ISO/FDIS 34505
(Main)Road vehicles — Test scenarios for automated driving systems — Scenario evaluation and test case generation
Road vehicles — Test scenarios for automated driving systems — Scenario evaluation and test case generation
This document defines a methodology to evaluate scenarios and provides a procedure extending test scenarios to test cases for a given function in a traceable way based on the testability. This document also defines necessary characteristics of a test case that include but not limited to unified identifier, test objective, inputs, steps, platform and expected results. This document describes methods and criteria to evaluate the test case (e.g., frequency, criticality, complexity of scenario) the coverage concerning functional and technical requirements, operational domain (OD) and test criteria, and also optimizing of the set of prioritizied test cases. This document is applicable to Level 3 and higher ADS as defined in ISO/SAE 22736. The focus of this document is on safety (Functional Safety and Safety of the intended functionality (SOTIF)), in general the content is also applicable to non-safety relevant test scenarios.
Véhicules routiers — Scénarios d'essai pour les systèmes de conduite automatisée — Évaluation de scénarios et génération de cas de test
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FINAL DRAFT
International
Standard
ISO/TC 22/SC 33
Road vehicles — Test scenarios
Secretariat: DIN
for automated driving systems —
Voting begins on:
Scenario evaluation and test case
2025-03-18
generation
Voting terminates on:
2025-05-13
Véhicules routiers — Scénarios d'essai pour les systèmes de
conduite automatisée — Évaluation de scénarios et génération
de cas de test
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
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Reference number
FINAL DRAFT
International
Standard
ISO/TC 22/SC 33
Road vehicles — Test scenarios
Secretariat: DIN
for automated driving systems —
Voting begins on:
Scenario evaluation and test case
generation
Voting terminates on:
Véhicules routiers — Scénarios d'essai pour les systèmes de
conduite automatisée — Évaluation de scénarios et génération
de cas de test
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
© ISO 2025
IN ADDITION TO THEIR EVALUATION AS
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
or ISO’s member body in the country of the requester.
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
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Published in Switzerland Reference number
ii
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Introduction and overview . 4
4.1 General .4
4.2 Requirements for compliance .5
5 Evaluation of scenario characteristics . 5
5.1 Purpose .5
5.2 Set of scenarios .6
5.2.1 Objectives .6
5.2.2 General .6
5.2.3 Input to this clause .6
5.2.4 Requirements .7
5.2.5 Work products .7
5.3 Relations between the scenarios and functional and technical requirements .7
5.3.1 Objectives .7
5.3.2 General .7
5.3.3 Input to this clause .8
5.3.4 Requirements .8
5.3.5 Work products .9
5.4 Relation between scenarios and ODD .9
5.4.1 Objectives .9
5.4.2 General .9
5.4.3 Input to this clause .9
5.4.4 Requirements .9
5.4.5 Work products .10
5.5 Relation between the scenarios and test objectives .10
5.5.1 Objectives .10
5.5.2 General .10
5.5.3 Input to this clause .10
5.5.4 Requirements .10
5.5.5 Work products .11
6 Test case generation before test execution .11
6.1 Purpose .11
6.2 Selection of scenarios .11
6.2.1 Objectives .11
6.2.2 General .11
6.2.3 Input to this clause . 12
6.2.4 Requirements and recommendations . 12
6.2.5 Work products . 12
6.3 Scenario priority . 13
6.3.1 Objectives . 13
6.3.2 General . 13
6.3.3 Input to this clause . 13
6.3.4 Requirements .14
6.3.5 Work products .14
6.4 Extend scenarios to test cases . 15
6.4.1 Objectives . 15
6.4.2 General . 15
6.4.3 Input to this clause . 15
6.4.4 Requirements .16
iii
6.4.5 Work products .17
6.5 Methods to optimize the set of test cases .17
6.5.1 Objectives .17
6.5.2 General .17
6.5.3 Input to this clause .17
6.5.4 Requirements .17
6.5.5 Work products .
...
ISO/TC 22/SC 33/WG 9
Date: 2025-01
Secretariat: DIN
Date: 2025-03-03
Road vehicles — Test scenarios for automated driving systems –—
Scenario evaluation and test case evaluationgeneration
Véhicules routiers — Scénarios d'essai pour les systèmes de conduite automatisée — Évaluation de scénarios et
génération de cas de test
FDIS stage
CONFIDENTIAL
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication
may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying,
or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO
at the address below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8 • CP 401
CH-1214 Vernier, Geneva, Switzerland
Tel.Phone: + 41 22 749 01 11
Fax + 41 22 749 09 47
E-mail: copyright@iso.org
Website: www.iso.org
Published in Switzerland
CONFIDENTIAL
ii
Contents
Foreword . iv
Introduction . v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 Introduction and overview . 4
4.1 General. 4
4.2 Requirements for compliance . 7
5 Evaluation of scenario characteristics . 7
5.1 Purpose . 7
5.2 Set of scenarios . 7
5.3 Relations between the scenarios and functional and technical requirements . 9
5.4 Relation between scenarios and ODD . 11
5.5 Relation between the scenarios and test objectives . 12
6 Test case generation before test execution . 13
6.1 Purpose . 13
6.2 Selection of scenarios . 13
6.3 Scenario priority . 15
6.4 Extend scenarios to test cases . 17
6.5 Methods to optimize the set of test cases . 20
7 Test case evaluation during test execution . 21
7.1 Purpose . 21
7.2 Test initialization . 21
7.3 Monitoring of test execution . 21
8 Test case evaluation after test execution . 22
8.1 Purpose . 22
8.2 Comparison of specified and executed test case after execution . 22
8.3 Evaluation of executed test cases concerning validity of simulation (for virtual testing
only) . 24
8.4 Evaluation of executed test cases concerning exposure in reality . 25
8.5 Evaluation of traceability . 26
8.6 Evaluation of coverage based on executed test cases . 26
Annex A (informative) Methodology to classify the relation between ODD and scenario . 28
Annex B (informative) Methodology to sort the test priority based on multiple criteria . 31
Bibliography . 41
CONFIDENTIAL
iii
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
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This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 33, Vehicle
dynamics, chassis components and driving automation systems testing.
