{"id":"https://openalex.org/W4289792821","doi":"https://doi.org/10.1109/tiv.2022.3196396","title":"Verification and Validation Methods for Decision-Making and Planning of Automated Vehicles: A Review","display_name":"Verification and Validation Methods for Decision-Making and Planning of Automated Vehicles: A Review","publication_year":2022,"publication_date":"2022-08-04","ids":{"openalex":"https://openalex.org/W4289792821","doi":"https://doi.org/10.1109/tiv.2022.3196396"},"language":"en","primary_location":{"id":"doi:10.1109/tiv.2022.3196396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3196396","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060564977","display_name":"Yining Ma","orcid":"https://orcid.org/0000-0002-6933-2914"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yining Ma","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6933-2914","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100722234","display_name":"Chen Sun","orcid":"https://orcid.org/0000-0001-8772-9627"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chen Sun","raw_affiliation_strings":["Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-8772-9627","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100738213","display_name":"Junyi Chen","orcid":"https://orcid.org/0000-0001-7448-4499"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyi Chen","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009572966","display_name":"Dongpu Cao","orcid":"https://orcid.org/0000-0003-2541-5272"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongpu Cao","raw_affiliation_strings":["School of Vehicle and Mobility, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2541-5272","affiliations":[{"raw_affiliation_string":"School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100379486","display_name":"Lu Xiong","orcid":"https://orcid.org/0000-0002-1673-2658"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Xiong","raw_affiliation_strings":["School of Automotive Studies, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1673-2658","affiliations":[{"raw_affiliation_string":"School of Automotive Studies, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.971,"has_fulltext":false,"cited_by_count":87,"citation_normalized_percentile":{"value":0.96839777,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"3","first_page":"480","last_page":"498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13295","display_name":"Safety Systems Engineering in Autonomy","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12095","display_name":"Vehicle emissions and performance","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7276880741119385},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.49541914463043213},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.47928351163864136},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.41804829239845276},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.39666828513145447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.143081933259964}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7276880741119385},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.49541914463043213},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.47928351163864136},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.41804829239845276},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.39666828513145447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.143081933259964},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tiv.2022.3196396","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tiv.2022.3196396","pdf_url":null,"source":{"id":"https://openalex.org/S4210199657","display_name":"IEEE Transactions on Intelligent