Scenario Mining in the Urban Domain: Exploiting the Topology of a Road Network for Maneuver Annotation and Scenario Extraction

Before Automated Vehicles (AVs) can enter the market, academic and industrial partners must tackle system homologation to ensure the functional safety of AVs. For that task, a scenario-driven approach has gained acceptance in recent years since it allows facing the overall system’s complexity. Real-world drivings are a valuable source of scenarios. However, their extraction and analysis are still the subjects of research. This work addresses this issue and proposes a novel methodology to extract routing scenarios on urban intersections. Therefore, trajectories are annotated with routing maneuvers using a semantically enriched road network and map matching for route backtracking. The accuracy of the approach and consistency of the methodology is evaluated with Brunswick’s inner-city ring and by extracting u-turn scenarios on the Application Platform for Intelligent Mobility (AIM) Research Intersection of the German Aerospace Center (DLR).