ISO/PAS 34506

• Abstract:

  This document provides guidelines for a comprehensive qualification scheme for VTE used in the evaluation of ADS. It specifies the criteria and procedures for assessing the VTE. This document is applicable to Open-Loop as well as Closed-Loop environments. Examples are Model-in-the-Loop (MiL) and Software-in-the-Loop (SiL) testing methodologies and may extend to hybrid testing techniques such as Hardware-in-the-Loop (HiL) and Vehicle-in-the-Loop (ViL). This document does not address the validation or assessment of individual simulation models, such as sensor or vehicle dynamics models, nor does it evaluate the ADS themselves. This document is intended for ADS developers, testing organizations, and regulatory bodies responsible for ensuring that VTE can provide reliable and adequate representations of real-world test environments.

• Status: Not Published
• ICS: 43.020 - Road vehicles in general
• Technical Committee: ISO/TC 22/SC 33 - Vehicle dynamics and chassis components
• Drafting Committee: ISO/TC 22/SC 33/WG 9 - Test scenarios of automated driving systems
• Current Stage: 6000 - International Standard under publication
• Start Date: 29-Aug-2026
• Completion Date: 26-Sep-2026

Overview

ISO/PAS 34506: Road vehicles - Test scenarios for automated driving systems - Qualification of virtual test environments establishes a comprehensive framework for qualifying virtual test environments (VTEs) used in the development and evaluation of automated driving systems (ADS). The standard outlines essential criteria and structured methodologies for assessing the credibility and reliability of VTEs. By setting clear requirements and recommendations, ISO/PAS 34506 ensures that virtual testing environments can accurately represent real-world test conditions for ADS, supporting stakeholders such as developers, test organizations, and regulatory bodies in achieving effective safety assurance.

This document covers both open-loop and closed-loop test configurations, including well-known methodologies such as Model-in-the-Loop (MiL), Software-in-the-Loop (SiL), as well as hybrid approaches like Hardware-in-the-Loop (HiL) and Vehicle-in-the-Loop (ViL).

Key Topics

• Qualification Framework: Describes a structured scheme for the audit and qualification of VTEs, focusing on the development process, usage, and operational performance.
• Types of Virtual Test Environments: Details VTE configurations for diverse testing needs, addressing components like simulation modules, scenario execution, and scenario description.
• General and Functional Requirements: Defines requirements for VTE components, including input data, scenario creation, software reliability, and data traceability.
• Real-World Data Benchmarking: Provides procedures for collecting and integrating real-world data-using sensors such as LiDAR, radar, cameras, GNSS, and IMUs-to verify the performance and accuracy of virtual test results.
• Operational Design Domain (ODD) Coverage: Emphasizes the importance of ODD attributes-such as road types, weather, and dynamic elements-for realistic and dependable VTE outputs.
• Quality Assurance: Encourages robust documentation, version control, and clear procedures for test scenario definition, execution, analysis, and reporting.
• User Competence and Documentation: Stresses the importance of user expertise and thorough operation documentation to ensure consistent and informed use of VTEs.

Applications

ISO/PAS 34506 plays an essential role in the development, testing, and regulatory approval of automated driving systems:

• ADS Developers: Facilitates reliable simulation-based testing before real-world trials, reducing costs and risks associated with physical prototypes.
• Testing Organizations: Supports the creation of reproducible, auditable, and high-fidelity virtual tests addressing a wide variety of driving scenarios and ODDs.
• Regulatory Authorities: Enables objective verification that virtual testing environments meet standardized requirements, bolstering trust in simulation results for safety validation.
• Quality and Safety Assurance: Assists in building evidence for ADS performance, identifying gaps in scenario coverage, and benchmarking ADS behavior under diverse simulated conditions.
• Scenario-based Test Case Generation: Simplifies the process of defining, storing, and executing test scenarios aligned with international standards for ADS evaluation.

Common VTE applications include simulating sensor faults, adverse weather conditions, complex road interactions, and evaluating new ADS functionalities through seamless integration with real-world data.

