# An Open-Source Scenario Architect for Autonomous Vehicles

arXiv: https://arxiv.org/abs/2006.09731 · HTML: https://mlsanity.com/paper/2006.09731/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Jun 2020.

## Built on by (most cited first, 2 of 2)

- [Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing](https://mlsanity.com/paper/2202.07008/) (2022)
- [MultiDrive: A Co-Simulation Framework Bridging 2D and 3D Driving Simulation for AV Software Validation](https://mlsanity.com/paper/2505.13959/) (2025)

## Abstract (arXiv)

The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios at the limit of handling -- a favored approach is simulation-based testing. In this work, we propose an open-source graphical user interface, which allows the generation of a multi-vehicle scenario in a regular or even a race environment. The underlying method and implementation is elaborated in detail. Furthermore, we showcase the potential use-cases for the scenario-based validation of a safety assessment module, integrated into an autonomous driving software stack. Within this scope, we introduce three illustrative scenarios, each focusing on a different safety-critical aspect.