","family":"Dai","sequence":"first","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-9115-1460","authenticated-orcid":false,"given":"Bufan","family":"Gao","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-8101-2151","authenticated-orcid":false,"given":"Mingyuan","family":"Luo","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-3443-6418","authenticated-orcid":false,"given":"Zongan","family":"Huang","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-1985-4694","authenticated-orcid":false,"given":"Zhongrui","family":"Li","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0726-9996","authenticated-orcid":false,"given":"Yuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9714-5545","authenticated-orcid":false,"given":"Min","family":"Yang","sequence":"additional","affiliation":[{"name":"Fudan University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2024,2,6]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"https:\/\/www.asam.net\/standards\/detail\/opendrive","author":"ASAM","year":"2023","unstructured":"ASAM OpenDRIVE. https:\/\/www.asam.net\/standards\/detail\/opendrive, 2023."},{"key":"e_1_3_2_1_2_1","volume-title":"https:\/\/www.asam.net\/standards\/detail\/openscenario","author":"ASAM","year":"2023","unstructured":"ASAM OpenSCENARIO. https:\/\/www.asam.net\/standards\/detail\/openscenario, 2023."},{"key":"e_1_3_2_1_3_1","volume-title":"https:\/\/www.dmv.ca.gov\/portal\/vehicle-industry-services\/autonomous-vehicles\/autonomous-vehicle-collision-reports\/","author":"Collision Reports Autonomous Vehicle","year":"2023","unstructured":"Autonomous Vehicle Collision Reports. https:\/\/www.dmv.ca.gov\/portal\/vehicle-industry-services\/autonomous-vehicles\/autonomous-vehicle-collision-reports\/, 2023."},{"key":"e_1_3_2_1_4_1","volume-title":"https:\/\/github.com\/autowarefoundation\/autoware","author":"AI.","year":"2023","unstructured":"Autoware-AI. https:\/\/github.com\/autowarefoundation\/autoware, 2023."},{"key":"e_1_3_2_1_5_1","volume-title":"https:\/\/github.com\/autowarefoundation\/autoware_common\/blob\/main\/tmp\/lanelet2_extension\/docs\/lanelet2_format_extension.md","author":"Map Autoware Vector","year":"2023","unstructured":"Autoware Vector Map. https:\/\/github.com\/autowarefoundation\/autoware_common\/blob\/main\/tmp\/lanelet2_extension\/docs\/lanelet2_format_extension.md, 2023."},{"key":"e_1_3_2_1_6_1","volume-title":"https:\/\/gitlab.com\/autowarefoundation\/autoware.ai\/utilities\/-\/tree\/master\/lanelet_aisan_converter","author":"Converter Carla Map","year":"2023","unstructured":"Carla Map Converter. https:\/\/gitlab.com\/autowarefoundation\/autoware.ai\/utilities\/-\/tree\/master\/lanelet_aisan_converter, 2023."},{"key":"e_1_3_2_1_7_1","volume-title":"https:\/\/carla.readthedocs.io\/en\/0.9.7\/how_to_make_a_new_map\/","author":"Meshes Carla Map","year":"2023","unstructured":"Carla Map Meshes. https:\/\/carla.readthedocs.io\/en\/0.9.7\/how_to_make_a_new_map\/, 2023."},{"key":"e_1_3_2_1_8_1","volume-title":"https:\/\/github.com\/carla-simulator\/scenario_runner","author":"Runner Carla Scenario","year":"2023","unstructured":"Carla Scenario Runner. https:\/\/github.com\/carla-simulator\/scenario_runner, 2023."},{"key":"e_1_3_2_1_9_1","volume-title":"https:\/\/ipg-automotive.com\/en\/products-solutions\/software\/carmaker\/","year":"2023","unstructured":"CarMaker. https:\/\/ipg-automotive.com\/en\/products-solutions\/software\/carmaker\/, 2023."