The ConScenD Dataset: Concrete Scenarios from the highD Dataset According to ALKS Regulation UNECE R157 in OpenX

With Regulation UNECE R157 on Automated Lane-Keeping Systems, the first framework for the introduction of passenger cars with Level 3 systems has become available in 2020. In accordance with recent research projects including academia and the automotive industry, the Regulation utilizes scenario based testing for the safety assessment. The complexity of safety validation of automated driving systems necessitates system-level simulations. The Regulation, however, is missing the required parameterization necessary for test case generation. To overcome this problem, we incorporate the exposure and consider the heterogeneous behavior of the traffic participants by extracting concrete scenarios according to Regulation's scenario definition from the established naturalistic highway dataset highD. We present a methodology to find the scenarios in real-world data, extract the parameters for modeling the scenarios and transfer them to simulation. In this process, more than 340 scenarios were extracted. OpenSCENARIO files were generated to enable an exemplary transfer of the scenarios to CARLA and esmini. We compare the trajectories to examine the similarity of the scenarios in the simulation to the recorded scenarios. In order to foster research, we publish the resulting dataset called ConScenD together with instructions for usage with both simulation tools. The dataset is available online at https://www.levelXdata.com/scenarios.