Scenario identification in autonomous driving environments

A control system for identifying scenarios of interest for development, verification and/or validation of an Automated Driving System, ADS, of a vehicle, the control system comprising:

• a control circuitry configured to:
• obtain a risk map of a surrounding environment of the vehicle, wherein the risk map is based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas;
• wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle;
• determine a compounded risk value of the ADS based on the risk parameters of a set of area segments of the risk map;
• monitor a scenario trigger by monitoring at least one of:
• the determined compounded risk value against a compounded risk trigger threshold,
• a development of the risk map over time against a map volatility trigger threshold, and
• a development of the compounded risk value over time against a risk volatility threshold;
• and
• if the scenario trigger is detected:
• store sensor data, the stored sensor data being from a time period around a point in time when the scenario trigger was detected.

A vehicle comprising:

• an Automated Driving System, ADS;
• a perception system comprising at least one sensor configured to monitor a surrounding environment of the vehicle;
• a vehicle control system comprising at least one sensor configured to monitor an actuation capability of the vehicle;
• a localization system configured to monitor a geographical map position of the vehicle;
• a control system for identifying scenarios of interest for development, verification and/or validation of an Automated Driving System, ADS, of a vehicle, the control system comprising
• a control circuitry configured to:
• obtain a risk map of a surrounding environment of the vehicle, wherein the risk map is based on an actuation capability of the vehicle and a location of free-space areas in the surrounding environment, the actuation capability including an uncertainty estimation for the actuation capability and the location of free-space areas comprising an uncertainty estimation for the estimated location of free-space areas;
• wherein the risk map comprises a risk parameter for each of a plurality of area segments comprised in the surrounding environment of the vehicle;
• determine a compounded risk value of the ADS based on the risk parameters of a set of area segments of the risk map;
• monitor a scenario trigger by monitoring at least one of:
• the determined compounded risk value against a compounded risk trigger threshold,
• a development of the risk map over time against a map volatility trigger threshold, and
• a development of the compounded risk value over time against a risk volatility threshold;
• and
• if the scenario trigger is detected:
• store sensor data, the stored sensor data being from a time period around a point in time when the scenario trigger was detected.