Related Standards

The qualification of virtual test environments for automated driving systems is closely linked to several other international standards:

• ISO 34501: Road vehicles - Test scenarios for automated driving systems - Vocabulary
• ISO 34503: Road vehicles - Test scenarios for automated driving systems - Specification for operational design domain
• ISO 34505: Road vehicles - Test scenarios for automated driving systems - Scenario evaluation and test case generation
• ISO/TS 21934-2: Road vehicles - Quality management for simulation credibility
• ISO 26262: Road vehicles - Functional safety

These standards collectively provide a harmonized foundation for scenario description, ODD definition, scenario-based testing, and simulation model credibility, ensuring comprehensive and consistent safety validation of automated driving technologies.

---

Keywords: ISO/PAS 34506, automated driving systems, virtual test environment, ADS testing, scenario-based testing, ODD, road vehicles, simulation qualification, MiL, SiL, HiL, ViL, real-world data, sensor integration, safety validation, regulatory compliance, vehicle automation standards.

FINAL DRAFT
Publicly
Available
Specification
ISO/DPAS 34506
ISO/TC 22/SC 33
Road vehicles — Test scenarios
Secretariat: DIN
for automated driving systems
Voting begins on:
— Qualification of virtual test
2026-07-03
environments
Voting terminates on:
2026-08-28
Véhicules routiers — Scénarios d'essai pour les systèmes de
conduite automatisée — Qualification des environnements d'essai
virtuels
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO­
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
Reference number
ISO/DPAS 34506:2026(en) © ISO 2026

FINAL DRAFT
ISO/DPAS 34506:2026(en)
Publicly
Available
Specification
ISO/DPAS 34506
ISO/TC 22/SC 33
Road vehicles — Test scenarios
Secretariat: DIN
for automated driving systems
Voting begins on:
— Qualification of virtual test
environments
Voting terminates on:
Véhicules routiers — Scénarios d'essai pour les systèmes de
conduite automatisée — Qualification des environnements d'essai
virtuels
RECIPIENTS OF THIS DRAFT ARE INVITED TO SUBMIT,
WITH THEIR COMMENTS, NOTIFICATION OF ANY
RELEVANT PATENT RIGHTS OF WHICH THEY ARE AWARE
AND TO PROVIDE SUPPOR TING DOCUMENTATION.
© ISO 2026
IN ADDITION TO THEIR EVALUATION AS
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO­
LOGICAL, COMMERCIAL AND USER PURPOSES, DRAFT
be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on
INTERNATIONAL STANDARDS MAY ON OCCASION HAVE
the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below
TO BE CONSIDERED IN THE LIGHT OF THEIR POTENTIAL
or ISO’s member body in the country of the requester.
TO BECOME STAN DARDS TO WHICH REFERENCE MAY BE
MADE IN NATIONAL REGULATIONS.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: [phone]
Email: [e-mail]
Website: www.iso.org
Published in Switzerland Reference number
ISO/DPAS 34506:2026(en) © ISO 2026

ii
ISO/DPAS 34506:2026(en)
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 2
5 Virtual test environment . 2
5.1 Types and purposes .2
5.2 General requirements .3
5.2.1 Components of VTE .3
5.2.2 Pre-execution modules of a VTE .4
5.2.3 During and post-execution modules of a VTE .5
5.3 Functional requirements . .5
5.3.1 Overview .5
5.3.2 Simulation module .5
5.3.3 Scenario execution module .6
5.3.4 Scenario description module .6
6 VTE qualification framework . 6
6.1 General .6
6.2 Qualification of VTE development and maintenance process .7
6.2.1 General .7
6.2.2 Audit of input data .7
6.2.3 Models and calculation verification .7
6.2.4 Software release management .8
6.3 Qualification of the VTE usage .8
6.3.1 General .8
6.3.2 VTE usage process documentation .8
6.3.3 Team expertise . .9
6.4 Qualification of the VTE performance based on real world data .9
6.4.1 General .9
6.4.2 System analysis .9
6.4.3 Operational design domain (ODD) analysis .10
6.4.4 Real world data collection .10
6.4.5 Virtual world data collection . 12
6.5 Qualification of the VTE performance for synthetic test cases without real world
evidence . 13
Bibliography .15

iii
ISO/DPAS 34506:2026(en)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee
has been established has the right to be represented on that committee. International organizations,
governmental and non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely
with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types
of ISO document should be noted (see www.iso.org/directives).
ISO draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed patent
rights in respect thereof. As of the date of publication of this document, ISO had not received notice of (a)
patent(s) which may be required to implement this document. However, implementers are cautioned that
this may not represent the latest information, which may be obtained from the patent database available at
www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO’s adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT), see www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 33, Vehicle
dynamics, chassis components and driving automation systems testing.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.

