The ScenarioGeneration service generates simulation scenarios for ASM and in ASAM OpenSCENARIO/OpenDRIVE from recorded measurement data. As measurement data raw data (Lidar, Camera, GPS/IMU) or ObjectList data can be used. The road (ASM road and OpenDRIVE) can be imported by HD-maps or it can be generated based on the raw data. For the dynamic content of the scenario a replay scenario for exact re-simulation of real world incident or edge-case is generated. Additionally, a logical scenario is generated that also enables parameter-variation to finding new edge-cases in scenario-based testing. The generated scenarios can be used for physics-based sensor simulation as the 3D environment is reproduced in simulation.