Mathematical Definitions of Scene and Scenario for Analysis of Automated Driving Systems in Mixed-Traffic Simulations
Artikel i vetenskaplig tidskrift, 2021

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 most significant contribution of this work is 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 to allow more complex scenarios by expanding the model-incompliant information using set-theory to represent the perception capacity of the 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 give a framework to represent realistic road-user behavior to be used in simulation or computational tool to examine interaction patterns in mixed-traffic conditions. We believe that, 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 difficult to extract from field-tests and real driving data repositories.

interactive agents

traffic simulations


formal definitions



automated driving




Eleonora Andreotti

Chalmers, Mekanik och maritima vetenskaper, Fordonssäkerhet

Pinar Boyraz Baykas

Chalmers, Mekanik och maritima vetenskaper, Fordonssäkerhet

Selpi Selpi

Chalmers, Mekanik och maritima vetenskaper, Fordonssäkerhet

IEEE Transactions on Intelligent Vehicles

23798858 (eISSN)

Vol. 6 2 366-375 9237122

Körstilar av autonoma fordon i blandad trafik

Chalmers, 2019-04-01 -- 2021-03-31.

Heterogeneous Traffic Groups Cooperative Driving Behaviours Research under Mixed Traffic Condition

VINNOVA (2018-02891), 2019-04-01 -- 2021-03-31.


Hållbar utveckling




Transportteknik och logistik

Datavetenskap (datalogi)




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