Mathematical Definitions of Scene and Scenario for Analysis of Automated Driving Systems in Mixed-Traffic Simulations
Preprint, 2019

This paper introduces a unified mathematical definition for describing commonly used terms encountered in systematical analysis of automated driving systems in mixed-traffic simulations. The contribution of this work is most significant in translating the terms that are clarified previously in literature into a mathematical set and function based format. Our work can be seen as an incremental step towards further formalisation of Domain-Specific-Language (DSL) for scenario representation. We also extended the previous work in the literature while allowing more complex scenarios by expanding the model-incompliant information using set-theory to represent the perception capacity ofthe road-user agents. With this dynamic perception definition, we also support interactive scenarios and are not limited to reactive and pre-defined agent behavior. Our main focus is to represent realistic road-user behavior to be used in simulation or computational tool to examine interaction patterns in mixed-traffic conditions. We believe by formalising the verbose definitions and extending the previous work in DSL, we can support automatic scenario generation and dynamic/evolving agent behavior models for simulating mixed traffic situations and scenarios. In addition, we can obtain scenarios that are realistic but also can represent rare-conditions that are hard to extract from field-tests and naturalistic driving data (NDD) repositories.

formal definitions






traffic simulations


interactive agents


Eleonora Andreotti

Olycksanalys och prevention

Pinar Boyraz Baykas

Olycksanalys och prevention

Selpi Selpi

Olycksanalys och prevention


Transportteknik och logistik

Datavetenskap (datalogi)


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