ISO 34503

Road Vehicles — Test scenarios for automated driving systems — Specification for operational design domain

This document specifies the requirements for the hierarchical taxonomy for specifying operating conditions which enable the definition of an operational design domain (ODD) of an automated driving system (ADS). This document also specifies requirements for the definition format of an ODD using the taxonomy. The ODD comprises specific conditions (which include the static and dynamic attributes) within which an ADS is designed to function. This document is mainly applicable to level 3 and level 4 ADS. An ODD for level 5 ADS is unlimited (i.e. operation is possible everywhere). This document can be used by organizations taking part in developing safety cases for automated vehicles, in particular, for organizations conducting trials, testing and commercial deployment. This document can also be used by manufacturers of level 3/4 ADS to define the ADS’ operating capability. It may also be of interest to insurers, regulators, service providers, national, local and regional governments to enable them to understand possible ADS deployments and capabilities. This document does not cover the basic test procedures for attributes of the ODD. It does not cover the monitoring requirements of the ODD attributes.

Véhicules routiers — Scénarios d'essai pour les systèmes de conduite automatisée — Spécification du domaine de conception opérationnelle

General Information

• Status: Not Published
• ICS: 43.020 - Road vehicles in general
• Technical Committee: ISO/TC 22/SC 33 - Vehicle dynamics and chassis components
• Drafting Committee: ISO/TC 22/SC 33/WG 9 - Test scenarios of automated driving systems
• Current Stage: 6000 - International Standard under publication
• Completion Date: 16-May-2023

Standards Content (Sample)

DRAFT INTERNATIONAL STANDARD
ISO/DIS 34503
ISO/TC 22/SC 33 Secretariat: DIN
Voting begins on: Voting terminates on:
2022-07-04 2022-09-26
Road Vehicles — Test scenarios for automated driving
systems — Taxonomy for operational design domain

Véhicules routiers — Scénarios d'essai pour les systèmes de conduite automatisée — Taxonomie pour le

domaine de conception opérationnelle
ICS: 43.020
THIS DOCUMENT IS A DRAFT CIRCULATED
FOR COMMENT AND APPROVAL. IT IS
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This document is circulated as received from the committee secretariat.
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ISO/DIS 34503:2022(E)
DRAFT INTERNATIONAL STANDARD
ISO/DIS 34503
ISO/TC 22/SC 33 Secretariat: DIN
Voting begins on: Voting terminates on:
2022-07-04 2022-09-26
Road Vehicles — Test scenarios for automated driving
systems — Taxonomy for operational design domain

Véhicules routiers — Scénarios d'essai pour les systèmes de conduite automatisée — Taxonomie pour le

domaine de conception opérationnelle
ICS: 43.020
COPYRIGHT PROTECTED DOCUMENT
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© ISO 2022
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NATIONAL REGULATIONS.
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ISO/DIS 34503:2022(E)
14 Contents

15 Foreword .......................................................................................................................................................................... v

16 Introduction.................................................................................................................................................................... vi

17 1 Scope .......................................................................................................................................................................... 1

18 2 Normative references .......................................................................................................................................... 1

19 3 Terms and definitions .......................................................................................................................................... 1

20 4 Symbols (and abbreviated terms) ................................................................................................................... 3

21 5 Operational Design Domain (ODD) and Target Operational Domain (TOD) ................................... 3

22 6 ODD and scenario relationship ......................................................................................................................... 4

23 7 ODD requirements and application ................................................................................................................ 4

24 7.1 Abstraction of ODD definition ........................................................................................................................... 4

25 7.2 Monitoring ODD ..................................................................................................................................................... 5

26 7.3 Implication to scenario-based testing ............................................................................................................ 6

27 8 ODD Taxonomy ....................................................................................................................................................... 6

28 8.1 General ...................................................................................................................................................................... 6

29 8.2 Top level ODD classification .............................................................................................................................. 6

30 9 Scenery elements ................................................................................................................................................... 7

