  The development of Autonomous Vehicles (AVs) has made significant progress in
the last years. An important aspect in the development of AVs is the assessment
of their safety. New approaches need to be worked out. Among these, real-world
scenario-based assessment is widely supported by many players in the automotive
field. Scenario-based assessment allows for using virtual simulation tools in
addition to physical tests, such as on a test track, proving ground, or public
road.
  We propose a procedure for real-world scenario-based road-approval assessment
considering three stakeholders: the applicant, the assessor, and the (road or
vehicle) authority. The challenges are as follows. Firstly, the tests need to
be tailored to the operational design domain (ODD) and dynamic driving task
(DDT) description of the AV. Secondly, it is assumed that the applicant does
not want to disclose all of the detailed test results because of proprietary or
confidential information contained in these results. Thirdly, due to the
complex ODD and DDT, many test scenarios are required to obtain sufficient
confidence in the assessment of the AV. Consequently, it is assumed that due to
limited resources, it is infeasible for the assessor to conduct all (physical)
tests.
  We propose a systematic approach for determining the tests that are based on
the requirements set by the authority and the AV's ODD and DDT description,
such that the tests are tailored to the applicable ODD and DDT. Each test comes
with metrics that enables the applicant to provide a performance rating of the
AV for each of the tests. By only providing a performance rating for each test,
the applicant does not need to disclose the details of the test results. In our
proposed procedure, the assessor only conducts a limited number of tests. The
main purpose of these tests is to verify the fidelity of the results provided
by the applicant.
