Testing autonomous vehicles (AVs) requires complex oracles to determine if the AVs behavior conforms with specifications and humans' expectations. Available open source oracles are tightly embedded in the AV simulation software and are developed and implemented in an ad hoc way. We propose a domain specific language that enables defining oracles independent of the AV solutions and the simulator. A testing analyst can encode safety, liveness, timeliness and temporal properties in our language. To show the expressiveness of our language we implement three different types of available oracles. We find that the same AV solutions may be ranked significantly differently across existing oracles, thus existing oracles do not evaluate AVs in a consistent manner.

中文翻译：

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一种用于自动驾驶汽车测试预言机的语言

测试自动驾驶汽车 (AV) 需要复杂的预言机来确定 AV 的行为是否符合规范和人类的期望。可用的开源预言机紧密嵌入在 AV 模拟软件中，并以特别的方式开发和实施。我们提出了一种特定于领域的语言，可以独立于 AV 解决方案和模拟器来定义预言机。测试分析师可以用我们的语言对安全性、活性、及时性和时间属性进行编码。为了展示我们语言的表达能力，我们实现了三种不同类型的可用预言机。我们发现相同的 AV 解决方案在现有预言机中的排名可能有显着差异，因此现有预言机不会以一致的方式评估 AV。