Any feedback or questions on this document should be directed to the user’s national standards body. A
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CONFIDENTIAL
iv
Introduction
The rapid development of the automated driving technology with the goal of improving safety and comfort
has become an important aspect in the development of modern automobile technology. In addition, the
evaluation of tests of automated driving systems (ADSs) based on test scenarios has become a common
method.
A scenario is a sequence of scenes usually including the ADS(s)/subject vehicle(s), and their interactions in
the process of performing a dynamic driving task (DDT). A test scenario is a scenario intended for the testing
and assessment of ADS(s) or subject vehicle(s) in their operational environment (see ISO 34501). A test case
is a set of test inputs (stimulation), steps, test platform and expected results (pass / fail criteria) developed for
a particular test objective (test case is defined later in this document). In order to execute the test, some
additional items are needed to supplement the scenario. Another important topic is how to choose the right
test scenario for a particular automated driving system (ADS) function.
This document is the basis of generating and evaluating scenario-based test cases for ADSs.
This document is intended to be used to harmonize and standardize the evaluation of scenarios and the
procedure and methodology of the generation of test cases for ADSs.
CONFIDENTIAL
v
DRAFT International Standard ISO/FDIS 34505:2024(en)
Road vehicles — Test scenarios for automated driving systems –—
Scenario evaluation and test case evaluationgeneration
1 Scope
This document defines a methodology to evaluate scenarios and provides a procedure extending test
scenarios to test cases. This document also defines the necessary characteristics of test cases, which include
but are not limited to unified identifier, test objectives, inputs, steps, platforms and expected results.
This document describes methods and criteria to evaluate test cases (e.g. frequency, criticality, complexity of
a scenario), the coverage concerning functional and technical requirements, operational domain (OD), test
criteria, and also the optimization of sets of prioritized test cases.
This document is applicable to Level 3 and higher ADS as defined in ISO/SAE PAS 22736. The focus of this
document is on scenarios, which will be tested to evaluate safety (functional safety and safety of the intended
functionality (SOTIF)). Nevertheless, the content, in general, is also applicable to non-safety related test
scenarios.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 21448:2022, Road vehicles — Safety of the intended functionality
ISO 26262-3:2018, Road vehicles — Functional safety — Part 3: Concept phase
ISO 26262-8:2018, Road vehicles — Functional safety — Part 8: Supporting processes
ISO 34501, Road vehicles — Test scenarios for automated driving systems — Vocabulary
ISO 34502:2022, Road vehicles — Test scenarios for automated driving systems — Scenario based safety
evaluation framework
ISO 34503:2023, Road vehicles — Test scenarios for automated driving systems – Taxonomy— Specification for
operational design domain
ISO 34504, Road vehicles — Test scenarios for automated driving systems –— Scenario categorization
ISO 26262-8:2018, Road vehicles — Functional safety — Part 8: Supporting Processes
ISO 26262-3:2018, Road vehicles — Functional safety — Part 3: Concept phase
ISO 21448:2022, Road vehicles — Safety of the intended functionality
CONFIDENTIAL
63 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 34501, ISO 34502, ISO 34503 and,
ISO 34504 and the following apply.
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/
6.13.1 3.1
prospective scenario criticality
measurable criteria to reflect the number and weighting of the risk factors in the scenario
Note 1 to entry: This definition is focus on field of safety, for other field like to test the energy economy of ADS could have
other criteria.
Note 2 to entry: The prospective scenario criticality describes in prospective the possible collision and its impact to the
safety of the traffic participants and the passenger(s) of the automated driving system (ADS) equipped vehicle, and is
based on ISO 34502:2022, 3.1.
Note 3 to entry: The measurement for the prospective scenario criticality can be a weighted sum of the expected time to
collision and expected relative velocity at the collision time.
Note 4 to entry: Knowledge of the ADS can be considered while estimating the criticality of the scenario, but it is not
necessary to consider it as the real safety assessment of ADS is done after testing the scenario.
Note 5 to entry: Due to the different operational design domain (ODD) and DDT definition of each ADS, the prospective
scenario criticality rating may be different for each ADS.
Note 6 to entry: For some ODD attributes, the scenarios at the boundary of ODD are more critical compared to the non
...
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