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DOI: 10.4230/LIPIcs.CP.2026.4

ScenaGen: A CP Model for Grounding Qualitative Driving Scenarios

Authors: Nassim Belmecheri, Arnaud Gotlieb, Nadjib Lazaar, and Helge Spieker

Published in: LIPIcs, Volume 379, 32nd International Conference on Principles and Practice of Constraint Programming (CP 2026)

Abstract

Validating Automated Driving Systems (ADS) requires generating various kinematically executable traffic scenarios. The grounding of qualitative descriptions into concrete trajectories is a combinatorial task poorly addressed by learning-based methods. We propose ScenaGen, a CP model operating on qualitative explainable graphs (QXGs) to encode spatio-temporal relations between traffic entities. Formulated over integer position variables, ScenaGen enforces qualitative spatial constraints, distance thresholds, and inter-frame kinematic consistency. A single QXG acts as a formal template for systematically enumerating distinct, quantitatively varied concrete scenarios. Evaluation of synthetic and real-world benchmarks demonstrates that ScenaGen provides a robust and efficient alternative for scenario instantiation, outperforming standard search baselines in both scalability and solution diversity.

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Nassim Belmecheri, Arnaud Gotlieb, Nadjib Lazaar, and Helge Spieker. ScenaGen: A CP Model for Grounding Qualitative Driving Scenarios. In 32nd International Conference on Principles and Practice of Constraint Programming (CP 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 379, pp. 4:1-4:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{belmecheri_et_al:LIPIcs.CP.2026.4,
  author =	{Belmecheri, Nassim and Gotlieb, Arnaud and Lazaar, Nadjib and Spieker, Helge},
  title =	{{ScenaGen: A CP Model for Grounding Qualitative Driving Scenarios}},
  booktitle =	{32nd International Conference on Principles and Practice of Constraint Programming (CP 2026)},
  pages =	{4:1--4:18},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-432-1},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{379},
  editor =	{Beldiceanu, Nicolas},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CP.2026.4},
  URN =		{urn:nbn:de:0030-drops-266378},
  doi =		{10.4230/LIPIcs.CP.2026.4},
  annote =	{Keywords: Constraint Programming, Scenario Grounding, Qualitative Reasoning, Autonomous Driving, Application}
}

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ScenaGen: A CP Model for Grounding Qualitative Driving Scenarios

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