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This paper comprehensively assesses the capabilities and limitations of publicly available autonomous driving datasets, simulators, and proving grounds, exploring their roles in testing autonomous vehicles. The aim of the paper is to analyze how these tools can assist in evaluating the capabilities of autonomous driving systems and their tasks in the actual verification process of autonomous driving technology. Furthermore, this paper discusses the challenges faced by autonomous driving datasets, simulators, and proving grounds, as well as future directions for development. Additionally, we propose the Integrated Testing Framework for Autonomous Vehicles (ITF\u2010AV), which unifies these tools into a cohesive testing strategy, providing guidance for researchers and practitioners to select appropriate methods based on specific testing needs.<\/jats:p>","DOI":"10.1002\/rob.70189","type":"journal-article","created":{"date-parts":[[2026,3,8]],"date-time":"2026-03-08T20:15:21Z","timestamp":1773000921000},"page":"3366-3402","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Advances in Autonomous Vehicle Testing: The State of the Art and Future Outlook on Driving Datasets, Simulators, and Proving Grounds"],"prefix":"10.1002","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9635-6620","authenticated-orcid":false,"given":"Ao","family":"Guo","sequence":"first","affiliation":[{"name":"Institute of Engineering Macau University of Science and Technology Macau China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9836-4600","authenticated-orcid":false,"given":"Yuke","family":"Li","sequence":"additional","affiliation":[{"name":"The School of Software Northwestern Polytechnical University Xi'an China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0007-3883-4106","authenticated-orcid":false,"given":"Jun","family":"Huang","sequence":"additional","affiliation":[{"name":"Institute of Engineering Macau University of Science and Technology Macau China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8966-8992","authenticated-orcid":false,"given":"Bai","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical and Vehicle Engineering Hunan University Changsha China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6524-7122","authenticated-orcid":false,"given":"Xiaoxiang","family":"Na","sequence":"additional","affiliation":[{"name":"Centre for Sustainable Road Freight University of Cambridge Cambridge UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6897-4512","authenticated-orcid":false,"given":"Chen","family":"Lv","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering Nanyang Technological University Singapore Singapore"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4925-0572","authenticated-orcid":false,"given":"Long","family":"Chen","sequence":"additional","affiliation":[{"name":"Institute of Automation, Chinese Academy of Sciences Beijing China"},{"name":"Waytous Ltd. 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