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For the offline safety assessment of automated vehicles, the most challengingand critical scenarios must be identified efficiently. Therefore, we present anew approach to define challenging scenarios based on a sensor setup model ofthe ego-vehicle. First, a static optimal approaching path of a road user to theego-vehicle is calculated using an A* algorithm. We consider a poor perceptionof the road user by the automated vehicle as optimal, because we want to definescenarios that are as critical as possible. The path is then transferred to adynamic scenario, where the trajectory of the road user and the road layout aredetermined. The result is an optimal road geometry, so that the ego-vehicle canperceive an approaching object as poorly as possible. The focus of our work ison the highway as the Operational Design Domain (ODD).

Automatic Generation of Road Geometries to Create Challenging Scenarios for Automated Vehicles Based on the Sensor Setup