1. TEASER: Simulation-based CAN
Bus Regression Testing for
Self-driving Cars Software
ASE Tool Demonstration
Christian Birchler, Cyrill Rohrbach, Hyeongkyun Kim, Alessio Gambi,
Tianhai Liu, Jens Horneber, Timo Kehrer, Sebastiano Panichella

2. Motivation
September 13, 2023 ASE Tool Demonstration 2
Lighting
Brakes
Transmission
Engine

3. Motivation
September 13, 2023 ASE Tool Demonstration 3
CAN Bus
Lighting
Brakes
Transmission
Engine
Brakes

4. Problem
September 13, 2023 ASE Tool Demonstration 4
CAN Bus
Our test cases do not reflect
real world scenarios!

5. Our Intuition
September 13, 2023 ASE Tool Demonstration 5
CAN Bus
I simulate real world
scenarios!
But I don’t know how to
generate CAN messages.

6. TEASER Tool
September 13, 2023 ASE Tool Demonstration 6

7. TEASER Tool
September 13, 2023 ASE Tool Demonstration 7
Configuration File
CAN Database File

8. Use Case Scenario
September 13, 2023 ASE Tool Demonstration 8
Windows Server
Simulator
TEASER
CAN Driver
ECU (Raspberry Pi)
CAN Driver
Filter
Cloud App
CAN Bus

9. September 13, 2023 ASE Tool Demonstration 9

10. Correctness
Performance
Outlook
September 13, 2023 ASE Tool Demonstration 10
Regression Testing for ECUs

11. Q&A
September 13, 2023 ASE Tool Demonstration 11
https://github.com/christianbirchler-org/sdc-scissor