{"id":"https://openalex.org/W7131099619","doi":"https://doi.org/10.1109/access.2026.3665396","title":"ODD and Behavior-Based Approach to Scenario Coverage for Automated Driving Systems Testing","display_name":"ODD and Behavior-Based Approach to Scenario Coverage for Automated Driving Systems Testing","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7131099619","doi":"https://doi.org/10.1109/access.2026.3665396"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3665396","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3665396","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3665396","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093816375","display_name":"Emil Chodowiec","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Emil Chodowiec","raw_affiliation_strings":["WMG, University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0009-0003-1237-6291","affiliations":[{"raw_affiliation_string":"WMG, University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091601131","display_name":"Patrick Irvine","orcid":"https://orcid.org/0009-0000-9553-5961"},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Patrick Irvine","raw_affiliation_strings":["WMG, University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0009-0000-9553-5961","affiliations":[{"raw_affiliation_string":"WMG, University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093660704","display_name":"Justin-Kiyoshi Tiele","orcid":"https://orcid.org/0009-0004-2934-1746"},"institutions":[{"id":"https://openalex.org/I67530263","display_name":"Denso (United States)","ror":"https://ror.org/02w314k38","country_code":"US","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I67530263"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin-Kiyoshi Tiele","raw_affiliation_strings":["Software R&D, Denso Automotive Deutschland GmbH, Eching, Germany"],"raw_orcid":"https://orcid.org/0009-0004-2934-1746","affiliations":[{"raw_affiliation_string":"Software R&D, Denso Automotive Deutschland GmbH, Eching, Germany","institution_ids":["https://openalex.org/I67530263"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077857378","display_name":"Kazuhito Takenaka","orcid":"https://orcid.org/0009-0001-0821-2724"},"institutions":[{"id":"https://openalex.org/I67530263","display_name":"Denso (United States)","ror":"https://ror.org/02w314k38","country_code":"US","type":"company","lineage":["https://openalex.org/I4210132650","https://openalex.org/I67530263"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kazuhito Takenaka","raw_affiliation_strings":["Advanced Mobility Systems Development Division, Denso Corporation, R&D Tokyo, Ota City, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Mobility Systems Development Division, Denso Corporation, R&D Tokyo, Ota City, Japan","institution_ids":["https://openalex.org/I67530263"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126603389","display_name":"Xizhe Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xizhe Zhang","raw_affiliation_strings":["WMG, University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2883-2517","affiliations":[{"raw_affiliation_string":"WMG, University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126650537","display_name":"Siddartha Khastgir","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Siddartha Khastgir","raw_affiliation_strings":["WMG, University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6476-2536","affiliations":[{"raw_affiliation_string":"WMG, University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109062676","display_name":"P. A. Jennings","orcid":null},"institutions":[{"id":"https://openalex.org/I39555362","display_name":"University of Warwick","ror":"https://ror.org/01a77tt86","country_code":"GB","type":"education","lineage":["https://openalex.org/I39555362"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paul Jennings","raw_affiliation_strings":["WMG, University of Warwick, Coventry, U.K"],"raw_orcid":"https://orcid.org/0000-0001-7155-9694","affiliations":[{"raw_affiliation_string":"WMG, University of Warwick, Coventry, U.K","institution_ids":["https://openalex.org/I39555362"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5093816375"],"corresponding_institution_ids":["https://openalex.org/I39555362"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31462741,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"33117","last_page":"33139"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.6948000192642212,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.6948000192642212,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.05730000138282776,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.030400000512599945,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.6164000034332275},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5116000175476074},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.49889999628067017},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4959999918937683},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.48809999227523804},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4851999878883362},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4699000120162964},{"id":"https://openalex.org/keywords/completeness","display_name":"Completeness (order theory)","score":0.45809999108314514},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.4474000036716461},{"id":"https://openalex.org/keywords/scenario-testing","display_name":"Scenario testing","score":0.4023999869823456}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7483000159263611},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.6164000034332275},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5116000175476074},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.49889999628067017},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4959999918937683},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.48809999227523804},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4851999878883362},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4699000120162964},{"id":"https://openalex.org/C17231256","wikidata":"https://www.wikidata.org/wiki/Q5156540","display_name":"Completeness (order theory)","level":2,"score":0.45809999108314514},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.4474000036716461},{"id":"https://openalex.org/C80519477","wikidata":"https://www.wikidata.org/wiki/Q3532236","display_name":"Scenario testing","level":3,"score":0.4023999869823456},{"id":"https://openalex.org/C162307627","wikidata":"https://www.wikidata.org/wiki/Q204833","display_name":"Enhanced Data Rates for GSM Evolution","level":2,"score":0.3952000141143799},{"id":"https://openalex.org/C153701036","wikidata":"https://www.wikidata.org/wiki/Q659974","display_name":"Trustworthiness","level":2,"score":0.36410000920295715},{"id":"https://openalex.org/C111498074","wikidata":"https://www.wikidata.org/wiki/Q173326","display_name":"Formal verification","level":2,"score":0.35690000653266907},{"id":"https://openalex.org/C151552104","wikidata":"https://www.wikidata.org/wiki/Q7705809","display_name":"Test suite","level":4,"score":0.35179999470710754},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.3488999903202057},{"id":"https://openalex.org/C132835097","wikidata":"https://www.wikidata.org/wiki/Q7663745","display_name":"System safety","level":2,"score":0.33869999647140503},{"id":"https://openalex.org/C7166840","wikidata":"https://www.wikidata.org/wiki/Q1199682","display_name":"System testing","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C182122060","wikidata":"https://www.wikidata.org/wiki/Q6752328","display_name":"Manual testing","level":5,"score":0.3230000138282776},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.32109999656677246},{"id":"https://openalex.org/C112805685","wikidata":"https://www.wikidata.org/wiki/Q10566551","display_name":"Safety assurance","level":2,"score":0.3199000060558319},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3188999891281128},{"id":"https://openalex.org/C86469151","wikidata":"https://www.wikidata.org/wiki/Q917415","display_name":"Non-regression testing","level":5,"score":0.3181000053882599},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3179999887943268},{"id":"https://openalex.org/C128942645","wikidata":"https://www.wikidata.org/wiki/Q1568346","display_name":"Test case","level":3,"score":0.31709998846054077},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3140999972820282},{"id":"https://openalex.org/C107683887","wikidata":"https://www.wikidata.org/wiki/Q782466","display_name":"Integration testing","level":3,"score":0.30889999866485596},{"id":"https://openalex.org/C48002344","wikidata":"https://www.wikidata.org/wiki/Q2919644","display_name":"Verification and validation","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C106436119","wikidata":"https://www.wikidata.org/wiki/Q836575","display_name":"Quality assurance","level":3,"score":0.26969999074935913},{"id":"https://openalex.org/C81293917","wikidata":"https://www.wikidata.org/wiki/Q4189534","display_name":"System deployment","level":3,"score":0.2669999897480011},{"id":"https://openalex.org/C110251889","wikidata":"https://www.wikidata.org/wiki/Q1569697","display_name":"Model checking","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C162443782","wikidata":"https://www.wikidata.org/wiki/Q1066228","display_name":"White-box