31 9.1 General ...................................................................................................................................................................... 7

32 9.2 Zones .......................................................................................................................................................................... 7

33 9.3 Drivable area ........................................................................................................................................................... 8

34 9.3.1 General attributes ........................................................................................................................................... 8

35 9.3.2 Drivable area type ........................................................................................................................................... 8

36 9.3.3 Drivable area Geometry ................................................................................................................................ 9

37 9.3.4 Drivable area Lane specification ............................................................................................................ 10

38 9.3.5 Drivable area signs ...................................................................................................................................... 10

39 9.3.6 Drivable area edge ....................................................................................................................................... 11

40 9.3.7 Drivable area surface .................................................................................................................................. 11

41 9.4 Junctions ................................................................................................................................................................ 12

42 9.4.1 General ............................................................................................................................................................. 12

43 9.4.2 Roundabout .................................................................................................................................................... 12

44 9.4.3 Intersection .................................................................................................................................................... 13

45 9.5 Basic road structures ........................................................................................................................................ 13

46 9.6 Special structures ............................................................................................................................................... 13

47 9.7 Temporary drivable area structures ........................................................................................................... 14

48 10 Environmental conditions ............................................................................................................................... 14

49 10.1 General ............................................................................................................................................................. 14

50 10.2 Outside Air Temperature .......................................................................................................................... 14

51 10.3 Weather ........................................................................................................................................................... 14

52 10.3.1 General ............................................................................................................................................................. 14

53 10.3.2 Wind .................................................................................................................................................................. 14

54 10.3.3 Rainfall ............................................................................................................................................................. 15

55 10.3.4 Snowfall ............................................................................................................................................................ 16

56 10.4 Particulates ..................................................................................................................................................... 16

57 10.5 Illumination .................................................................................................................................................... 16

58 10.6 Connectivity .................................................................................................................................................... 17

59 11 Dynamic elements .............................................................................................................................................. 18

60 11.1 Traffic agents ................................................................................................................................................. 18

61 11.2 Subject vehicle ............................................................................................................................................... 19

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62 12 ODD definition format ...................................................................................................................................... 19

63 12.1 General ............................................................................................................................................................. 19

64 12.2 Type of definition format .......................................................................................................................... 19

65 12.3 Human readability ....................................................................................................................................... 20

66 12.4 Inclusion, exclusion, and conditional .................................................................................................... 20

67 12.5 Extensibility and expressing relationships between ODD attributes ....................................... 21

68 12.6 Objective boundaries .................................................................................................................................. 21

69 12.7 Statement composition .............................................................................................................................. 21

70 Annex A ................................................................................................................. Fehler! Textmarke nicht definiert.

71 Annex B ................................................................................................................. Fehler! Textmarke nicht definiert.

72 B1. Canada ..................................................................................................................................................................... 24

73 B2. USA ............................................................................................................................................................................ 25

74 Bibliography ....................................................................................................... Fehler! Textmarke nicht definiert.

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76 Foreword

77 ISO (the International Organization for Standardization) is a worldwide federation of national standards

78 bodies (ISO member bodies). The work of preparing International Standards is normally carried out

79 through ISO technical committees. Each member body interested in a subject for which a technical

80 committee has been established has the right to be represented on that committee. International

81 organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO

82 collaborates closely with the International Electrotechnical Commission (IEC) on all matters of

83 electrotechnical standardization.

84 The procedures used to develop this document and those intended for its further maintenance are

85 described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the

86 different types of ISO documents should be noted. This document was drafted in accordance with the

87 editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).

88 Attention is drawn to the possibility that some of the elements of this document may be the subject of

89 patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any

90 patent rights identified during the development of the document will be in the Introduction and/or on

91 the ISO list of patent declarations received (see www.iso.org/patents).

92 Any trade name used in this document is information given for the convenience of users and does not

93 constitute an endorsement.

94 For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and

95 expressions related to conformity assessment, as well as information about ISO's adherence to the World

96 Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see

97 www.iso.org/iso/foreword.html.