iv
ISO/DPAS 34506:2026(en)
Introduction
The development, verification and validation of automated driving systems (ADS) presents a significant
challenge for both industry and regulatory authorities. Conventional physical testing methods can no
longer provide the necessary test coverage to assure safety with an acceptable degree of statistical
significance. Regulatory bodies such as the United Nations Economic Commission for Europe (UNECE) and
the US Department of Transportation (USDOT) have already recognized virtual testing as a complementary
methodology alongside track testing, real-world testing, and in-service monitoring and reporting (see
[1] [2]
References ). However, several open questions should be addressed before virtual testing can be applied
[2] [3]
as evidence for the assessment of the ADS. Some of these questions, identified in References and ,
include: (a) how reliability is defined in relation to automated operation, (b) the minimum degree of fidelity
required for simulation models to enable virtual testing, (c) how these simulation models are validated,
and (d) logistical considerations, such as which models are used, who supplies these models, and how, or
[4]
if proprietary algorithms may be included. See ISO/TS 21934-2 for complementary standards on virtual
simulation.
While simulation models play a crucial role in the evaluation process, this document focuses on another
important element: the assessment of the credibility of the virtual test environments (VTEs). The approach
outlined in this document aims to ensure that VTEs can accurately and reliably replicate real-world
conditions, which is critical for trusting the validity of the virtual test results. Therefore, it important to
determine whether VTE can produce reliable and accurate representations of real-world testing for pre-
defined purposes, for example sensing and/or planning and/or acting, or end-to-end-simulations. The
purpose of this document is to propose metrics that can be used as quantitative measures to assess whether
a VTE accurately represents real-world conditions.
The document provides recommendations and requirements for the development and evaluation of VTEs.
The methods described can be part of a quality assurance framework for VTEs to meet certain requirements
of adequacy. Figure 1 illustrates an example methodology for the qualification of the VTE by comparing
outputs from real-world data with output data from simulation.
Figure 1 — Example schematic view of VTE evaluation process. Real world includes proving ground
testing
[5] [6] [7] [8]
NOTE 1 This document is part of a set of documents (ISO 34501 , ISO 34502 , ISO 34503 , ISO 34504 and
[9]
ISO 34505 ), which provides guidance and an overview of the scenario-based testing approach for ADS.
NOTE 2 Examples of applicable VTE configurations include model-in-the-loop (MiL) and software-in-the-loop (SiL)
testing methodologies and can extend to hybrid testing techniques, such as hardware-in-the-loop (HiL) and vehicle-in-
the-loop (ViL).
v
FINAL DRAFT Publicly Available Specification ISO/DPAS 34506:2026(en)
Road vehicles — Test scenarios for automated driving
systems — Qualification of virtual test environments
1 Scope
This document establishes a qualification scheme for virtual test environments (VTE) used in the evaluation
of automated driving systems (ADS). It specifies criteria and procedures for assessing the VTE in open-loop
and closed-loop configurations.
This document does not apply to the validation or assessment of individual simulation models (for example,
sensor or vehicle dynamics models) and does not apply to the evaluation of ADS performance.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 34501, Road vehicles — Test scenarios for automated driving systems — Vocabulary
ISO 34503, Road Vehicles — Test scenarios for automated driving systems — Specification for operational
design domain
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 34501, ISO 34503 and the following
apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— IEC Electropedia: available at http:// www .electropedia .org/
— ISO Online browsing platform: available at http:// www .iso .org/ obp
3.1
virtual test environment
VTE
simulation toolchain and associated data enabling testing according to the test objectives
Note 1 to entry: The virtual test environment (VTE) enables resimulation based on recorded data and/or simulation
based on artificial data.
Note 2 to entry: The virtual test environment (VTE) may include models or representations of scenery elements
(e.g. roadway environment, such as road lanes, traffic signs), dynamic elements (e.g. vehicles and other actors, like
pedestrians), and environmental conditions (e.g. time of day, rainfall, etc.).
Note 3 to entry: A virtual test environment (VTE) may also have a framework of algorithms showing other dynamic
elements, such as vehicles, pedestrians, active traffic signals interacting with the static elements and with each other.
Note 4 to entry: A virtual test environment (VTE) can be fully virtual or a combination of virtual and hardware
components combined to form a test environment.
Note 5 to entry: A virtual test environment (VTE) can enable simulated interactions with a function or a feature of the
automated driving system (ADS).

