Road vehicles — Test scenarios for automated driving systems — Vocabulary

The document defines terms in the context of test scenarios for automated driving systems (ADS). The document is applicable to ADS of Level 3 and above defined in ISO/SAE PAS 22736.

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

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Road vehicles — Test scenarios
for automated driving systems —
Véhicules routiers — Scénarios d'essai pour les systèmes de conduite
automatisée — Vocabulaire
Reference number
ISO 34501:2022(E)
© ISO 2022

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ISO 34501:2022(E)
© ISO 2022
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ISO 34501:2022(E)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
Bibliography . 9
Index .10
© ISO 2022 – All rights reserved

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ISO 34501:2022(E)
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  © ISO 2022 – All rights reserved

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ISO 34501:2022(E)
Automated driving systems (ADS) combine a variety of sensors to perceive their surroundings, such as
cameras, radars, lidars, sonars, GNSS receivers, HD maps, odometry and inertial measurement units.
ADS advanced control systems interpret sensory information to identify appropriate navigation paths,
as well as obstacles and relevant signage and automatically control the vehicle. To make this work, the
vehicle is developed by simulation and real-world operation to ensure the driving capacities of the ADS,
with the priority being safety. Prior to releasing to the public, the system is tested for many scenarios
from varieties of sources, not limited to naturalistic driving situations and known corner cases.
Scenario-based test methods for ADS mainly consist of four aspects: test scenarios, procedures,
equipment and criteria with which the performance of ADS can be evaluated. Among these aspects,
the development of test scenarios is most fundamental since their integrity and representativeness are
crucial for evaluating the performance of ADS. Test scenarios serve as a basis for developing relevant
procedures, equipment and criteria. Because of the importance of the test scenarios, the needs for
standardizing the language we use to describe scenarios are derived from the demand of government
and industry in terms of performing ADS design, testing, evaluation, and management, etc.
A universal norm of vocabularies supports providing basic ideas and clarifying the interrelations and
concepts commonly used in scenarios. These vocabularies could be useful to facilitate the mutual-
understanding, communication, and development of scenario-based engineering process.
In the context of automated driving, the vocabulary of test scenario is inevitably associated with
existing standards like ISO 21448, ISO 26262-1 or other technical documents. However, people may find
that some terms being defined in this document might not be identical with those in other documents.
That is because, terms in this document are defined and interpreted in the context of test scenarios
description with emphasis on their interrelationship to each other, while other standards may focus on
safety or other aspects.
© ISO 2022 – All rights reserved

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Road vehicles — Test scenarios for automated driving
systems — Vocabulary
1 Scope
The document defines terms in the context of test scenarios for automated driving systems (ADS).
The document is applicable to ADS of Level 3 and above defined in ISO/SAE PAS 22736.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
automated driving system
hardware and software that are collectively capable of performing the entire dynamic driving task
(DDT) (3.27) on a sustained basis, regardless of whether it is limited to a specific operational design
domain (ODD) (3.26)
Note 1 to entry: ADS is used specifically to describe a Level 3, 4, or 5 driving automation system.
Note 2 to entry: In contrast to ADS, the generic term “driving automation system” refers to any Level 1 to 5
system or feature that performs part or all of the DDT on a sustained basis. Given the similarity between the
generic term, “driving automation system” and the Level 3 to 5 specific term, “automated driving system”, the
latter term should be capitalized when spelled out and reduced to its abbreviation, ADS, as much as possible,
while the former term should not be.
[SOURCE: ISO/SAE PAS 22736: 2021, 3.2, modified — Note 1 to entry has been added.]
system under test
automated driving system (ADS) (3.1) that is tested with test scenarios (3.5)
subject vehicle
ego vehicle
host vehicle
vehicle under observation in the process of testing, evaluation, or demonstration
Note 1 to entry: Subject-vehicle testing can be connected with automated driving system (ADS) (3.1) testing. In
certain cases, the ADS can be tested via vehicle testing. Under these circumstances, the performance of the vehicle
does not differ from the performance of the ADS. This is not applicable to the tests that involve the interaction
between the ADS and the user.
© ISO 2022 – All rights reserved

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ISO 34501:2022(E)
sequence of scenes (3.6) usually including the automated driving system(s) (ADS) (3.1)/subject vehicle(s)
(3.3), and its/their interactions in the process of performing the dynamic driving task (DDT) (3.27)
Note 1 to entry: The definition is an editorial rework of the definition in ISO 21448. The intended meaning of both
definitions is the same.
EXAMPLE In the scenario in Figure 1, there are two actors (3.16), actor 1 is the subject vehicle, actor 2 is the
pedestrian who is about to cross the street. The purpose of this scenario is to specify the behaviour of the subject
vehicle (actor 1) in response to the given actions (3.15) of the pedestrian (actor 2). There are two 2 triggers (3.14)
in this scenario. The initiation of the scenario is indicated by trigger 1, which corresponds to the moment that
the pedestrian starts crossing the street. At the same time, the subject vehicle is traveling at a pre-set speed
for the test purpose. In this case, the scene of a pedestrian appearing on the street becomes the situation (3.17)
from the perspective of the subject vehicle. The expected behaviour of the subject vehicle under ADS control is to
decelerate to stop until the pedestrian safely finishes crossing the road. The event (3.13) of a pedestrian arriving
at the opposite roadside could be the trigger 2 for t

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