BeamNG

BeamNG.tech support

Test generation for BeamNG.tech follows the guideline of the SBST 2022 Cyber-physical systems (CPS) testing competition. Test cases execution is described in a dedicated github page.

To run test case generation for BeamNG.tech run

java -jar java -jar target/EvoMBT-x.x.x-jar-with-dependencies.jar -sbt -Dsut_efsm=cps.beamng_custom_model

In addition to the described output, EvoMBT creates a table (csv format) for each test case containing the road points that can be fed to the BeamNG.tech simulator. Road points are a sequence of points in the 2D space.

EvoMBT has a built-in EFSM generator specifically designed to challenge BeamNG.tech simulator [1]. The EFSM generator can be customized with the following parameters:

• beamng_min_x_coord, beamng_min_y_coord, beamng_max_x_coord, beamng_max_y_coord: maximum and minimum coordinates in the 2D space;
• beamng_initial_x_coord, beamng_initial_y_coord: initial position of the car in the simulation;
• beamng_n_directions: number of possible directions. The minimum angle for a curve will be 360 divided by the number of possible directions;
• beamng_max_angle: maximum angle for a curve in the generated road;
• beamng_min_street_length, beamng_max_street_length: minimum and maximum distance between two road points;
• beamng_street_chunck_length: step increment between the minimum and maximum distance. If the minimum is equal to 5 and the maximum is equal to 15, step 5 means that the generated model supports distances of 5, 10, and 15.

References

[1] R. Ferdous, C. Hung, F. M. Kifetew, D. Prandi, A. Susi. EvoMBT. 15th IEEE/ACM International Workshop on Search-Based Software Testing (tool competition), SBST@ICSE 2022. doi:10.1145/3526072.3527534.