首个专用于自动驾驶系统死锁测试的生成方法，提升多车协同安全性。
STCLocker: Deadlock Avoidance Testing for Autonomous Driving Systems
- 基于时空冲突引导，自动构造多车死锁场景。
- 在两种自动驾驶系统上，生成死锁场景数量优于现有基线。
- 适合研究自动驾驶协同安全与测试验证的学者和工程师。
自动驾驶系统（ADS）测试对确保车辆部署前的安全性与可靠性至关重要。然而，现有技术主要关注单辆自动驾驶汽车的功能评估。随着多车自动驾驶系统普及，评估其协同性能变得尤为重要，尤其是死锁问题——多个车辆陷入循环等待状态，导致运动规划失败。尽管如此，现有研究对自动驾驶系统预防死锁的协同能力仍关注不足。为此，本文提出首个专用的时空冲突引导死锁避免测试方法STCLocker，用于生成死锁场景（DLS），即被测系统控制的多辆自动驾驶汽车进入循环等待状态。STCLocker包含三个核心组件：死锁检测器、冲突反馈机制和冲突感知场景生成器。死锁检测器提供可靠的黑盒机制，识别多车之间的死锁循环。冲突反馈与冲突感知场景生成协同工作，主动引导车辆在同一时间竞争共享通行区域等空间资源和到达时机，显著提升死锁生成效率。我们在两种典型自动驾驶系统——端到端系统Roach与支持协同通信的模块化系统OpenCDA上评估STCLocker。实验结果表明，平均而言，STCLocker生成的死锁场景数量超过表现最优的基线方法。
原文摘要 · Abstract (English)
Autonomous Driving System (ADS) testing is essential to ensure the safety and reliability of autonomous vehicles (AVs) before deployment. However, existing techniques primarily focus on evaluating ADS functionalities in single-AV settings. As ADSs are increasingly deployed in multi-AV traffic, it becomes crucial to assess their cooperative performance, particularly regarding deadlocks, a fundamental coordination failure in which multiple AVs enter a circular waiting state indefinitely, resulting in motion planning failures. Despite its importance, the cooperative capability of ADSs to prevent deadlocks remains insufficiently underexplored. To address this gap, we propose the first dedicated Spatio-Temporal Conflict-Guided Deadlock Avoidance Testing technique, STCLocker, for generating DeadLock Scenarios (DLSs), where a group of AVs controlled by the ADS under test are in a circular wait state. STCLocker consists of three key components: Deadlock Oracle, Conflict Feedback, and Conflict-aware Scenario Generation. Deadlock Oracle provides a reliable black-box mechanism for detecting deadlock cycles among multiple AVs within a given scenario. Conflict Feedback and Conflict-aware Scenario Generation collaborate to actively guide AVs into simultaneous competition over spatial conflict resources (i.e., shared passing regions) and temporal competitive behaviors (i.e., reaching the conflict region at the same time), thereby increasing the effectiveness of generating conflict-prone deadlocks. We evaluate STCLocker on two types of ADSs: Roach, an end-to-end ADS, and OpenCDA, a module-based ADS supporting cooperative communication. Experimental results show that, on average, STCLocker generates more DLS than the best-performing baseline.
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