As Autonomous Driving Systems (ADS) progress towards commercial deployment, there is an increasing focus on ensuring their safety and reliability. While considerable research has been conducted on testing methods for detecting faults in ADS, very little attention has been paid to debugging in ADS. Debugging is an essential process that follows test failures to localise and repair the faults in the systems to maintain their safety and reliability. This Systematic Mapping Study (SMS) aims to provide a detailed overview of the current landscape of ADS debugging, highlighting existing approaches and identifying gaps in research. The study also proposes directions for future work and standards for problem definition and terminology in the field. Our findings reveal various methods for ADS debugging and highlight the current fragmented yet promising landscape.

翻译：随着自动驾驶系统（ADS）逐步迈向商业化部署，确保其安全性与可靠性日益受到关注。尽管已有大量研究聚焦于ADS故障检测的测试方法，但针对ADS调试的研究却鲜有关注。调试是在测试失败后定位并修复系统故障的关键过程，对维持系统的安全性与可靠性至关重要。本系统性映射研究旨在详细概述当前ADS调试的研究现状，重点梳理现有方法并识别研究空白。研究同时提出了未来工作的方向，以及该领域问题定义与术语的标准化建议。我们的研究结果揭示了多种ADS调试方法，并凸显了当前研究格局虽显碎片化但前景可期。