ISO 34502:2022

INTERNATIONAL ISO
STANDARD 34502
First edition
2022-11
Road vehicles — Test scenarios
for automated driving systems —
Scenario based safety evaluation
framework
Véhicules routiers — Scénarios d'essai pour les systèmes de conduite
automatisée — Cadre d'évaluation de la sécurité basé sur des
scénarios
Reference number
© ISO 2022
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ii
Contents Page
Foreword .v
Introduction . vi
1 S c op e . 1
2 Nor m at i ve r ef er enc e s . 1
3 Terms and definitions . 1
4 T est scenario-based safety evaluation process . 2
4.1 I ntegration into the overall development process . 2
4 .1.1 Obje c t i ve s . 2
4.1.2 G eneral . 2
4.1.3 Requirements and recommendations . 8
4.1.4 Requirements for conformity . 9
4.2 S afety test objectives . 9
4 . 2 .1 Obje c t i ve s . 9
4.2.2 G eneral . 9
4.2.3 I nput to this clause . 9
4.2.4 R equirements and recommendations . 10
4 . 2 . 5 Work pr o duc t s . 10
4.3 S pecification of the relevant scenario space . 10
4 . 3 .1 Obje c t i ve s . 10
4.3.2 G eneral . 10
4.3.3 Input to this clause . 10
4.3.4 R equirements and recommendations . 11
4 . 3 . 5 Work pr o duc t s . 11
4.4 D erivation of critical scenarios based on risk factors . 11
4 .4 .1 Obje c t i ve s . 11
4.4.2 G eneral . 11
4.4.3 Input to this clause . 11
4.4.4 R equirements and recommendations .12
4 .4 . 5 Work pr o duc t s .12
4.5 D erivation of test scenarios based on covering the relevant scenario space .12
4 . 5 .1 Obje c t i ve s .12
4.5.2 General .12
4.5.3 Input to this clause . 13
4.5.4 R equirements and recommendations .13
4 . 5 . 5 Work pr o duc t s .13
4.6 D erivation of concrete test scenarios and test scenario allocation .13
4 . 6 .1 Obje c t i ve s .13
4.6.2 G eneral .13
4.6.3 Input to this clause . 13
4.6.4 R equirements and recommendations . 14
4 . 6 . 5 Work pr o duc t s .15
4.7 T est execution . .15
4.7.1 Ob jectives .15
4.7.2 I nput to this clause . 16
4.7.3 Requirements and recommendations . 16
4.7.4 W ork products . 17
4.8 S afety evaluation . 17
4.8.1 Objectives . 17
4.8.2 General . 17
4.8.3 Input to this clause . 17
4.8.4 Requirements and recommendations . 18
4.8.5 Work products . 18
iii
Annex A (informative) Physics principles scenario-based approach .19
Annex B (informative) Traffic-related critical scenarios .22
Annex C (informative) Perception-related critical scenarios .28
Annex D (informative) Vehicle control related critical scenarios .49
Annex E (informative) Derivation and structuring of scenarios using criticality analysis.53
Annex F (informative) Qualification of virtual test platforms .62
Annex G (informative) Scenario database and parameter variation methods .66
Annex H (informative) Segmentation of test space .69
Annex I (informative) Evaluation of test scenarios based on behavioural safety assessment .71
Annex J (informative) Risk evaluation based on positive risk balance .75
Annex K (informative) Constrained random testing to identify unknown critical scenarios .77
Annex L (informative) Sufficiency of traffic data to develop parameter ranges .79
Bibliography .80
iv
Foreword
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This document was prepared by Technical Committee ISO/TC 22, Road Vehicles, Subcommittee SC 33,
Vehicle dynamics and chassis co
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