98 This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 33,

99 Vehicle dynamics, chassis components and driving automation systems testing.

100 This document belongs to a series of Standards series consisting of ISO 34501, ISO 34502 and ISO 34503.

101 Any feedback or questions on this document should be directed to the user’s national standards body. A

102 complete listing of these bodies can be found at www.iso.org/members.html.
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103 Introduction
[1]

104 The move towards Automated Driving Systems (ADS) is being driven by the many potential benefits of

105 the technology, such as increased safety, reduced traffic congestion, lowered emissions, and potentially

106 increased mobility for those unable to drive. In order to realize these benefits, it is essential that the ADS

107 technology is introduced safely.

108 The development of automated vehicle technology has received wide public attention, with countries

109 worldwide focussing on:

110 • Ensuring that the introduction of ADSs for testing/trialling purposes and for commercial

111 operations is done safely, securely and legally; and
112 • Building public and consumer trust and acceptance of the technology.

113 A key aspect of the safe use of automated vehicle technology is defining its capabilities and limitations

114 and clearly communicating these to the end user, leading to a state of “informed safety”. The first step in

[1]

115 establishing the capability of an ADS is the definition of its Operational Design Domain (ODD) . In

116 addition to safe operation, ODD definition is also required for conformity with laws and regulations and

117 compliance with vehicle goals e.g., mobility and comfort needs.

118 The ODD represents the operating conditions within which an ADS can perform the Dynamic Driving

[1]

119 Task (DDT) safely during a trip. This document focuses on a taxonomy and format for the ODD

120 definition for a given ADS to create a common understanding of the ODD.

121 The ODD taxonomy and definition format specified in this document will enable ADS manufacturers to

122 specify, implement and communicate minimum safety requirements in their designs, and allow end users

123 (e.g., insurers, national, local, and regional government), operators and regulators to reference a

124 minimum set of ODD attributes and performance requirements in their procurements. It will also enable

125 ADS manufacturers, developers and suppliers of components and subcomponents to define the operating

126 capability and assemble sets of evidence that will improve confidence in the safety of the resulting

127 product (such as component specifications) and in the data obtained from test and verification activities.

128 While there are a number of different testing, trialling and deployment environments, this document

129 provides a generic taxonomy for defining each of these environments. For a scenario-based verification

130 methodology for ADS, a hierarchical taxonomy for ODD definition and a definition format also enables an

131 efficient scenario creation and scenario parametrisation. Such a definition format standard is in

132 development – ASAM OpenODD.
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133 Road Vehicles - Taxonomy for Operational Design Domain for an
134 Automated Driving System
135 1 Scope

136 This document specifies the requirements for the hierarchical taxonomy for specifying operating

[1]

137 conditions which enable the definition of an Operational Design Domain (ODD) of an Automated

[1]

138 Driving System (ADS) . This document also specifies requirements for the definition format of an ODD

139 using the taxonomy. The ODD comprises specific conditions (which include the static and dynamic

[1]
140 attributes) within which an ADS is designed to function.
[1]

141 This document is mainly applicable to level 3 and level 4 ADS . An ODD for level 5 ADS is unlimited (i.e.,

142 operation is possible everywhere).

143 This document is for use by organizations taking part in developing safety cases for automated vehicle,

144 in particular, for organizations conducting trials, testing and commercial deployment. This document is

145 also for use by manufacturers of Level 3/4 ADS to define the ADS’ operating capability. It is also of interest

146 to insurers, regulators, service providers, national, local and regional governments to enable them to

147 understand possible ADS deployments and capabilities.

148 This document does not cover the basic test procedures for attributes of the ODD. It does not cover the

149 monitoring requirements of the ODD attributes.
150 2 Normative references

151 The following documents are referred to in the text in such a way that some or all of their content

152 constitutes requirements of this document. For dated references, only the edition cited applies. For

153 undated references, the latest edition of the referenced document (including any amendments) applies.

