Writing Accessible and Correct Test Scenarios for Automated Driving Systems

Abstract

For Automated Driving Systems (ADSs), vehicle safety and functional correctness are assessed against scenarios the ADS would encounter -within or outside its operational design domain (ODD). A scenario specifies conditions and events that an ADS is expected to respond to when deployed. Scenario specifications underpin the V&V life-cycle, and are used by a diverse set of stakeholders -from engineers to regulators. Due to the diversity in stakeholder expertise, scenarios must be available at different levels of detail, and further the chance of writing syntactically or semantically incorrect scenarios is high. Present-day Scenario Description Languages (SDLs) need to be supported by technologies to help authors compose scenarios and provide a mechanism for easy translation into executable forms for virtual or real-life testing. This paper addresses these issues by building on the existing two-level abstraction WMG-SDL in the following ways, (1) introducing a human-readable, natural language SDL, replacing the former Level-1 SDL, and complementing the more detailed Level-2 SDL, which is now syntax aligned with the ODD Taxonomy defined in ISO 34503, and (2) providing a tool consisting of a parser and a validator to assist writing syntactically and semantically correct scenarios. Our tool may be used within a graphical scenario editing interface or on the command-line. Further, for developers, an object-oriented interface for parsed scenarios enables further development and integration with off-the-shelf ADS simulation and language tools. The tools and technologies described in this paper are to be made open-source.

Ontology-based Scenario Generation for Automated Driving Systems Verification and Validation using Rules of the Road

“…We'll start by using a simple example to explain it visually. After that, we apply the method to rules taken from the UK highway code (UKHC) and Vienna conventions (VC) to generate a logical scenario in the WMG-SDL Level 2 scenario language [35], [36].…”

“…A scenario is generated from this rule and expressed using the WMG Scenario Description Language (Level 2) [35], [36]. The dynamic initialisation within the scenario is reproduced in SDL Description 1.…”

“…Utilizing the proposed approach, scenarios are generated based on the aforementioned rule and are represented using the WMG Scenario Description Language (Level 2) [35], [36]. The provided scenario exemplifies a fusion of two distinct instances where potential rule violations might occur during separate phases of the scenario, as dictated by the rule's specific phases.…”

A Novel Scenario-Based Testing Approach for Cooperative-Automated Driving Systems

“…The ASAM OpenSCENARIO [9] and OpenDRIVE [10] are widely used for simulation execution at the concrete scenario level. [14] presented an automated translation workflow, together with its open-source plan, to convert from the two-level SDL into OpenSCENARIO 1.1 and OpenDRIVE 1.6 formats.…”

“…As mentioned in Section II-B, the V2X elements have been incorporated into the two-level abstraction scenario formats [7], [15] which will cover the abstract scenario level using a natural language format, and the logical scenario level using parameter ranges. Through the conversion [14] to ASAM OpenX formats [9], [10] for simulation execution, the concrete scenario level can also be covered, Figure 4 illustrates such a process. Currently, such a conversion process covers the non-V2X elements.…”