6-Layer Model for a Structured Description and Categorization of Urban Traffic and Environment

Verification and validation of automated driving functions impose large\nchallenges. Currently, scenario-based approaches are investigated in research\nand industry, aiming at a reduction of testing efforts by specifying safety\nrelevant scenarios. To define those scenarios and operate in a complex\nreal-world design domain, a structured description of the environment is\nneeded. Within the PEGASUS research project, the 6-Layer Model (6LM) was\nintroduced for the description of highway scenarios. This paper refines the 6LM\nand extends it to urban traffic and environment. As defined in PEGASUS, the 6LM\nprovides the possibility to categorize the environment and, therefore,\nfunctions as a structured basis for subsequent scenario description. The model\nenables a structured description and categorization of the general environment,\nwithout incorporating any knowledge or anticipating any functions of actors.\nBeyond that, there is a variety of other applications of the 6LM, which are\nelaborated in this paper. The 6LM includes a description of the road network\nand traffic guidance objects, roadside structures, temporary modifications of\nthe former, dynamic objects, environmental conditions and digital information.\nThe work at hand specifies each layer by categorizing its items. Guidelines are\nformulated and explanatory examples are given to standardize the application of\nthe model for an objective environment description. In contrast to previous\npublications, the model and its design are described in far more detail.\nFinally, the holistic description of the 6LM presented includes remarks on\npossible future work when expanding the concept to machine perception aspects.\n