Automated Search-Based Robustness Testing for Autonomous Vehicle Software

Table 2

Maximum lateral deviation (in meters) as a function of simulation executions.

Trial	1	2	3	4	5	6
Simulation executions	50	100	200	500	1000	2000
Monte Carlo	4.27	4.59	4.78	5.58	5.93	6.40
Genetic algorithm	3.95	4.33	5.66	6.85	7.28	7.39
Surrogate-based optimization	4.76	6.85	7.11	7.38	7.47	7.47
True maximum	7.47