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This chapter focuses on procedures and tools used in the testing stages of the intelligent vehicle design process. By testing the developed intelligent vehicle algorithms and architectures in a series of environments, starting from pure simulation and ending with physical, full-scale tests, it is possible to avoid the time, safety, and logistics costs of full-blown outdoor tests for the initial stages of the development process. The described procedure, which uses both simulation environments and small-scale indoor testbeds before the outdoor tests, makes use of different levels of virtualization for sensors, agents, scenarios and environments, and has been successfully demonstrated on multiple autonomous vehicle implementation examples. |