154 ISO/SAE PAS 22736: Taxonomy and definitions for terms related to driving automation systems for on-

155 road motor vehicles

156 ISO/DIS 34501: Road vehicles - Terms and definitions of test scenarios for automated driving systems

157 ISO/DIS 34502: Road vehicles - Scenario-based safety evaluation framework for Automated Driving

158 Systems
159 3 Terms and definitions

160 For the purposes of this document, the terms and definitions given in ISO/SAE PAS 22736 and ISO/DIS

161 34501 and the following apply.

162 ISO and IEC maintain terminological databases for use in standardization at the following addresses:

163 — ISO Online browsing platform: available at http://www.iso.org/obp
164 — IEC Electropedia: available at http://www.electropedia.org/
165 3.1
166 dynamic elements
167 all movable objects and actors in the ODD within the DDT timeframe.
168 {SOURCE: Ulbrich et. al, 2015 [5], modified}
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169 3.2
170 environmental conditions

171 weather and other atmospheric conditions (as well as information technology connectivity)

172 NOTE to entry: Environment conditions does not contain scenery elements.
173 3.3
174 Minimal Risk Manoeuvre (MRM)

175 tactical or operational manoeuvre triggered and executed by the ADS to achieve the Minimal Risk

176 Condition (MRC)
177 3.4
178 operational driving task
[1]

179 dynamic Driving Task that involves split-second reactions that can be considered pre-cognitive or

180 innate

181 NOTE to entry: Examples include making micro-corrections to steering, braking and accelerating to

182 maintain lane position in traffic or to avoid a sudden obstacle or hazardous event in the vehicle’s pathway.

183 3.5
184 scenery elements
185 non-movable elements of the ADS equipped vehicle’s operating environment
186 NOTE to entry: in the context of an ODD
187 3.6
188 tactical driving task

189 dynamic driving task which involves drivers or an ADS exercising manoeuvre control, allowing them to

190 negotiate the directly prevailing circumstances
191 {SOURCE: Michon, 1985 [9], modified}
192 3.7
193 vulnerable road user

194 non-protected road user such as motorcyclists, cyclists, pedestrians and persons with disabilities or

195 reduced mobility and orientation.
196 3.8
197 traffic agents
198 anyone who uses a road including sidewalk and other adjacent spaces
199 3.9
200 Target Operational Domain (TOD)
201 real-world conditions that an ADS may experience in during its deployment.

202 NOTE to entry: While the ODD constitutes of the operating conditions that an ADS is design to operate in,

203 the TOD is the area where the ADS will be deployed and may have conditions outside the ODD of the ADS.

204 3.10
205 Current Operational Domain (COD)
206 real-time real-world conditions that the ADS is experiencing.
207 3.11
Operational Domain (OD)
208
209 real-world conditions that an ADS may experience
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210 4 Symbols (and abbreviated terms)
211 ODD Operational Design Domain
212 ADS Automated Driving Systems
213 DDT Dynamic Driving Task
214 MRM Minimal Risk Manoeuvre
215 MRC Minimal Risk Condition
216 AV Automated Vehicle
217 V2I Vehicle to Infrastructure
218 ASAM Association for Standardization of Automation and Measuring Systems
219 OD Operational Domain
220 TOD Target Operational Domain
221 COD Current Operational Domain
222 5 Operational Design Domain (ODD) and Target Operational Domain (TOD)

223 An ODD defines the operating conditions under which an ADS is designed to operate safely. However, the

224 target operational domain (TOD) constitutes of the real-world conditions that an ADS may experience.

225 Often, the OD will generally be a superset of the ODD properties.

226 In real world deployment of ADS, the difference between an ODD and TOD highlights the limitations of

227 the ADS. In all practical cases, an ODD definition will not be exhaustive enough to cover all attributes or

228 occurrences in a TOD. Therefore, it is important to ensure the boundary between ODD and OD is defined

229 objectively and have design mechanisms in the ADS to execute fallback manoeuvres when an ODD exit is

230 encountered to ensure safe operation in a TOD. Current operational domain (COD) refers to the real-time

231 operational domain, i.e., real-time real-world conditions that the ADS is experiencing (Figure 1).