Vehicles","issn_l":"2379-8858","issn":["2379-8858","2379-8904"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Vehicles","raw_type":"journal-article"},{"id":"pmh:oai:hub.hku.hk:10722/353057","is_oa":false,"landing_page_url":"https://hub.hku.hk/handle/10722/353057","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":184,"referenced_works":["https://openalex.org/W628190103","https://openalex.org/W1589747210","https://openalex.org/W1898022672","https://openalex.org/W2019570546","https://openalex.org/W2021667711","https://openalex.org/W2047030012","https://openalex.org/W2056389984","https://openalex.org/W2064572756","https://openalex.org/W2097545165","https://openalex.org/W2121043529","https://openalex.org/W2122073339","https://openalex.org/W2148602057","https://openalex.org/W2161227658","https://openalex.org/W2192586580","https://openalex.org/W2342840547","https://openalex.org/W2343568200","https://openalex.org/W2411577903","https://openalex.org/W2438413413","https://openalex.org/W2494776240","https://openalex.org/W2506244105","https://openalex.org/W2511072509","https://openalex.org/W2511336704","https://openalex.org/W2521921275","https://openalex.org/W2543613813","https://openalex.org/W2556282465","https://openalex.org/W2567854370","https://openalex.org/W2583993537","https://openalex.org/W2590169575","https://openalex.org/W2679723396","https://openalex.org/W2734479159","https://openalex.org/W2736332383","https://openalex.org/W2740234467","https://openalex.org/W2740734891","https://openalex.org/W2741450763","https://openalex.org/W2742546001","https://openalex.org/W2747432757","https://openalex.org/W2753562921","https://openalex.org/W2754582354","https://openalex.org/W2755577605","https://openalex.org/W2755725656","https://openalex.org/W2755758962","https://openalex.org/W2766734825","https://openalex.org/W2772194428","https://openalex.org/W2782474430","https://openalex.org/W2783963507","https://openalex.org/W2786624435","https://openalex.org/W2791055813","https://openalex.org/W2795414580","https://openalex.org/W2795800960","https://openalex.org/W2797143217","https://openalex.org/W2803184913","https://openalex.org/W2883155917","https://openalex.org/W2883944792","https://openalex.org/W2888307014","https://openalex.org/W2888483609","https://openalex.org/W2891056855","https://openalex.org/W2891563504","https://openalex.org/W2901436714","https://openalex.org/W2904118126","https://openalex.org/W2904818640","https://openalex.org/W2904929882","https://openalex.org/W2908972399","https://openalex.org/W2911362738","https://openalex.org/W2919115771","https://openalex.org/W2921180939","https://openalex.org/W2923088732","https://openalex.org/W2934533499","https://openalex.org/W2942962771","https://openalex.org/W2943847575","https://openalex.org/W2943952718","https://openalex.org/W2945771225","https://openalex.org/W2947742306","https://openalex.org/W2954061868","https://openalex.org/W2955582742","https://openalex.org/W2957066083","https://openalex.org/W2962702177","https://openalex.org/W2963001155","https://openalex.org/W2963184890","https://openalex.org/W2963327228","https://openalex.org/W2963657083","https://openalex.org/W2963898834","https://openalex.org/W2963945905","https://openalex.org/W2965254396","https://openalex.org/W2965888130","https://openalex.org/W2967694753","https://openalex.org/W2968176166","https://openalex.org/W2969874973","https://openalex.org/W2970450457","https://openalex.org/W2970679500","https://openalex.org/W2970897831","https://openalex.org/W2970963308","https://openalex.org/W2974752735","https://openalex.org/W2980278735","https://openalex.org/W2989981704","https://openalex.org/W2990582687","https://openalex.org/W2990972766","https://openalex.org/W2991007140","https://openalex.org/W2997507294","https://openalex.org/W2998954420","https://openalex.org/W2999007502","https://openalex.org/W3004750882","https://openalex.org/W3006558068","https://openalex.org/W3006912862","https://openalex.org/W3009350919","https://openalex.org/W3009658025","https://openalex.org/W3010904226","https://openalex.org/W3012481664","https://openalex.org/W3014031421","https://openalex.org/W3016826426","https://openalex.org/W3016926917","https://openalex.org/W3022552172","https://openalex.org/W3023830629","https://openalex.org/W3024414633","https://openalex.org/W3032950445","https://openalex.org/W3033863102","https://openalex.org/W3034269714","https://openalex.org/W3037606473","https://openalex.org/W3038625304","https://openalex.org/W3041038022","https://openalex.org/W3044015199","https://openalex.org/W3044345353","https://openalex.org/W3054438628","https://openalex.org/W3085946920","https://openalex.org/W3095035924","https://openalex.org/W3096266625","https://openalex.org/W3099428102","https://openalex.org/W3100672372","https://openalex.org/W3100944043","https://openalex.org/W3103559770","https://openalex.org/W3105115779","https://openalex.org/W3105117101","https://openalex.org/W3105200428","https://