testing","level":5,"score":0.2623000144958496},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2606000006198883},{"id":"https://openalex.org/C165825675","wikidata":"https://www.wikidata.org/wiki/Q1399743","display_name":"Model-based testing","level":4,"score":0.25589999556541443},{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.25529998540878296},{"id":"https://openalex.org/C188598960","wikidata":"https://www.wikidata.org/wiki/Q7705805","display_name":"Test strategy","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2026.3665396","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3665396","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:wrap.warwick.ac.uk:198883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ACCESS.2026.3665396","pdf_url":null,"source":{"id":"https://openalex.org/S4306400665","display_name":"Warwick Research Archive Portal (University of Warwick)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39555362","host_organization_name":"University of Warwick","host_organization_lineage":["https://openalex.org/I39555362"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"NonPeerReviewed"},{"id":"pmh:oai:doaj.org/article:8424650f9bad4b85a34beff3edb527f1","is_oa":true,"landing_page_url":"https://doaj.org/article/8424650f9bad4b85a34beff3edb527f1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 33117-33139 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3665396","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3665396","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4200907883","display_name":null,"funder_award_id":"MR/S035176/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320313479","display_name":"Department of Transport, UK Government","ror":"https://ror.org/010mf0m52"},{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0,92,118,168],"safe":[1,227],"deployment":[2],"of":[3,53,114,165,209,219],"Automated":[4,180],"Driving":[5],"Systems":[6],"(ADS)":[7],"depends":[8],"on":[9,38],"rigorous":[10],"safety":[11,211],"assurance":[12,213],"testing.":[13,59],"Scenario-based":[14],"testing":[15],"has":[16,35],"emerged":[17],"as":[18,43],"a":[19,45,67,77,122,175],"key":[20],"methodology,":[21],"targeting":[22],"edge":[23],"cases":[24],"and":[25,104,111,155,199,215,222,228],"safety-critical":[26,191],"situations":[27],"that":[28,63],"ADS":[29,220],"may":[30],"encounter.":[31],"While":[32],"previous":[33],"research":[34],"primarily":[36],"focused":[37],"defining":[39],"these":[40],"situations,":[41],"known":[42],"scenarios,":[44,192],"significant":[46],"gap":[47,64],"remains":[48],"in":[49,152],"evaluating":[50],"the":[51,54,83,86,115,138,142,150,166,206,210,217],"completeness":[52],"scenario":[55,79,99],"sets":[56],"used":[57],"for":[58],"This":[60,203],"work":[61,204],"addresses":[62],"by":[65],"introducing":[66],"structured,":[68],"multi-level":[69],"coverage":[70,96],"framework":[71,93,125],"designed":[72],"to":[73,131,160,189,225],"systematically":[74],"assess":[75,161,196],"whether":[76],"given":[78],"set":[80],"comprehensively":[81],"tests":[82,149],"conditions":[84],"within":[85],"system\u2019s":[87,143],"Operational":[88],"Design":[89],"Domain":[90],"(ODD).":[91],"defines":[94],"four":[95],"metrics:":[97],"(1)":[98],"attribute":[100,133],"range,":[101],"(2)":[102],"ODD":[103,144,194],"behaviour":[105],"competency":[106],"coverage,":[107,195],"(3)":[108],"out-of-ODD":[109,153,197],"cases,":[110],"(4)":[112],"rules":[113,164],"road":[116],"compliance.":[117,202],"proposed":[119,169],"methodology":[120],"leverages":[121],"modular":[123],"simulation":[124],"with":[126,163],"an":[127,179],"integrated":[128],"analysis":[129,207],"engine":[130],"facilitate":[132],"range":[134],"exploration.":[135],"It":[136],"evaluates":[137],"test":[139],"suite":[140],"against":[141],"attributes,":[145],"including":[146],"relevant":[147],"combinations;":[148],"system":[151],"scenarios;":[154],"applies":[156],"scenario\u2013rule":[157],"matching":[158],"techniques":[159],"compliance":[162],"road.":[167],"framework\u2019s":[170],"effectiveness":[171],"is":[172],"demonstrated":[173],"through":[174],"case":[176],"study":[177],"involving":[178],"Lane":[181],"Keeping":[182],"System":[183],"(ALKS).":[184],"Results":[185],"highlight":[186],"its":[187],"ability":[188],"identify":[190],"verify":[193],"responses,":[198],"ensure":[200],"regulatory":[201],"advances":[205],"phase":[208],"performance":[212],"process":[214],"supports":[216],"standardisation":[218],"verification":[221],"validation,":[223],"contributing":[224],"their":[226],"trustworthy":[229],"deployment.":[230]},"counts_by_year":[],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2026-02-24T00:00:00"}