Automated vehicles (AVs) must be thoroughly evaluated before their release and
deployment. A widely used evaluation approach is the Naturalistic-Field Operational Test (N-
FOT), which tests prototype vehicles directly on the public roads. Due to the low exposure to
safety-critical scenarios, N-FOTs are time consuming and expensive to conduct. In this
paper, we propose an accelerated evaluation approach for AVs. The results can be used to
generate motions of the other primary vehicles to accelerate the verification of AVs in …

Automated Vehicles (AVs) must be evaluated thoroughly before their release and
deployment. The challenges of AV evaluation stem from two facts. i) Crashes are
exceedingly rare events, which makes the Naturalistic-Field Operational Tests (N-FOT) very
time-consuming and expensive to conduct. ii) AVs can “cheat” to pass predefined tests.
Traditionally, vehicle test protocols are pre-defined and fixed. This is not a problem when the
vehicle is “dumb”, but becomes a problem when the vehicle is intelligent and can be …