},{"key":"e_1_3_2_1_10_1","volume-title":"https:\/\/gitlab.lrz.de\/tum-cps\/commonroad-scenarios\/-\/blob\/master\/documentation\/XML_commonRoad_2020a.pdf","author":"Commonroad","year":"2023","unstructured":"Commonroad XML. https:\/\/gitlab.lrz.de\/tum-cps\/commonroad-scenarios\/-\/blob\/master\/documentation\/XML_commonRoad_2020a.pdf, 2023."},{"key":"e_1_3_2_1_11_1","volume-title":"https:\/\/aimagazine.com\/technology\/top-10-companies-developing-autonomous-vehicle-technology","author":"Develop Autonomous Driving Companies","year":"2023","unstructured":"Companies that Develop Autonomous Driving. https:\/\/aimagazine.com\/technology\/top-10-companies-developing-autonomous-vehicle-technology, 2023."},{"key":"e_1_3_2_1_12_1","volume-title":"https:\/\/www.eclipse.org\/modeling\/emf\/docs\/1.x\/tutorials\/xlibmod\/xlibmod_emf1.1.html","author":"Ecore Meta-Model Convert XML","year":"2023","unstructured":"Convert XML Schema into Ecore Meta-Model. https:\/\/www.eclipse.org\/modeling\/emf\/docs\/1.x\/tutorials\/xlibmod\/xlibmod_emf1.1.html, 2023."},{"key":"e_1_3_2_1_13_1","volume-title":"https:\/\/cyber-rt.readthedocs.io\/en\/latest\/","author":"RT.","year":"2023","unstructured":"Cyber-RT. https:\/\/cyber-rt.readthedocs.io\/en\/latest\/, 2023."},{"key":"e_1_3_2_1_14_1","volume-title":"https:\/\/commonroad.in.tum.de\/tools\/dataset-converters","author":"Converter Dataset","year":"2023","unstructured":"Dataset Converter. https:\/\/commonroad.in.tum.de\/tools\/dataset-converters, 2023."},{"key":"e_1_3_2_1_15_1","volume-title":"https:\/\/www.eclipse.org\/emf-validation","author":"Validation EMF","year":"2023","unstructured":"EMF Validation. https:\/\/www.eclipse.org\/emf-validation, 2023."},{"key":"e_1_3_2_1_16_1","volume-title":"https:\/\/github.com\/esmini\/esmini","year":"2023","unstructured":"Esmini. https:\/\/github.com\/esmini\/esmini, 2023."},{"key":"e_1_3_2_1_17_1","volume-title":"https:\/\/www.highd-dataset.com\/format","author":"D","year":"2023","unstructured":"HighD CSV. https:\/\/www.highd-dataset.com\/format, 2023."},{"key":"e_1_3_2_1_18_1","volume-title":"https:\/\/gitlab.lrz.de\/tum-cps\/dataset-converters\/-\/blob\/master\/src\/highD\/map_utils.py","author":"Map D","year":"2023","unstructured":"HighD Map. https:\/\/gitlab.lrz.de\/tum-cps\/dataset-converters\/-\/blob\/master\/src\/highD\/map_utils.py, 2023."},{"key":"e_1_3_2_1_19_1","volume-title":"https:\/\/www.ind-dataset.com\/format","author":"D","year":"2023","unstructured":"InD CSV. https:\/\/www.ind-dataset.com\/format, 2023."},{"key":"e_1_3_2_1_20_1","volume-title":"https:\/\/www.iso.org\/standard\/77490.html","author":"ISO","year":"2023","unstructured":"ISO 21448. https:\/\/www.iso.org\/standard\/77490.html, 2023."},{"key":"e_1_3_2_1_21_1","volume-title":"https:\/\/levelxdata.com\/","year":"2023","unstructured":"Levelxdata. https:\/\/levelxdata.com\/, 2023."},{"key":"e_1_3_2_1_22_1","volume-title":"https:\/\/www.svlsimulator.com\/docs\/user-interface\/web\/library\/#maps","author":"Map AssetBundle LGSVL","year":"2023","unstructured":"LGSVL Map AssetBundle. https:\/\/www.svlsimulator.com\/docs\/user-interface\/web\/library\/#maps, 2023."},{"key":"e_1_3_2_1_23_1","volume-title":"https:\/\/www.svlsimulator.com\/docs\/visual-scenario-editor","author":"Scenario LGSVL VSE","year":"2023","unstructured":"LGSVL VSE Scenario. https:\/\/www.svlsimulator.com\/docs\/visual-scenario-editor\/vse-inspector\/, 2023."},{"key":"e_1_3_2_1_24_1","volume-title":"https:\/\/www.svlsimulator.com\/docs\/archive\/2020.06\/unity-help\/","author":"Generation Tool Map Asset","year":"2023","unstructured":"Map Asset Generation Tool. https:\/\/www.svlsimulator.com\/docs\/archive\/2020.06\/unity-help\/, 2023."