Bridging Gaps between Scenario-Based Safety Analysis and Simulation-based Testing for Autonomous Driving Systems

This paper investigates the use of simulation-based testing for Autoware, an open-source autonomous driving system, for scenario-based safety analysis. We employed the AWSIM-Labs simulator to evaluate Autoware within specific scenarios derived from the safety analysis. The results show the feasibility of using simulation for safety evaluation based on these scenarios, while also revealing gaps between the scenario-based safety analysis and the simulation outcomes. We also identified key challenges in addressing these gaps for our future research.