{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,8]],"date-time":"2026-05-08T16:36:52Z","timestamp":1778258212818,"version":"3.51.4"},"reference-count":61,"publisher":"Association for Computing Machinery (ACM)","issue":"3","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Internet Things"],"published-print":{"date-parts":[[2026,8,31]]},"abstract":"<jats:p>\n                    Vision-Language Models (VLMs) have demonstrated significant promise for autonomous driving due to their powerful multimodal reasoning capabilities. However, adapting VLMs from generic data to safety-critical driving contexts introduces a notable challenge known as domain shift. Existing simulation-based and dataset-driven evaluation approaches struggle to accurately replicate real-world complexities, lacking repeatable closed-loop evaluation and flexible scenario manipulation. Furthermore, current real-world testing platforms typically focus on isolated modules and do not support comprehensive interaction with VLM-based systems. Consequently, there is a critical need for a holistic testing architecture capable of integrating perception, planning, and control modules, accommodating VLM-based systems, and supporting configurable real-world testing scenarios. In this article, we address this critical gap by proposing a hierarchical real-world test platform specialized in the rigorous evaluation of VLM-integrated autonomous driving systems. Specifically, our platform features have: a lightweight, structured, and low-latency middleware pipeline specialized for seamless VLM integration; a hierarchical modular architecture enabling flexible substitution between conventional and VLM-based autonomy components, providing exceptional deployment flexibility for rapid experimentation; and sophisticated closed-loop scenario-based testing capabilities on a controlled test track, facilitating comprehensive evaluation of the entire full-stack VLM-integrated autonomous driving pipeline, from perception, reasoning, decision-making, and planning to final vehicle maneuvers. Through an extensive real-world case study, we demonstrate the effectiveness of our platform in evaluating the performance and robustness of VLM-integrated autonomous driving under diverse realistic conditions. Project page and codes:\n                    <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" ext-link-type=\"url\" xlink:href=\"https:\/\/github.com\/YupengZhouPurdue\/VLMTest\">https:\/\/github.com\/YupengZhouPurdue\/VLMTest<\/jats:ext-link>\n                    .\n                  <\/jats:p>","DOI":"10.1145\/3769867","type":"journal-article","created":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T11:08:52Z","timestamp":1759230532000},"page":"1-28","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":3,"title":["A Hierarchical Test Platform for Vision Language Model (VLM)-Integrated Real-World Autonomous Driving"],"prefix":"10.1145","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-3355-0955","authenticated-orcid":false,"given":"Yupeng","family":"Zhou","sequence":"first","affiliation":[{"name":"Purdue University System","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-7082-3444","authenticated-orcid":false,"given":"Can","family":"Cui","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-1142-3067","authenticated-orcid":false,"given":"Juntong","family":"Peng","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-8019-3539","authenticated-orcid":false,"given":"Zichong","family":"Yang","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0831-1244","authenticated-orcid":false,"given":"Juanwu","family":"Lu","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4873-3089","authenticated-orcid":false,"given":"Jitesh","family":"Panchal","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3142-4570","authenticated-orcid":false,"given":"Bin","family":"Yao","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2702-7150","authenticated-orcid":false,"given":"Ziran","family":"Wang","sequence":"additional","affiliation":[{"name":"Purdue University","place":["West Lafayette, United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2026,4,21]]},"reference":[{"key":"e_1_3_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3074062"},{"key":"e_1_3_1_3_2","unstructured":"AutonomouStuff. 2024. 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