{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T14:47:27Z","timestamp":1776782847252,"version":"3.51.2"},"publisher-location":"New York, NY, USA","reference-count":64,"publisher":"ACM","license":[{"start":{"date-parts":[[2024,4,12]],"date-time":"2024-04-12T00:00:00Z","timestamp":1712880000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Shanghai Sailing Program","award":["23YF1427500"],"award-info":[{"award-number":["23YF1427500"]}]},{"name":"NSFC Program","award":["62302304"],"award-info":[{"award-number":["62302304"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2024,4,12]]},"DOI":"10.1145\/3597503.3639175","type":"proceedings-article","created":{"date-parts":[[2024,4,12]],"date-time":"2024-04-12T16:43:26Z","timestamp":1712940206000},"page":"1-13","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":13,"title":["ACAV: A Framework for Automatic Causality Analysis in Autonomous Vehicle Accident Recordings"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-8504-2733","authenticated-orcid":false,"given":"Huijia","family":"Sun","sequence":"first","affiliation":[{"name":"ShanghaiTech University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9376-2471","authenticated-orcid":false,"given":"Christopher M.","family":"Poskitt","sequence":"additional","affiliation":[{"name":"Singapore Management University, Singapore, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2409-2160","authenticated-orcid":false,"given":"Yang","family":"Sun","sequence":"additional","affiliation":[{"name":"Singapore Management University, Singapore, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3545-1392","authenticated-orcid":false,"given":"Jun","family":"Sun","sequence":"additional","affiliation":[{"name":"Singapore Management University, Singapore, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2988-6012","authenticated-orcid":false,"given":"Yuqi","family":"Chen","sequence":"additional","affiliation":[{"name":"ShanghaiTech University, Shanghai, China"}]}],"member":"320","published-online":{"date-parts":[[2024,4,12]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"Fatal Tesla Crash Exposes Gap In Automaker's Use Of Car Data. https:\/\/www.forbes.com\/sites\/alanohnsman\/2018\/04\/16\/tesla-autopilot-fatal-crash-waze-hazard-alerts\/?sh=229d9e685572. Online","year":"2023","unstructured":"2019. Fatal Tesla Crash Exposes Gap In Automaker's Use Of Car Data. https:\/\/www.forbes.com\/sites\/alanohnsman\/2018\/04\/16\/tesla-autopilot-fatal-crash-waze-hazard-alerts\/?sh=229d9e685572. Online; accessed December 2023."},{"key":"e_1_3_2_1_2_1","volume-title":"https:\/\/github.com\/ApolloAuto\/apollo\/releases\/tag\/v7.0.0. Online","author":"Apollo","year":"2023","unstructured":"2021. Apollo 7.0. https:\/\/github.com\/ApolloAuto\/apollo\/releases\/tag\/v7.0.0. Online; accessed April 2023."},{"key":"e_1_3_2_1_3_1","volume-title":"https:\/\/github.com\/autowarefoundation\/autoware.universe\/tree\/galactic. Online","year":"2023","unstructured":"2021. Autoware.universe galactic. https:\/\/github.com\/autowarefoundation\/autoware.universe\/tree\/galactic. Online; accessed November 2023."},{"key":"e_1_3_2_1_4_1","volume-title":"Fatal crash on SB I-680 onramp in San Jose. https:\/\/www.kron4.com\/news\/bay-area\/fatal-crash-on-sb-i-680-onramp-in-san-jose\/. Online","year":"2023","unstructured":"2022. Fatal crash on SB I-680 onramp in San Jose. https:\/\/www.kron4.com\/news\/bay-area\/fatal-crash-on-sb-i-680-onramp-in-san-jose\/. Online; accessed December 2023."},{"key":"e_1_3_2_1_5_1","volume-title":"Rear-End Collisions: Fault & Compensation. https:\/\/www.forbes.com\/advisor\/legal\/auto-accident\/rear-end-collision\/#establishing_fault_for_rear_end_accidents_section. Online","year":"2023","unstructured":"2022. Rear-End Collisions: Fault & Compensation. https:\/\/www.forbes.com\/advisor\/legal\/auto-accident\/rear-end-collision\/#establishing_fault_for_rear_end_accidents_section. Online; accessed December 2023."},{"key":"e_1_3_2_1_6_1","volume-title":"ACAV2023","year":"2023","unstructured":"2023. ACAV2023. https:\/\/acav2023.github.io. Online; accessed December 2023."},{"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","doi-asserted-by":"publisher","DOI":"10.1145\/3238147.3238192"},{"key":"e_1_3_2_1_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995802"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1510507113"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v29i1.9679"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197053"},{"key":"e_1_3_2_1_13_1","volume-title":"Testing of autonomous vehicles using surrogate models and stochastic optimization","author":"Beglerovic Halil","unstructured":"Halil Beglerovic, Michael Stolz, and Martin Horn. 2017. Testing of autonomous vehicles using surrogate models and stochastic optimization. In ITSC. IEEE, 1--6."