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Due to the increasing complexities, the safety assurances for Automated Driving Systems (ADSs) and Advanced Driver Assistance Systems (ADASs) pose challenges. Recent development within the industry and academia suggests a scenario-based approach underpinned by the system’s Operational Design Domain (ODD) for its safety assurance. In such framework, the ODD defines the safe operating boundary, whereas the scenarios set out individual test conditions. To assess the behavior of the system, a critical element for road safety is the ability to respect the rules of the road. This paper joins together ODDs, scenarios, and rules of the road to form a scalable ODD-based safety assurance framework. The backbone of the framework contains a coherent and common taxonomy to describe the ODDs and behavior library, the scenario tagging structure from the ASAM OpenLABEL standard has been used in the example use case.