openalex.org/W3110877594","https://openalex.org/W3116444130","https://openalex.org/W3121079555","https://openalex.org/W3127561923","https://openalex.org/W3127647470","https://openalex.org/W3145505790","https://openalex.org/W3158274639","https://openalex.org/W3159028934","https://openalex.org/W3165367960","https://openalex.org/W3165570722","https://openalex.org/W3176880348","https://openalex.org/W3176912151","https://openalex.org/W3186450693","https://openalex.org/W3189343424","https://openalex.org/W3195036247","https://openalex.org/W3196020871","https://openalex.org/W3202861620","https://openalex.org/W3203135748","https://openalex.org/W3208014918","https://openalex.org/W3208018789","https://openalex.org/W3209183025","https://openalex.org/W3209717959","https://openalex.org/W3210372850","https://openalex.org/W3210428917","https://openalex.org/W3217421338","https://openalex.org/W4205354138","https://openalex.org/W4206087398","https://openalex.org/W4221151224","https://openalex.org/W4224231583","https://openalex.org/W4224242420","https://openalex.org/W4225565707","https://openalex.org/W4225679458","https://openalex.org/W4226154425","https://openalex.org/W4226239849","https://openalex.org/W4285198396","https://openalex.org/W4287776101","https://openalex.org/W4297781990","https://openalex.org/W4300172425","https://openalex.org/W6638038959","https://openalex.org/W6677752811","https://openalex.org/W6704559304","https://openalex.org/W6723713535","https://openalex.org/W6732665253","https://openalex.org/W6733834189","https://openalex.org/W6737454590","https://openalex.org/W6743333067","https://openalex.org/W6745935785","https://openalex.org/W6765052328","https://openalex.org/W6775100043","https://openalex.org/W6778631110","https://openalex.org/W6785818068","https://openalex.org/W6789148283"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2365264209","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2509431957","https://openalex.org/W2376932109","https://openalex.org/W2026999166","https://openalex.org/W2382290278","https://openalex.org/W2350741829"],"abstract_inverted_index":{"Verification":[0],"and":[1,11,30,39,59,72,82,104,120,126,143,159,173],"validation":[2],"(V&V)":[3],"hold":[4],"a":[5,47,139],"significant":[6],"position":[7],"in":[8,27,92],"the":[9,28,54,87,106,118,123,132,144,170],"research":[10,175],"development":[12],"of":[13,49,57,108,122,141,147],"automated":[14],"vehicles":[15],"(AVs).":[16],"Current":[17],"literature":[18],"indicates":[19],"that":[20],"different":[21,50,166],"V&V":[22,51,109],"techniques":[23],"have":[24],"been":[25],"implemented":[26],"decision-making":[29],"planning":[31],"(DMP)":[32],"system":[33,56,134],"to":[34,45,102,157],"improve":[35],"AVs'":[36],"safety,":[37],"comfort,":[38],"energy":[40],"optimization.":[41],"This":[42],"paper":[43],"aims":[44],"review":[46],"range":[48],"approaches":[52,62,84,125,154],"for":[53],"DMP":[55,133],"AVs":[58],"divides":[60],"these":[61],"into":[63,80,117,138],"three":[64],"distinct":[65],"categories:":[66],"scenario-based":[67,76],"testing,":[68,71],"fault":[69],"injection":[70],"formal":[73],"verification.":[74],"Further,":[75],"testing":[77],"is":[78,135],"categorized":[79],"fundamental":[81],"advanced":[83],"based":[85],"on":[86],"interaction":[88],"between":[89],"road":[90],"users":[91],"generated":[93],"scenarios.":[94],"In":[95],"this":[96],"paper,":[97],"six":[98],"criteria":[99],"are":[100,150,155,177],"proposed":[101],"compare":[103],"evaluate":[105],"characteristics":[107],"approaches,":[110],"which":[111],"could":[112],"help":[113],"researchers":[114],"gain":[115],"insight":[116],"benefits":[119],"limitations":[121],"reviewed":[124],"assist":[127],"with":[128],"approach":[129],"choices.":[130],"Next,":[131],"broken":[136],"down":[137],"hierarchy":[140],"modules,":[142],"functional":[145,167],"requirements":[146],"each":[148,161],"module":[149,162],"deduced.":[151],"The":[152],"suitable":[153],"matched":[156],"verify":[158],"validate":[160],"aiming":[163],"at":[164],"their":[165],"requirements.":[168],"Finally,":[169],"current":[171],"challenges":[172],"future":[174],"directions":[176],"concluded.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":31},{"year":2023,"cited_by_count":31},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-03T07:22:36.454288","created_date":"2025-10-10T00:00:00"}