A Review of virtual test methods for autonomous vehicles

As the autonomous driving technology advances, the testing of autonomous vehicles becomes increasingly vital. Virtual simulation testing, a new test method, has significant technical advantages in terms of efficiency and cost-effectiveness. Therefore, it establishes itself as a crucial avenue for testing and verification of autonomous vehicles in the future.This paper conducts an extensive review of virtual simulation test technology literature to comprehensively outline the key elements that constitute the self-test scenario, including the sources and construction methods. A comparative analysis is conducted to explore the technical characteristics of software in the loop, driver in the loop,hardware in the loop and vehicle in the loop. Additionally, the evaluation indices of simulation test methods are analyzed, and the developmental trajectory of simulation test technology is discussed.The research results unequivocally confirm that virtual simulation testing is an indispensable method for iterating development rapidly and realizing the technological implementation of autonomous driving. In the future, it is crucial to prioritize deconstructing and reconstructing the database for virtual simulation test scenarios in autonomous driving. It is also important to conduct hybrid simulation tests using diverse test tools, and gradually establish standardized tool chains for virtual testing of autonomous vehicles.