Autonomous cars are subjected to several different kind of inputs (other cars, road structure,
etc.) and, therefore, testing the car under all possible conditions is impossible. To tackle this
problem, scenario-based testing for automated driving defines categories of different
scenarios that should be covered. Although this kind of coverage is a necessary condition, it
still does not guarantee that any possible behaviour of the autonomous car is tested. In this
paper, we consider the path planner of an autonomous car that decides, at each timestep …