IDENTIFYING LOCATIONS CRUCIAL TO AN AUTONOMOUS VEHICLE

The present disclosure relates to a method performed by a locations mapping system (1) for supporting identifying locations crucial to a vehicle (2) equipped with an Automated Driving System, ADS (21). The locations mapping system obtains (1001) data of crucial locations (3) of past vehicle situations identified as critical and/or challenging; extracts (1002) from the crucial locations data, for at least a first past vehicle situation, static road features and operating conditions pertaining to the at least first past vehicle situation; identifies (1004) road segments (4) , e.g. of an ADS-compliant digital map, exhibiting road features to a predeterminable extent matching the static road features pertaining to the at least first past vehicle situation; and generates (1005) a mapping (40) associating the identified road segments with said operating conditions.The disclosure also relates to a locations mapping system in accordance with the foregoing, an arrangement - for instance an offboard system (112) and/or a vehicle comprising such a locations mapping system, and a respective corresponding computer program product and non-volatile computer readable storage medium.