232
233 Figure 1. Relationship between ODD, TOD and COD
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234 6 ODD and scenario relationship

235 As an ODD definition needs to be testable, ODD attributes and its definition play a key role in scenario-

236 based testing. It is important to highlight that ODD and scenarios are two distinct but related constructs.

237

While ODD describes the operating conditions of the ADS in which it is designed to operate in, a scenario

238 along with parts of the scenery elements and environmental conditions, describes the behaviour of the

239 traffic participants and may also define the desired behaviour of the ego vehicle in an instantiation (part)

240 of an ODD or outside of an ODD.
241 NOTE See Annex A for the overall ADS-Constraining factors apart of the ODD.

242 The ODD definition shall be used as one of the inputs for scenario-based safety evaluation framework

243 according to ISO/DIS 34502. Therefore, one of the first steps in a verification and validation process of

244 an ADS would be to analyse the designed ODD of the ADS to create a set of test scenarios. Second step

245 would involve testing the desired behaviour of the ADS by choosing a set of behaviours from a behaviour

246 competency library. The choice of the behaviours may include undesired behaviours to test the ADS’

247 response. An instantiation of the ODD together with a desired behaviour and the description of the traffic

248 participant behaviour according to events and triggers will provide a scenario definition for the ADS.

249 Such qualitative scenario can then be further detailed into functional, abstract, logical and concrete

250 scenarios to create a scenario library (Figure 2).

251 Furthermore, the ODD definition can be used as a plausibility check, whether individual test scenarios

252 are inside, outside or at the boundary of an ODD. Such scenarios also enable the test for activation and

253 deactivation of the ADS depending on ODD. It is important to test against scenarios outside the ODD in

254 order to ensure that the ADS is not misused in situations for which it is not designed for. Also, a

255 comparison between a test scenario set and the ODD definition shall be performed to analyse the test

256 space coverage.

257 As centralised scenario library will potentially have a large number of scenarios for different ODDs, ODD

attributes (see clause 8) and behaviour labels (ASAM OpenLabel [3]) can play a key role in enabling

258

259 efficient scenario search for an ADS. For the proposed three types of scenarios mentioned in ISO 34502,

260 perception-, traffic- and vehicle stability, there will exist an ODD instantiation. For example, a perception

261 related scenario focussed on blind spot detections may exist on a motorway or on a road in a city centre,

262 where motorway and city centre roads are ODD instantiations. Compared to an ODD definition, a scenario

263 has additional constructs like events, triggers and other dynamically changing behaviour. Such scenario

264 attributes may be classified according to ASAM OpenLabel [3].
265
266 Figure 2. Relationship between ODD, behaviour and scenarios
267 7 ODD requirements and application
268 7.1 Abstraction of ODD definition

269 Based on the taxonomy and definition format in this document (clause 8-12), an ODD definition shall be

270 developed by an ADS developer and before deployment should be compared with the stakeholders’

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271 requirements of the operating domain (OD), either individually or in consultation, for the safe operation

272 of the ADS in the operating domain.

273 An ODD may be defined from the perspective of an end user or a system specifier. Depending on the

274 perspective, the abstraction of the ODD definition may vary.

275 Note: Although end users and specifier may have different abstractions of ODD, the ODD definition should

276 be done objectively to avoid any misunderstandings.

277 Stakeholders or end users may include local authorities, regulators, ADS system user, service providers,

278 manufacturers, developers of an ADS or suppliers of components and subcomponents. A city council, for

279 example, may develop an ODD definition as part of a procurement specification for an ADS mobility

280 service, while a manufacturer may develop an ODD definition in order to convey the ADS’ capabilities and

281 limitations and create the corresponding safety case. Different s
...