ISO/DPAS 34506:2026(en)
3.2
scenario
sequence of scenes usually including the automated driving system(s) (ADS) /subject vehicle(s), and its/their
interactions in the process of performing the dynamic driving task (DDT)
[10]
[SOURCE: ISO 34501:2022 , 3.4, modified — Note 1 to entry and the Example have been deleted.]
4 Abbreviated terms
ADS automated driving system
API application programming interface
DDT dynamic driving task
GNSS global navigation satellite system
HiL hardware-in-the-loop
IMU inertial measurement unit
LiDAR light detection and ranging
MiL model-in-the-loop
ML machine learning
ODD operational design domain
RTK real time kinematic
SDL scenario description language
SiL software-in-the-loop
SUT system under test
ViL vehicle-in-the-loop
VTE virtual test environment
5 Virtual test environment
5.1 Types and purposes
Depending upon the purpose of the VTE, various configurations may exist for a VTE with different
components being virtualised. For the testing of an ADS, irrespective of the software architecture (e.g.
end-to-end artificial intelligence or modular configuration), the ADS has the perception, planning and
actuation functionalities. In order to execute the test, the ADS needs to be stimulated by and connected to
a test environment which may or may not have the driver-in-the-loop. Depending on the ADS under test, its
interfaces, and the availability of information (white-, grey-, black box), different virtual test methods may
be used to test the ADS. For example, the "New Assessment/Test Method for Automated Driving (NATM)
[11]
Guidelines for Validating Automated Driving System (ADS)" includes MiL/SiL, HiL and ViL as simulation
approaches. In addition, open-loop simulation approaches can also serve as a form of VTE, wherein recorded
or simulated stimuli are provided to the sensor to observe the outputs of the ADS, while keeping these
outputs isolated from the driving environment for test-specific reasons, such as reduced complexity. Refer
[9]
to ISO 34505 for more details on test scenario evaluation and test case generation.
Table 1 presents examples of VTE configurations for various subject under test.

ISO/DPAS 34506:2026(en)
Table 1 — Examples of VTE configurations for various subject under test
Test platform
Driving
(functionality Sensor ADS software Actuator Driver + HMI
environment
under test)
SiL virtual virtual virtual virtual virtual
(any)
HiL real and virtual real and virtual virtual virtual virtual
(perception)
HiL virtual real and virtual virtual virtual virtual
(planning)
HiL virtual virtual real and virtual virtual virtual
(actuation)
HiL virtual virtual real and virtual virtual real
(Driver handover)
HiL virtual virtual real and virtual virtual real
(actuation)
Proving ground real and virtual real real real and virtual real
(any)
Open road real and virtual real and virtual real real and virtual real
(any)
Open loop (any) real and virtual real and virtual real and virtual real and virtual real and virtual
5.2 General requirements
5.2.1 Components of VTE
Figure 2 illustrates the components of a VTE: simulation module, scenario execution module and scenario
description module. Each module includes further components to enable the testing.
NOTE The chosen architecture is a high-level and simplified architecture enabling a structured explanation
within the document. The implemented structure can deviate to address the specific needs of the VTE, as described in
5.1.
a) The simulation module shall include all necessary models and inputs to enable the testing of the ADS.
Therefore, it should include an engine which provides all relevant signals to stimulate the SUT.
b) The scenario execution module shall process all the relevant information of the test case, synchronize
the engines and include the user interface, test analysis and test control.
To enable automated testing, the test scenario execution module shall incorporate predefined criteria
for both completion and termination. Examples of such criteria include achieving the final pose for
successful completion or detecting time-to-collision (TTC) below a specific threshold for termination.
Additionally, the module shall establish the communication between the VTE and the ADS.
c) The scenario description module shall process all relevant test scenario-related information. This
can include ODD attributes and the behaviour of test scenario entities, including traffic density, road
[9]
conditions and weather variations. A possible structure can be found in ISO 34505 .

