A Novel Scenario-Based Testing Approach for Cooperative-Automated Driving Systems.

This paper presents a scenario-based safety assurance process for Automated Driving Systems (ADSs) combined with the Vehicle-to-Everything (V2X) connectivity aspect, system with connectivity capability is benchmarked with system without such capabilities. In addition, a novel approach to V2X modelling is introduced and implemented to obtain the required configuration of the V2X parameters for individual system, such modelling approach ensures that the V2X is effective within a system during testing by using a distance-based V2X parameter that correlates to the speed of the system. Such parameter is then used as the configuration of the V2X model when carrying out the ADS and V2X combined test. Using a pedestrian crossing scenario, a reduction in failure cases is demonstrated when combining the V2X and the ADS. Therefore, a synchronised approach of vehicle, sensor and communication sub-system can improve the overall safety function of the system.