},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-90966-6_16"},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1145\/3510466.3510474"},{"key":"e_1_3_2_1_16_1","volume-title":"CA Driver's Handbook. https:\/\/www.dmv.ca.gov\/portal\/handbook\/california-driver-handbook\/. Online","author":"California Department of Motor Vehicles. 2022.","year":"2022","unstructured":"California Department of Motor Vehicles. 2022. CA Driver's Handbook. https:\/\/www.dmv.ca.gov\/portal\/handbook\/california-driver-handbook\/. Online; accessed December 2022."},{"key":"e_1_3_2_1_17_1","volume-title":"Rules of the Road. https:\/\/leginfo.legislature.ca.gov\/faces\/codes_displayexpandedbranch.xhtml?tocCode=VEH&division=11.&title=&part=&chapter=&article=&nodetreepath=15. Online","author":"California Legislative Counsel Bureau","year":"2023","unstructured":"California Legislative Counsel Bureau. 2022. Rules of the Road. https:\/\/leginfo.legislature.ca.gov\/faces\/codes_displayexpandedbranch.xhtml?tocCode=VEH&division=11.&title=&part=&chapter=&article=&nodetreepath=15. Online; accessed April 2023."},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v31i1.11060"},{"key":"e_1_3_2_1_19_1","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v32i1.12125"},{"key":"e_1_3_2_1_20_1","volume-title":"Automated vehicle collisions in California: Applying Bayesian latent class model. IATSS research 44, 4","author":"Das Subasish","year":"2020","unstructured":"Subasish Das, Anandi Dutta, and Ioannis Tsapakis. 2020. Automated vehicle collisions in California: Applying Bayesian latent class model. IATSS research 44, 4 (2020), 300--308."},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/3540250.3549152"},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0168054"},{"key":"e_1_3_2_1_23_1","volume-title":"Conference on robot learning. PMLR, 1--16","author":"Dosovitskiy Alexey","year":"2017","unstructured":"Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, and Vladlen Koltun. 2017. CARLA: An open urban driving simulator. In Conference on robot learning. PMLR, 1--16."},{"key":"e_1_3_2_1_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10817-018-09509-5"},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-25540-4_25"},{"key":"e_1_3_2_1_26_1","volume-title":"Baidu Apollo EM Motion Planner. arXiv preprint arXiv:1807.08048","author":"Fan Haoyang","year":"2018","unstructured":"Haoyang Fan, Fan Zhu, Changchun Liu, Liangliang Zhang, Li Zhuang, Dong Li, Weicheng Zhu, Jiangtao Hu, Hongye Li, and Qi Kong. 2018. Baidu Apollo EM Motion Planner. arXiv preprint arXiv:1807.08048 (2018)."},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0184952"},{"key":"e_1_3_2_1_28_1","volume-title":"Intelligent driving intelligence test for autonomous vehicles with naturalistic and adversarial environment. Nature communications 12, 1","author":"Feng Shuo","year":"2021","unstructured":"Shuo Feng, Xintao Yan, Haowei Sun, Yiheng Feng, and Henry X Liu. 2021. Intelligent driving intelligence test for autonomous vehicles with naturalistic and adversarial environment. Nature communications 12, 1 (2021), 748."},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC45102.2020.9294368"},{"key":"e_1_3_2_1_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/3377811.3380397"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2015.2498841"},{"key":"e_1_3_2_1_32_1","volume-title":"Did We Test All Scenarios for Automated and Autonomous Driving Systems?","author":"Hauer Florian","unstructured":"Florian Hauer, Tabea Schmidt, Bernd Holzm\u00fcller, and Alexander Pretschner. 2019. Did We Test All Scenarios for Automated and Autonomous Driving Systems?. In ITSC. IEEE, 2950--2955."},{"key":"e_1_3_2_1_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2017.8317940"},{"key":"e_1_3_2_1_34_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-20652-9_14"},{"key":"e_1_3_2_1_35_1","volume-title":"ECAI","author":"Ibrahim Amjad","year":"2020","unstructured":"Amjad Ibrahim, Tobias Klesel, Ehsan Zibaei, Severin Kacianka, and Alexander Pretschner. 2020. Actual causality canvas: a general framework for explanation-based socio-technical constructs. In ECAI 2020. IOS Press, 2978--2985."