Rule-Based Scenario Classification Using Vehicle Trajectories

Ensuring the safety of autonomous driving systems (ADS) requires scenario-based testing that reflects the complexity and variability of real-world driving conditions. However, the nondeterministic nature of actual traffic environments makes physical testing costly and limited in scope, particularly for rare and safety-critical scenarios. To address this, simulation has become a core component in validation by providing scalable, controllable, and repeatable testing environments. This study proposes a trajectory-based scenario classification framework that emphasizes both generality and interpretability. Specifically, we define a set of rule-based maneuver classification criteria using lateral acceleration patterns and apply them to simulated urban driving scenarios modeled with OpenSCENARIO. To address overlapping maneuver characteristics, a priority ordering of classification rules is introduced to resolve ambiguities. The proposed method was evaluated on a dataset comprising 7 types of maneuvers, including straight driving, lane changes, turns, roundabouts, and U-turns. Experimental results demonstrate the effectiveness of rule-driven classification based on vehicle trajectory dynamics and highlight the potential of this approach for structured scenario definition and validation in ADS simulation environments.