  The rapidly evolving field of autonomous driving systems (ADSs) is full of
promise. However, in order to fulfil these promises, ADSs need to be safe in
all circumstances. This paper introduces ISS-Scenario, an autonomous driving
testing framework in the paradigm of scenario-based testing. ISS-Scenario is
designed for batch testing, exploration of test cases (e.g., potentially
dangerous scenarios), and performance evaluation of autonomous vehicles (AVs).
ISS-Scenario includes a diverse simulation scenario library with parametrized
design. Furthermore, ISS-Scenario integrates two testing methods within the
framework: random sampling and optimized search by means of a genetic
algorithm. Finally, ISS-Scenario provides an accident replay feature, saving a
log file for each test case which allows developers to replay and dissect
scenarios where the ADS showed problematic behavior.
