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The increasing levels of software- and data-intensive driving automation callfor an evolution of automotive software testing. As a recommended practice ofthe Verification and Validation (V&V) process of ISO/PAS 21448, a candidatestandard for safety of the intended functionality for road vehicles,simulation-based testing has the potential to reduce both risks and costs.There is a growing body of research on devising test automation techniquesusing simulators for Advanced Driver-Assistance Systems (ADAS). However, howsimilar are the results if the same test scenarios are executed in differentsimulators? We conduct a replication study of applying a Search-Based SoftwareTesting (SBST) solution to a real-world ADAS (PeVi, a pedestrian visiondetection system) using two different commercial simulators, namely,TASS/Siemens PreScan and ESI Pro-SiVIC. Based on a minimalistic scene, wecompare critical test scenarios generated using our SBST solution in these twosimulators. We show that SBST can be used to effectively and efficientlygenerate critical test scenarios in both simulators, and the test resultsobtained from the two simulators can reveal several weaknesses of the ADASunder test. However, executing the same test scenarios in the two simulatorsleads to notable differences in the details of the test outputs, in particular,related to (1) safety violations revealed by tests, and (2) dynamics of carsand pedestrians. Based on our findings, we recommend future V&V plans toinclude multiple simulators to support robust simulation-based testing and tobase test objectives on measures that are less dependant on the internals ofthe simulators.

Digital Twins Are Not Monozygotic -- Cross-Replicating ADAS Testing in Two Industry-Grade Automotive Simulators