{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T16:32:00Z","timestamp":1784046720193,"version":"3.55.0"},"reference-count":124,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/legalcode"}],"funder":[{"DOI":"10.13039\/501100000900","name":"Joint Research Centre for the European Commission","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000900","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Access"],"published-print":{"date-parts":[[2022]]},"DOI":"10.1109\/access.2022.3153722","type":"journal-article","created":{"date-parts":[[2022,2,23]],"date-time":"2022-02-23T20:32:42Z","timestamp":1645648362000},"page":"24349-24367","source":"Crossref","is-referenced-by-count":63,"title":["Virtual Testing of Automated Driving Systems. A Survey on Validation Methods"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4066-2124","authenticated-orcid":false,"given":"Riccardo","family":"Dona","sequence":"first","affiliation":[{"name":"Uni Systems Italy, Milan, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3734-4264","authenticated-orcid":false,"given":"Biagio","family":"Ciuffo","sequence":"additional","affiliation":[{"name":"Joint Research Center (JRC), Ispra, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","article-title":"New approaches for automated vehicles certification","author":"Galassi","year":"2021"},{"key":"ref2","volume-title":"Proposal for a new un regulation on uniform provisions concerning the approval of vehicles with regards to automated lane keeping system (ECE\/TRANS\/WP.29\/2020\/81)","year":"2020"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.tra.2016.09.010"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/s38314-019-0135-0"},{"key":"ref5","volume-title":"OICA Views on the Certification of Automated\/Autonomous Vehicle","year":"2019"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2993730"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2983149"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2020.1741652"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3048047"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.cma.2004.03.002"},{"key":"ref11","volume-title":"Proceedings of the First Annual NCOSE Conference","author":"Forsberg","year":"2000"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.2514\/4.472855"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1080\/13873959808837066"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1057\/jos.2012.20"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/WSC.2002.1172868"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.nucengdes.2007.02.032"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1145\/268437.268448"},{"key":"ref18","article-title":"NASA handbook for models and simulations: An implementation guide for NASA-STD-7009a","volume-title":"National Aeronautics and Space Administration","year":"2019"},{"key":"ref19","volume-title":"Regulation (EU) 2018\/858 of the European Parliament and of the Council","year":"2018"},{"key":"ref20","volume-title":"Uniform Provisions Concerning the Approval of Passenger Cars With Regard to Electronic Stability Control (ESC) Systems","year":"2017"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/WSC.2010.5679166"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/WSC.2003.1261418"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.4271\/920054"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.4271\/940231"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.proeng.2011.11.2618"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/WSC.2006.323160"},{"issue":"4","key":"ref27","first-page":"9","article-title":"A survey of agent-based modeling practices (January 1998 to July 2008)","volume":"12","author":"Heath","year":"2009","journal-title":"J. Artif. Soc. Social Simul."},{"key":"ref28","article-title":"A comprehensive approach for the validation of virtual testing toolchains","author":"Dueser","year":"2021"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1016\/j.ress.2012.11.011"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/0968-090X(93)90003-X"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3032780"},{"key":"ref32","volume-title":"Passenger Cars\u2014Vehicle Dynamic Simulation and Validation\u2014Steady-State Circular Driving Behaviour","year":"2016"},{"key":"ref33","volume-title":"Proposed CM-S-014 Modelling & Simulation","year":"2020"},{"key":"ref34","volume-title":"Enable-S3 Summary of Results","author":"Leitner","year":"2019"},{"key":"ref35","first-page":"1","article-title":"Quantitative methods for assessing similarity between computational results and full-scale crash tests","volume-title":"Proc. 91th Annu. Meeting Transp. Res. Board","author":"Ray"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1007\/s00366-007-0070-1"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1115\/1.4042443"},{"key":"ref38","volume-title":"Passenger Cars\u2014Validation of Vehicle Dynamic Simulation\u2014Sine With Dwell Stability Control Testing"},{"key":"ref39","article-title":"Introducing virtual testing in ads certification. A validation example","author":"Dona","journal-title":"IEEE Trans. Intell. Vehicles"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2008-49669"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1115\/1.4036182"},{"key":"ref42","volume-title":"Economic Forecasts and Policy","author":"Theil","year":"1961"},{"key":"ref43","article-title":"Fundamentals of speech recognition","volume-title":"Fundamentals of Speech Recognition","author":"Rabiner","year":"1993"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.4271\/2011-01-0245"},{"key":"ref45","first-page":"1","article-title":"Validation of x-in-the-loop approaches for virtual homologation of automated driving functions","volume-title":"Proc. 11th Graz Symp. Virtual Vehicle","author":"Riedmaier"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2013.868500"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2016.08.010"},{"key":"ref48","volume-title":"Probability, Random Variables and Stochastic Processes","author":"Papoulis","year":"1989"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1504\/IJMPT.2006.008280"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcp.2006.03.037"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.3390\/app11010035"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1016\/0377-2217(95)00132-A"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/WSC.1999.823147"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1115\/1.4004223"},{"key":"ref55","article-title":"Model validation for simulations of vehicle systems","author":"Lamb","year":"2012"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795772"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1214\/aoms\/1177729437"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1007\/s00158-019-02270-2"},{"issue":"1","key":"ref59","first-page":"49","article-title":"On