{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T04:01:10Z","timestamp":1773288070678,"version":"3.50.1"},"reference-count":118,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2025,9,10]],"date-time":"2025-09-10T00:00:00Z","timestamp":1757462400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>With the rapid development of automated wheeled vehicle technology, complex vehicle functions require extensive safety testing for verification. Compared with real-vehicle testing, scenario-based virtual testing, which constructs virtual environments to simulate real scenarios and efficiently evaluates vehicle safety and risk decision-making capabilities, has become a core means for the safety evaluation of automated wheeled vehicles. This paper outlines the research progress of scenario-based virtual testing for automated wheeled vehicles (including highway autonomous vehicles and off-highway autonomous vehicles); classifies three key technologies in highway scenarios, hazard evaluation, hazardous scenario generation and generalization, and acceleration evaluation; and reveals the challenges faced when existing methods are migrated to agricultural vehicles, engineering vehicles, etc., such as low scenario adaptability, multi-dimensional coupling of risk targets, and weak data foundation. This study finds that current technologies have formed a symmetric framework in highway scenarios, but there are significant adaptability problems when migrating to off-highway scenarios due to scenario asymmetry. To this end, this paper proposes ideas for realizing off-highway scenario testing by adopting methods such as dynamic safety distance reconstruction, multi-physics simulation, and digital twin-driven approaches, providing theoretical support for building a unified safety assessment platform for automated wheeled vehicles.<\/jats:p>","DOI":"10.3390\/sym17091503","type":"journal-article","created":{"date-parts":[[2025,9,10]],"date-time":"2025-09-10T08:43:54Z","timestamp":1757493834000},"page":"1503","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Review of Scenario Virtual Testing Technology for Autonomous Vehicles: Migration Challenges Between Symmetric Frameworks and Asymmetric Scenarios"],"prefix":"10.3390","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4787-5624","authenticated-orcid":false,"given":"Yixiao","family":"Chen","sequence":"first","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0851-479X","authenticated-orcid":false,"given":"Haobin","family":"Jiang","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-7483-6159","authenticated-orcid":false,"given":"Ting","family":"Sun","sequence":"additional","affiliation":[{"name":"Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2025,9,10]]},"reference":[{"key":"ref_1","first-page":"2539","article-title":"Lateral control for autonomous wheeled vehicles: A technical review","volume":"14","author":"Yassine","year":"2023","journal-title":"Asian J. 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