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Such variations are often due to wear and tear, production errors and so on, which may lead to unexpected driving behaviours of ADSs. To this end, in this article, we propose a method, named\n                    <jats:sc>SafeVar<\/jats:sc>\n                    , to systematically find minimum variations to the original vehicle characteristics setting, which affect the safety of the ADS deployed on the vehicle. To evaluate the effectiveness of\n                    <jats:sc>SafeVar<\/jats:sc>\n                    , we employed two ADSs and conducted experiments with two driving scenarios. Results show that\n                    <jats:sc>SafeVar<\/jats:sc>\n                    , equipped with NSGA-II, generates more critical settings that put the vehicle into unsafe situations, as compared with the baseline algorithm. We also identified critical vehicle characteristics and reported to which extent varying their settings put the ADS vehicle into unsafe situations.\n                  <\/jats:p>","DOI":"10.1145\/3743673","type":"journal-article","created":{"date-parts":[[2025,6,9]],"date-time":"2025-06-09T08:21:24Z","timestamp":1749457284000},"page":"1-30","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Simulation-based Safety Assessment of Vehicle Characteristics Variations in Autonomous Driving Systems"],"prefix":"10.1145","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-7857-1150","authenticated-orcid":false,"given":"Qi","family":"Pan","sequence":"first","affiliation":[{"name":"Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5432-3812","authenticated-orcid":false,"given":"Tiexin","family":"Wang","sequence":"additional","affiliation":[{"name":"Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-3464-5213","authenticated-orcid":false,"given":"Jianwei","family":"Ma","sequence":"additional","affiliation":[{"name":"Nanjing University of Aeronautics and Astronautics, Nanjing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6253-4062","authenticated-orcid":false,"given":"Paolo","family":"Arcaini","sequence":"additional","affiliation":[{"name":"National Institute of Informatics, Tokyo, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3262-5577","authenticated-orcid":false,"given":"Tao","family":"Yue","sequence":"additional","affiliation":[{"name":"Beihang University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2026,2,13]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICST49551.2021.00036"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1145\/3375636"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/SBFT59156.2023.00008"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1145\/3643659.3648559"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.scico.2024.103171"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/ICST49551.2021.00042"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1145\/1985793.1985795"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10664-013-9249-9"},{"key":"e_1_3_2_10_2","volume-title":"2021 IEEE 93rd Vehicular Technology Conference (VTC2021-Spring)","author":"Baumann Daniel","year":"2021","unstructured":"Daniel Baumann, Raphael Pfeffer, and Eric Sax. 2021. 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