Abstract
Understanding driving scenes and communicating automated vehicle decisions are key requirements for trustworthy automated driving. In this article, we introduce the qualitative explainable graph (QXG), which is a unified symbolic and qualitative representation for scene understanding in urban mobility. The QXG enables interpreting an automated vehicle’s environment using sensor data and machine learning models. It utilizes spatiotemporal graphs and qualitative constraints to extract scene semantics from raw sensor inputs, such as LiDAR and camera data, offering an interpretable scene model. A QXG can be incrementally constructed in real-time, making it a versatile tool for in-vehicle explanations across various sensor types. Our research showcases the potential of QXG, particularly in the context of automated driving, where it can rationalize decisions by linking the graph with observed actions. These explanations can serve diverse purposes, from informing passengers and alerting vulnerable road users to enabling post hoc analysis of prior behaviors.