},{"key":"e_1_3_2_1_25_1","volume-title":"https:\/\/github.com\/ApolloAuto\/apollo","author":"Baidu Apollo Version","year":"2023","unstructured":"Open-sourced Version of Baidu Apollo. https:\/\/github.com\/ApolloAuto\/apollo, 2023."},{"key":"e_1_3_2_1_26_1","volume-title":"https:\/\/comma.ai\/openpilot\/","year":"2023","unstructured":"OpenPilot. https:\/\/comma.ai\/openpilot\/, 2023."},{"key":"e_1_3_2_1_27_1","volume-title":"https:\/\/github.com\/asam-oss\/OSC-ALKS-scenarios","author":"ASKS.","year":"2023","unstructured":"OSC-ASKS. https:\/\/github.com\/asam-oss\/OSC-ALKS-scenarios, 2023."},{"key":"e_1_3_2_1_28_1","unstructured":"OSM. :https:\/\/www.openstreetmap.org 2023."},{"key":"e_1_3_2_1_29_1","volume-title":"https:\/\/m.tass.plm.automation.siemens.com\/cn\/prescan-2","year":"2023","unstructured":"PreScan. https:\/\/m.tass.plm.automation.siemens.com\/cn\/prescan-2, 2023."},{"key":"e_1_3_2_1_30_1","volume-title":"https:\/\/www.ros.org\/","author":"ROS.","year":"2023","unstructured":"ROS. https:\/\/www.ros.org\/, 2023."},{"key":"e_1_3_2_1_31_1","volume-title":"https:\/\/www.safetypool.ai\/","author":"Pool Safety","year":"2023","unstructured":"Safety Pool. https:\/\/www.safetypool.ai\/, 2023."},{"key":"e_1_3_2_1_32_1","volume-title":"https:\/\/www.uber.com\/","year":"2023","unstructured":"Uber. https:\/\/www.uber.com\/, 2023."},{"key":"e_1_3_2_1_33_1","volume-title":"https:\/\/unity.com\/","author":"Engine Unity","year":"2023","unstructured":"Unity Engine. https:\/\/unity.com\/, 2023."},{"key":"e_1_3_2_1_34_1","volume-title":"https:\/\/www.unrealengine.com\/","author":"Engine Unreal","year":"2023","unstructured":"Unreal Engine. https:\/\/www.unrealengine.com\/, 2023."},{"key":"e_1_3_2_1_35_1","volume-title":"https:\/\/waymo.com\/","year":"2023","unstructured":"Waymo. https:\/\/waymo.com\/, 2023."},{"key":"e_1_3_2_1_36_1","volume-title":"https:\/\/github.com\/jordansissel\/xdotool","year":"2023","unstructured":"XdoTool. https:\/\/github.com\/jordansissel\/xdotool, 2023."},{"key":"e_1_3_2_1_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995802"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/SOLI.2018.8476801"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/2799250.2799288"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2014.6856487"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/IV47402.2020.9304839"},{"key":"e_1_3_2_1_42_1","author":"Brostow G. J.","year":"2009","unstructured":"G. J. Brostow, J. Fauqueur, and R. Cipolla. Semantic Object Classes in Video: A High-definition Ground Truth Database. Pattern Recognition Letters, 2009.","journal-title":"Pattern Recognition Letters"},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01164"},{"key":"e_1_3_2_1_44_1","doi-asserted-by":"publisher","DOI":"10.1109\/SP40001.2021.00076"},{"key":"e_1_3_2_1_45_1","volume-title":"Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition(CVPR)","author":"Chang M.-F.","year":"2019","unstructured":"M.-F. Chang, J. Lambert, P. Sangkloy, J. Singh, S. Bak, A. Hartnett, D. Wang, P. Carr, S. Lucey, D. Ramanan, et al. Argoverse: 3d Tracking And Forecasting with Rich Maps. In Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition(CVPR), 2019."},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/DSA56465.2022.00093"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.350"},{"key":"e_1_3_2_1_48_1","volume-title":"Towards An Ontology for Scenario Definition for The Assessment of Automated Vehicles: An Object-Oriented Framework","author":"Gelder E. De","year":"2022","unstructured":"E. De Gelder, J.