the generalised distance in statistics","volume":"2","author":"Mahalanobis","year":"1936","journal-title":"Proc. Nat. Inst. Sci. India"},{"key":"ref60","volume-title":"Information Theory and Statistics","author":"Kullback","year":"1997"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1007\/s11831-020-09473-7"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejor.2004.02.005"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1007\/s11012-005-1058-9"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.2307\/1271432"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1111\/0272-4332.00039"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1115\/1.4041960"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2018.1517219"},{"issue":"1","key":"ref68","first-page":"112","article-title":"On sensitivity estimation for nonlinear mathematical models","volume":"2","author":"Sobol","year":"1990","journal-title":"Matematicheskoe modelirovanie"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1201\/9780429246593"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.17226\/13395"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1016\/j.ress.2012.08.003"},{"key":"ref72","article-title":"A brief survey of stopping rules in Monte Carlo simulations","author":"Gilman","year":"1968"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1080\/00423114.2020.1854317"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1016\/j.procir.2020.02.175"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500406"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1016\/j.aap.2017.11.001"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2016.7795548"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/MS.2019.2921037"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.3390\/s19030648"},{"key":"ref80","volume-title":"Validation Method: Virtual Testing","year":"2021"},{"key":"ref81","volume-title":"Road Vehicles\u2014Prospective Safety Performance Assessment of Pre-Crash Technology by Virtual Simulation\u2014Part 1: State-of-the-Art and General Method Overview","year":"2021"},{"key":"ref82","first-page":"1","article-title":"Analysis and validation of perception sensor models in an integrated vehicle and environment simulation","volume-title":"Proc. 22nd Enhanced Saf. Vehicles Conf.","author":"Roth"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1515\/itit-2015-0006"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2017.7995752"},{"key":"ref85","article-title":"Towards a generally accepted validation methodology for sensor models-challenges, metrics, and first results","author":"Rosenberger","year":"8653"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2019.8814081"},{"key":"ref87","doi-asserted-by":"publisher","DOI":"10.4271\/12-03-03-0018"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-8137.1912.tb05611.x"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1109\/IV47402.2020.9304567"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC48978.2021.9564521"},{"key":"ref91","volume-title":"Radar Handbook","author":"Skolnik","year":"2008"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/4239725"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1190\/1.3548506"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2015.2453991"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569423"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1109\/ACIRS49895.2020.9162598"},{"key":"ref97","first-page":"1","article-title":"CARLA: An open urban driving simulator","volume-title":"Proc. 1st Annu. Conf. Robot Learn.","author":"Dosovitskiy"},{"key":"ref98","doi-asserted-by":"publisher","DOI":"10.1109\/RadarConf2147009.2021.9455235"},{"key":"ref99","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2018.8500511"},{"key":"ref100","doi-asserted-by":"publisher","DOI":"10.1007\/s41104-020-00066-x"},{"key":"ref101","article-title":"Open simulation interface: A generic interface for the environment perception of automated driving functions in virtual scenarios","author":"Hanke","year":"2017"},{"key":"ref102","doi-asserted-by":"publisher","DOI":"10.1109\/TED.2009.2030995"},{"key":"ref103","doi-asserted-by":"publisher","DOI":"10.1109\/IVS.2012.6232260"},{"key":"ref104","doi-asserted-by":"publisher","DOI":"10.1109\/IV47402.2020.9304832"},{"key":"ref105","volume-title":"Passenger Cars\u2014Simulation Model Classification\u2014Part 1: Vehicle Dynamics","year":"2022"},{"key":"ref106","doi-asserted-by":"publisher","DOI":"10.1504\/IJHVS.2006.010020"},{"key":"ref107","doi-asserted-by":"publisher","DOI":"10.1007\/s41104-018-0024-1"},{"key":"ref108","doi-asserted-by":"publisher","DOI":"10.1109\/TIV.2021.3051325"},{"key":"ref109","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.894653"},{"key":"ref110","doi-asserted-by":"publisher","DOI":"10.1016\/c2012-0-07000-7"},{"key":"ref111","doi-asserted-by":"publisher","DOI":"10.3384\/ecp15118273"},{"key":"ref112","doi-asserted-by":"publisher","DOI":"10.4271\/12-03-04-0020"},{"key":"ref113","doi-asserted-by":"publisher","DOI":"10.1109\/TITS.2020.3006768"},{"key":"ref114","doi-asserted-by":"publisher","DOI":"10.1109\/MITS.2014.2357038"},{"key":"ref115","doi-asserted-by":"publisher","DOI":"10.1016\/j.simpat.2021.102274"},{"key":"ref116","first-page":"406","article-title":"Simulation of rain in videos","volume-title":"Proc. Texture Workshop, ICCV","volume":"2","author":"Starik"},{"key":"ref117","first-page":"1","article-title":"Effects of water and ice layer on automotive radar","volume-title":"Proc. German Microw. Conf","author":"Arage"},{"key":"ref118","doi-asserted-by":"publisher","DOI":"10.5194\/ars-9-49-2011"},{"key":"ref119","doi-asserted-by":"publisher","DOI":"10.1109\/TIP.2003.819861"},{"key":"ref120","doi-asserted-by":"publisher","DOI":"10.1109\/ITSC.2018.8569907"},{"key":"ref121","doi-asserted-by":"publisher","DOI":"10.1016\/j.jcp.2004.10.036"},{"key":"ref122","article-title":"ASME standards committee on verification and validation in computational solid mechanics","volume":"8","author":"Thacker","year":"2001"},{"key":"ref123","doi-asserted-by":"publisher","DOI":"10.1142\/S1793962317300011"},{"key":"ref124","doi-asserted-by":"publisher","DOI":"10.4271\/2019-01-0140"}],"container-title":["IEEE Access"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6287639\/9668973\/09718588.pdf?arnumber=9718588","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,17]],"date-time":"2024-01-17T22:49:22Z","timestamp":1705531762000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9718588\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"references-count":124,"URL":"https:\/\/doi.org\/10.1109\/access.2022.3153722","relation":{},"ISSN":["2169-3536"],"issn-type":[{"value":"2169-3536","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022]]}}}