Automated Search-Based Robustness Testing for Autonomous Vehicle Software

Table 4

Mean lateral deviation (in meters) for the 50 most challenging test cases generated.

Trial	1	2	3	4	5	6
Simulation executions	50	100	200	500	1000	2000
Monte Carlo	1.45	2.29	2.85	3.52	3.91	4.30
Genetic algorithm	1.41	2.09	3.48	5.33	6.18	6.92
Surrogate-based optimization	1.61	3.85	5.39	6.05	6.64	6.88
True maximum	7.07