Safe Linear Encoding of Vehicle Dynamics for the Instantiation of Abstract Scenarios

Kurzfassung

In the automotive domain, scenario-based development is the answer to the increasing complexity of highly automated driving functions. Scenario-based methods cluster the large scenario space by so-called abstract scenarios which can be used to sample an infinite number of concrete scenarios. Because abstract scenarios constrain driving maneuvers by excessive use of additional constraints, constraint solving techniques may be required to find concrete scenario instances. In order to guarantee correctness of simulation runs with respect to the abstract scenario, realistic vehicle dynamics need to be considered during the instantiation process. This paper proposes a new encoding scheme for simple, but realistic vehicle dynamics into linear constraint systems for the generation of correct-by-construction concrete scenarios. The correctness of the construction is formally proven, and applicability shown by demonstrating the method on a set of basic driving maneuvers.