},{"key":"e_1_3_2_1_36_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compind.2022.103741"},{"key":"e_1_3_2_1_37_1","volume-title":"Expressing Accountability Patterns using Structural Causal Models. CoRR abs\/2005.03294","author":"Kacianka Severin","year":"2020","unstructured":"Severin Kacianka, Amjad Ibrahim, and Alexander Pretschner. 2020. Expressing Accountability Patterns using Structural Causal Models. CoRR abs\/2005.03294 (2020). arXiv:2005.03294 https:\/\/arxiv.org\/abs\/2005.03294"},{"key":"e_1_3_2_1_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/ISSRE5003.2020.00012"},{"key":"e_1_3_2_1_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/3540250.3549111"},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/ASE51524.2021.9678883"},{"key":"e_1_3_2_1_41_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58298-2_5"},{"key":"e_1_3_2_1_42_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0960129522000251"},{"key":"e_1_3_2_1_43_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2017.07.011"},{"key":"e_1_3_2_1_44_1","unstructured":"Jan-Pieter Paardekooper S Montfort Jeroen Manders Jorrit Goos E de Gelder O Camp O Bracquemond and Gildas Thiolon. 2019. Automatic identification of critical scenarios in a public dataset of 6000 km of public-road driving. In ESV."},{"key":"e_1_3_2_1_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2016.2578706"},{"key":"e_1_3_2_1_46_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICSE48619.2023.00215"},{"key":"e_1_3_2_1_47_1","doi-asserted-by":"publisher","DOI":"10.1145\/3368089.3409730"},{"key":"e_1_3_2_1_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795734"},{"key":"e_1_3_2_1_49_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC45102.2020.9294422"},{"key":"e_1_3_2_1_50_1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105157"},{"key":"e_1_3_2_1_51_1","volume-title":"On a Formal Model of Safe and Scalable Self-driving Cars. CoRR abs\/1708.06374","author":"Shalev-Shwartz Shai","year":"2017","unstructured":"Shai Shalev-Shwartz, Shaked Shammah, and Amnon Shashua. 2017. On a Formal Model of Safe and Scalable Self-driving Cars. CoRR abs\/1708.06374 (2017). arXiv:1708.06374 http:\/\/arxiv.org\/abs\/1708.06374"},{"key":"e_1_3_2_1_52_1","volume-title":"LawBreaker: An Approach for Specifying Traffic Laws and Fuzzing Autonomous Vehicles. In 37th IEEE\/ACM International Conference on Automated Software Engineering. 1--12","author":"Sun Yang","year":"2022","unstructured":"Yang Sun, Christopher M Poskitt, Jun Sun, Yuqi Chen, and Zijiang Yang. 2022. LawBreaker: An Approach for Specifying Traffic Laws and Fuzzing Autonomous Vehicles. In 37th IEEE\/ACM International Conference on Automated Software Engineering. 1--12."},{"key":"e_1_3_2_1_53_1","doi-asserted-by":"publisher","DOI":"10.1002\/wics.56"},{"key":"e_1_3_2_1_54_1","doi-asserted-by":"publisher","DOI":"10.14722\/ndss.2022.24177"},{"key":"e_1_3_2_1_55_1","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0214550"},{"key":"e_1_3_2_1_56_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4046610"},{"key":"e_1_3_2_1_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509799"},{"key":"e_1_3_2_1_58_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2014.6957844"},{"key":"e_1_3_2_1_59_1","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2017\/186"},{"key":"e_1_3_2_1_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/ITOEC49072.2020.9141597"},{"key":"e_1_3_2_1_61_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2017.2701846"},{"key":"e_1_3_2_1_62_1","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2016.2582208"},{"key":"e_1_3_2_1_63_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSE.2023.3254142"},{"key":"e_1_3_2_1_64_1","doi-asserted-by":"publisher","DOI":"10.1145\/3460319.3464811"}],"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\/3597503.3639175","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3597503.3639175","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,18]],"date-time":"2025-06-18T22:49:12Z","timestamp":1750286952000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3597503.3639175"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,4,12]]},"references-count":64,"alternative-id":["10.1145\/3597503.3639175","10.1145\/3597503"],"URL":"https:\/\/doi.org\/10.1145\/3597503.3639175","relation":{},"subject":[],"published":{"date-parts":[[2024,4,12]]},"assertion":[{"value":"2024-04-12","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}