  Despite the presence of the classification task in many different benchmark
datasets for perception in the automotive domain, few efforts have been
undertaken to define consistent classification requirements. This work
addresses the topic by proposing a structured method to generate a
classification structure. First, legal categories are identified based on
behavioral requirements for the vehicle. This structure is further
substantiated by considering the two aspects of collision safety for objects as
well as perceptual categories. A classification hierarchy is obtained by
applying the method to an exemplary legal text. A comparison of the results
with benchmark dataset categories shows limited agreement. This indicates the
necessity for explicit consideration of legal requirements regarding
perception.
