| Summary: | Automated Driving Systems (ADSs) bring many benefits, however their safety assurance poses challenges. Scenario-based testing has been proposed. To provide strong safety evidence for their safety assurance, the scenario-based testing process needs to consider the Operational Design Domain (ODD) of the systems, ODD combined with the behavioural elements can provide a foundation for the scenario generation workflow due to common domain elements between ODDs and scenarios. Based on such background, this paper introduces a novel framework to generate scenarios specifically target on testing the system’s claimed ODD. It includes the process going from the system’s ODD and behaviour competency, to logical scenarios generation utilising scenario construct rule sets, and to the concretisation of the logical scenarios into concrete scenarios. This paper also draws link towards the part II of the paper series, which illustrates a novel approach for scenario coverage analysis.
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