Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| _version_ | 1866913061475975168 |
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| author | Gamage, Thoshitha Gamage, Lasanthi |
| author_facet | Gamage, Thoshitha Gamage, Lasanthi |
| contents | While the ASAM OpenSCENARIO 2.1 Domain-Specific Language (DSL) enables declarative, intent-driven authoring for Scenario-Based Testing (SBT), its integration into open-source simulators like CARLA remains limited by legacy parsers. We propose a multi-pass modern compiler architecture that translates the OpenSCENARIO 2.1 DSL directly into executable CARLA behaviors. The pipeline features an ANTLR4 frontend for Abstract Syntax Tree (AST) generation, a semantic middle-end, and a runtime backend that synthesizes deterministic py_trees behavior trees. Mapping the standardized domain ontology directly to CARLA's procedural API via a custom method registry eliminates the need for external logic solvers. A demonstrative multi-actor cut-in and evasive maneuver, selected from a wider suite of validated scenarios, confirms the compiler's ability to process concurrent actions, dynamic mathematical expressions, and asynchronous signaling. This framework establishes a functional baseline for reproducible, large-scale SBT, paving the way for future C++ optimizations to mitigate current Python-based computational overhead. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_16452 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA Gamage, Thoshitha Gamage, Lasanthi Robotics Programming Languages Systems and Control While the ASAM OpenSCENARIO 2.1 Domain-Specific Language (DSL) enables declarative, intent-driven authoring for Scenario-Based Testing (SBT), its integration into open-source simulators like CARLA remains limited by legacy parsers. We propose a multi-pass modern compiler architecture that translates the OpenSCENARIO 2.1 DSL directly into executable CARLA behaviors. The pipeline features an ANTLR4 frontend for Abstract Syntax Tree (AST) generation, a semantic middle-end, and a runtime backend that synthesizes deterministic py_trees behavior trees. Mapping the standardized domain ontology directly to CARLA's procedural API via a custom method registry eliminates the need for external logic solvers. A demonstrative multi-actor cut-in and evasive maneuver, selected from a wider suite of validated scenarios, confirms the compiler's ability to process concurrent actions, dynamic mathematical expressions, and asynchronous signaling. This framework establishes a functional baseline for reproducible, large-scale SBT, paving the way for future C++ optimizations to mitigate current Python-based computational overhead. |
| title | Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA |
| topic | Robotics Programming Languages Systems and Control |
| url | https://arxiv.org/abs/2604.16452 |