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arXiv · 2604.16452

Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA

Thoshitha Gamage·Lasanthi Gamage
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Abstract

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.

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BibTeXRIS

Thoshitha Gamage, Lasanthi Gamage. 2026-04-07. Compiling OpenSCENARIO 2.1 for Scenario-Based Testing in CARLA. https://arxiv.org/abs/2604.16452

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