-P. Paardekooper, A. K. Saberi, H. Elrofai, O. O. den Camp, S. Kraines, J. Ploeg, and B. De Schutter. Towards An Ontology for Scenario Definition for The Assessment of Automated Vehicles: An Object-Oriented Framework. IEEE Transactions on Intelligent Vehicles, 2022."},{"key":"e_1_3_2_1_49_1","volume-title":"CARLA: An Open Urban Driving Simulator. In Conference on Robot Learning","author":"Dosovitskiy A.","year":"2017","unstructured":"A. Dosovitskiy, G. Ros, F. Codevilla, A. Lopez, and V. Koltun. CARLA: An Open Urban Driving Simulator. In Conference on Robot Learning, 2017."},{"key":"e_1_3_2_1_50_1","volume-title":"The Vendi Score: A Diversity Evaluation Metric for Machine Learning. arXiv preprint arXiv:2210.02410","author":"Friedman D.","year":"2022","unstructured":"D. Friedman and A. B. Dieng. The Vendi Score: A Diversity Evaluation Metric for Machine Learning. arXiv preprint arXiv:2210.02410, 2022."},{"key":"e_1_3_2_1_52_1","doi-asserted-by":"publisher","DOI":"10.1145\/3387940.3392252"},{"key":"e_1_3_2_1_53_1","volume-title":"Coverage-based Scene Fuzzing for Virtual Autonomous Driving Testing. arXiv preprint arXiv:2106.00873","author":"Hu Z.","year":"2021","unstructured":"Z. Hu, S. Guo, Z. Zhong, and K. Li. Coverage-based Scene Fuzzing for Virtual Autonomous Driving Testing. arXiv preprint arXiv:2106.00873, 2021."},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00141"},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE-Companion.2019.00031"},{"key":"e_1_3_2_1_56_1","volume-title":"Automatic Lane Change Scenario Extraction and Generation of Scenarios in OpenX Format from Realworld Data. arXiv preprint arXiv:2203.07521","author":"Karunakaran D.","year":"2022","unstructured":"D. Karunakaran, J. S. Berrio, S. Worrall, and E. Nebot. Automatic Lane Change Scenario Extraction and Generation of Scenarios in OpenX Format from Realworld Data. arXiv preprint arXiv:2203.07521, 2022."},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/MetroCAD51599.2021.00018"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1145\/3548606.3560558"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569552"},{"key":"e_1_3_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC45102.2020.9294728"},{"key":"e_1_3_2_1_61_1","volume-title":"Proceedings of the 4th Middle East Symposium on Simulation and Modelling (MESM)","author":"Krajzewicz D.","year":"2002","unstructured":"D. Krajzewicz, G. Hertkorn, C. R\u00f6ssel, and P. Wagner. SUMO (Simulation of Urban MObility)-An Open-source Traffic Simulation. In Proceedings of the 4th Middle East Symposium on Simulation and Modelling (MESM), 2002."},{"key":"e_1_3_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE5003.2020.00012"},{"key":"e_1_3_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE5003.2020.00012"},{"key":"e_1_3_2_1_64_1","doi-asserted-by":"publisher","DOI":"10.1145\/3540250.3549111"},{"key":"e_1_3_2_1_65_1","doi-asserted-by":"publisher","DOI":"10.3390\/machines9120342"},{"key":"e_1_3_2_1_66_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC48978.2021.9564885"},{"key":"e_1_3_2_1_67_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.entcs.2005.10.021"},{"key":"e_1_3_2_1_68_1","doi-asserted-by":"publisher","DOI":"10.1109\/IV51971.2022.9827305"},{"key":"e_1_3_2_1_69_1","doi-asserted-by":"publisher","DOI":"10.1109\/IV48863.2021.9575441"},{"key":"e_1_3_2_1_70_1","doi-asserted-by":"publisher","DOI":"10.14722\/autosec.2022.23032"},{"key":"e_1_3_2_1_71_1","volume-title":"of Automotive Engineers (SAE). J3016 - Taxonomy and Definitions for Terms Related to On-road Motor Vehicle Automated Driving Systems","author":"S.","year":"2016","unstructured":"S. of Automotive Engineers (SAE). J3016 - Taxonomy and Definitions for Terms Related to On-road Motor Vehicle Automated Driving Systems, 2016."