Verification and validation of automated driving functions impose large challenges. Currently, scenario-based approaches are investigated in research and industry, aiming at a reduction of testing efforts by specifying safety relevant scenarios. To define those scenarios and operate in a complex real-world design domain, a structured description of the environment is needed. Within the PEGASUS research project, the 6-Layer Model (6LM) was introduced for the description of highway scenarios. This paper refines the 6LM and extends it to urban traffic and environment. As defined in PEGASUS, the 6LM provides the possibility to categorize the environment and, therefore, functions as a structured basis for subsequent scenario description. The model enables a structured description and categorization of the general environment, without incorporating any knowledge or anticipating any functions of actors. Beyond that, there is a variety of other applications of the 6LM, which are elaborated in this paper. The 6LM includes a description of the road network and traffic guidance objects, roadside structures, temporary modifications of the former, dynamic objects, environmental conditions and digital information. The work at hand specifies each layer by categorizing its items. Guidelines are formulated and explanatory examples are given to standardize the application of the model for an objective environment description. In contrast to previous publications, the model and its design are described in far more detail. Finally, the holistic description of the 6LM presented includes remarks on possible future work when expanding the concept to machine perception aspects.

中文翻译：

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城市交通与环境的结构化描述和分类的六层模型

自动驾驶功能的验证和确认带来了巨大的挑战。当前，在研究和工业中正在研究基于情景的方法，旨在通过指定与安全相关的情景来减少测试工作。为了定义这些方案并在复杂的实际设计域中运行，需要对环境进行结构化的描述。在PEGASUS研究项目中，引入了6层模型（6LM）来描述高速公路情景。本文完善了6LM，并将其扩展到城市交通和环境。根据PEGASUS中的定义，6LM提供了对环境进行分类的可能性，因此可作为后续场景描述的结构化基础。该模型可以对一般环境进行结构化的描述和分类，不会吸收任何知识或预期参与者的任何功能。除此之外，本文还详细介绍了6LM的各种其他应用程序。6LM包括对道路网络和交通引导对象，路边结构，临时修改前者，动态对象，环境条件和数字信息的描述。手头的工作通过对各个层进行分类来指定每个层。制定了准则并给出了解释性示例，以标准化该模型在客观环境描述中的应用。与以前的出版物相比，该模型及其设计的描述更为详尽。最后，对6LM的整体描述包括对将概念扩展到机器感知方面时可能进行的未来工作的评论。