The ConScenD Dataset

Concrete Scenarios from the highD Dataset According to the ALKS Regulation UNECE R157 in OpenX


In which scenarios do we need to test automated driving systems?

The UNECE R157 ALKS Regulation is providing a list of scenarios, which need to be tested for the introduction of Level 3 Automated Lane Keeping Systems. The Regulation, however, is missing the required parameterization necessary for test case generation. To overcome this, we incorporate the exposure and consider realistic traffic behavior by extracting concrete scenarios according to Regulation's scenario definition from our established naturalistic highway dataset highD. We extracted over 340 concrete scenarios within the ODD of ALKS and are making them available for free in OpenScenario calling it the ConScenD dataset. You can easily try out our scenarios using the open source simulation tools CARLA and esmini.

You can request the dataset for free below.


[Flowchart: Scenarios]

More Scenarios Needed?

We have more scenario data from Germany and from around the world.

Get in Contact with us for more information and to request a quote.


Our paper introducing the dataset and the used methods is submitted to IEEE IV 2021. A preprint on is available here. To reference the dataset, please cite this publication:

    title={ The  ConScenD  Dataset:  Concrete  Scenarios  from  the  highD  Dataset According  to  ALKS  Regulation  UNECE  R157  in  OpenX},
    author={ Tenbrock, Alexander and König, Alexander and Keutgens, Thomas and Bock, Julian and Weber, Hendrik and Krajewski, Robert and Zlocki, Adrian },

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