},{"key":"e_1_3_2_1_72_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICPR48806.2021.9413181"},{"key":"e_1_3_2_1_73_1","doi-asserted-by":"crossref","unstructured":"S. Pathrudkar S. Venkataraman D. Kanade A. Ajayan P. Gupta S. Khatib V. S. Indla and S. Mukherjee. SAFR-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 Stacks. arXiv preprint arXiv:2302.14601 2023.","DOI":"10.5220\/0011838800003479"},{"key":"e_1_3_2_1_74_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569929"},{"key":"e_1_3_2_1_75_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.trc.2010.12.007"},{"key":"e_1_3_2_1_76_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8814107"},{"key":"e_1_3_2_1_77_1","volume-title":"Vehicle Dynamics and Control","author":"Rajamani R.","year":"2011","unstructured":"R. Rajamani. Vehicle Dynamics and Control. 2011."},{"key":"e_1_3_2_1_78_1","volume-title":"Proceedings of the 23rd USENIX Security Symposium (USENIX Security)","author":"Rebert A.","year":"2014","unstructured":"A. Rebert, S. K. Cha, T. Avgerinos, J. Foote, D. Warren, G. Grieco, and D. Brumley. Optimizing Seed Selection for Fuzzing. In Proceedings of the 23rd USENIX Security Symposium (USENIX Security), 2014."},{"key":"e_1_3_2_1_79_1","volume-title":"Lgsvl Simulator: A High Fidelity Simulator for Autonomous Driving. In Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC)","author":"Rong G.","year":"2020","unstructured":"G. Rong, B. H. Shin, H. Tabatabaee, Q. Lu, S. Lemke, M. Mo\u017eeiko, E. Boise, G. Uhm, M. Gerow, S. Mehta, et al. Lgsvl Simulator: A High Fidelity Simulator for Autonomous Driving. In Proceedings of the 23rd IEEE International Conference on Intelligent Transportation Systems (ITSC), 2020."},{"key":"e_1_3_2_1_80_1","volume-title":"Proceedings of the IEEE International Conference on Mechatronics (ICM)","author":"Son T. D.","year":"2019","unstructured":"T. D. Son, A. Bhave, and H. Van der Auweraer. Simulation-based Testing Framework for Autonomous Driving Development. In Proceedings of the IEEE International Conference on Mechatronics (ICM), 2019."},{"key":"e_1_3_2_1_81_1","doi-asserted-by":"publisher","DOI":"10.5555\/3378680.3378709"},{"key":"e_1_3_2_1_82_1","volume-title":"EMF: Eclipse Modeling Framework","author":"Steinberg D.","year":"2008","unstructured":"D. Steinberg, F. Budinsky, E. Merks, and M. Paternostro. EMF: Eclipse Modeling Framework. 2008."},{"key":"e_1_3_2_1_83_1","volume-title":"Proceedings of the 29th USENIX Security Symposium (Usenix Security)","author":"Sun J. S.","year":"2020","unstructured":"J. S. Sun, Y. C. Cao, Q. A. Chen, and Z. M. Mao. Towards Robust Lidar-based Perception in Autonomous Driving: General Black-Box Adversarial Sensor Attack and Countermeasures. In Proceedings of the 29th USENIX Security Symposium (Usenix Security), 2020."},{"key":"e_1_3_2_1_84_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00252"},{"key":"e_1_3_2_1_85_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVWorkshops54471.2021.9669219"},{"key":"e_1_3_2_1_86_1","volume-title":"Proceedings of the FISITA Web Congress","author":"Wang X.","year":"2020","unstructured":"X. Wang, A.