Test drives for validating automated driving functions are expensive and not always suitable. Therefore, simulation-based virtual test drives were invented. Both ways of testing offer pros and cons. Mixed reality test drive (MRTD) is an novel approach for combining the pros of reality and simulation. It uses real environmental conditions of real test drives and the accuracy and reproducibility of virtual test drive vehicle behavior descriptions (scenarios). Until now no method for the derivation of trajectories from a maneuver based scenario description exist. In this paper a methodology for the derivation of vehicle target trajectories from a scenario is introduced. The approach utilizes the OpenScenario description format for modeling dynamic vehicle behavior composed of sequential maneuvers. In particular, maneuvers can further be divided into conditions and actions. Due to physical restrictions of real vehicles, conditions and actions are evaluated regarding operability. Nonetheless, the composition of all maneuvers of a vehicle leads to its relative trajectory. Consequently, in combination with an OpenDrive geometric roadnetwork, a geographically-referenced global target trajectory is derived. The presented methodology forms the basis of the MRTD approach by providing global target trajectories as input data for a vehicle motion controller. In addition, guidelines regarding practicable OpenScenario conditions and actions of maneuvers in the context of MRTD are defined. Finally, an overtake scenario is used to evaluate the trajectory generation with virtual test drive scenario simulation.     «

Test drives for validating automated driving functions are expensive and not always suitable. Therefore, simulation-based virtual test drives were invented. Both ways of testing offer pros and cons. Mixed reality test drive (MRTD) is an novel approach for combining the pros of reality and simulation. It uses real environmental conditions of real test drives and the accuracy and reproducibility of virtual test drive vehicle behavior descriptions (scenarios). Until now no method for the der...     »