-K. Rettinger, M. T. B. Waez, and M. Althoff. Coupling Apollo with The CommonRoad Motion Planning Framework. In Proceedings of the FISITA Web Congress, 2020."},{"key":"e_1_3_2_1_87_1","volume-title":"Argoverse 2: Next Generation Datasets for Self-driving Perception and Forecasting. arXiv preprint arXiv:2301.00493","author":"Wilson B.","year":"2023","unstructured":"B. Wilson, W. Qi, T. Agarwal, J. Lambert, J. Singh, S. Khandelwal, B. Pan, R. Kumar, A. Hartnett, J. K. Pontes, et al. Argoverse 2: Next Generation Datasets for Self-driving Perception and Forecasting. arXiv preprint arXiv:2301.00493, 2023."},{"key":"e_1_3_2_1_88_1","volume-title":"Pandaset: Advanced Sensor Suite Dataset for Autonomous Driving. In Proceedings of the 24th IEEE International Intelligent Transportation Systems Conference (ITSC)","author":"Xiao P.","year":"2021","unstructured":"P. Xiao, Z. Shao, S. Hao, Z. Zhang, X. Chai, J. Jiao, Z. Li, J. Wu, K. Sun, K. Jiang, et al. Pandaset: Advanced Sensor Suite Dataset for Autonomous Driving. In Proceedings of the 24th IEEE International Intelligent Transportation Systems Conference (ITSC), 2021."},{"key":"e_1_3_2_1_89_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2017.8317828"},{"key":"e_1_3_2_1_90_1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00271"},{"key":"e_1_3_2_1_91_1","volume-title":"A Survey of Autonomous Driving: Common Practices and Emerging Technologies","author":"Yurtsever E.","year":"2020","unstructured":"E. Yurtsever, J. Lambert, A. Carballo, and K. Takeda. A Survey of Autonomous Driving: Common Practices and Emerging Technologies. IEEE Access, 2020."},{"key":"e_1_3_2_1_92_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE.2019.00012"},{"key":"e_1_3_2_1_93_1","author":"Zhong Z.","year":"2022","unstructured":"Z. Zhong, G. Kaiser, and B. Ray. Neural Network Guided Evolutionary Fuzzing for Finding Traffic Violations of Autonomous Vehicles. IEEE Transactions on Software Engineering (TSE), 2022.","journal-title":"IEEE Transactions on Software Engineering (TSE)"},{"key":"e_1_3_2_1_94_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSREW55968.2022.00084"},{"key":"e_1_3_2_1_95_1","doi-asserted-by":"publisher","DOI":"10.1145\/3512345"},{"key":"e_1_3_2_1_96_1","author":"Zyner A.","year":"2019","unstructured":"A. Zyner, S. Worrall, and E. M. Nebot. Acfr Five Roundabouts Dataset: Naturalistic Driving at Unsignalized Intersections. IEEE Intelligent Transportation Systems Magazine, 2019.","journal-title":"IEEE Intelligent Transportation Systems Magazine"}],"event":{"name":"ICSE '24: IEEE\/ACM 46th International Conference on Software Engineering","location":"Lisbon Portugal","acronym":"ICSE '24","sponsor":["SIGSOFT ACM Special Interest Group on Software Engineering","IEEE CS","Faculty of Engineering of University of Porto"]},"container-title":["Proceedings of the IEEE\/ACM 46th International Conference on Software Engineering"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3597503.3623350","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3597503.3623350","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T22:49:11Z","timestamp":1750286951000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3597503.3623350"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,6]]},"references-count":95,"alternative-id":["10.1145\/3597503.3623350","10.1145\/3597503"],"URL":"https:\/\/doi.org\/10.1145\/3597503.3623350","relation":{},"subject":[],"published":{"date-parts":[[2024,2,6]]},"assertion":[{"value":"2024-02-06","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}