ISO/DPAS 34506:2026(en)
Figure 2 — Modularised virtual test environment framework illustrating VTE components
5.2.2 Pre-execution modules of a VTE
An execution in a VTE requires configuration instructions, test scenario content and execution instruction.
The input to the test scenario module is a test scenario, which is built in three steps: "create," "format" and
"store".
a) Create phase
1) The input should include all relevant information to ensure reproducible test scenarios with the
required level of fidelity. This can include (e.g. static, dynamic, and environmental elements, which
may be two or three dimensional). The input should include ODD attributes (e.g., traffic patterns,
road conditions and weather effects). For example, if the scenario entails a transition from dry
weather to rainy weather, the VTE should be able to simulate the effect of changing weather on the
scenario execution and its effect on the perception of the sensors as part of the ADS.
2) Input test scenarios that are executed in the VTE should accurately represent real-world dynamics
with realistic static and dynamic objects.
3) Digital information from, for example, backend, infrastructure and OBU should be included, if
needed.
b) Format phase
1) Inputs should be defined using an SDL, with which it may be capable of international extensions and
compatibility in the future.
2) The VTE should be able to interpret the information specified in the SDL used for the specific
scenario and instantiate various elements of the scenario during runtime. While multiple SDLs
exist, the choice of SDL used should be compatible with the VTE used for ADS testing.

ISO/DPAS 34506:2026(en)
3) The format should be defined in such a way that it is unambiguous and that it allows reproducible
testing.
c) Store phase
[9]
1) Inputs may be stored in a database for retrieval and analysis (see ISO 34505 for details).
5.2.3 During and post-execution modules of a VTE
During and post-execution of a test run in a VTE, the test procedure shall define:
a) pass/fail criteria;
b) abort criteria;
c) the observation variables to be monitored, recorded and evaluated.
This execution phase shall be performed in two steps:
— Analysis step: Each test run shall be analysed to establish if the pass/fail criteria are met. Each execution
may involve identification, monitoring, recording and logging of relevant observation variables.
— Decision step: Each test run shall be assessed to establish if the stopping criteria are met. This may
include definition and monitoring of pre-defined test runs or pre-defined stopping criteria.
For a scalable safety assurance framework for ADS, the selected scenarios and performance metrics shall
correspond to the ODD and the behavioural competencies of the ADS. Performance metrics shall address
ODD coverage by the selected scenarios and shall include consideration of out-of-ODD
...

ISO/DPAS 34506
ISO/TC 22/SC 33
Secretariat: DIN
Date: 2026-06-18
Road vehicles — Test scenarios for automated driving systems —
Qualification of virtual test environments
Véhicules routiers — Scénarios d'essai pour les systèmes de conduite automatisée — Qualification des
environnements d'essai virtuels

ISO/DPAS 34506:2026(en)
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication
may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying,
or posting on the internet or an intranet, without prior written permission. Permission can be requested from either ISO
at the address below or ISO’s member body in the country of the requester.
ISO copyright office
CP 401 • Ch. de Blandonnet 8
CH-1214 Vernier, Geneva
Phone: + 41 22 749 01 11
E-mail: [e-mail]
Website: www.iso.org
Published in Switzerland
ii
ISO/DPAS 34506:2026(en)
Contents
Foreword . iv
Introduction . v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 2
5 Virtual test environment . 2
5.1 Types and purposes . 2
5.2 General requirements . 3
5.3 Functional requirements . 7
6 VTE qualification framework . 8
6.1 General . 8
6.2 Qualification of VTE development and maintenance process . 10
6.3 Qualification of the VTE usage . 11
6.4 Qualification of the VTE performance based on real world data . 11
6.5 Qualification of the VTE performance for synthetic test cases without real world
evidence . 16
Bibliography . 18

iii
ISO/DPAS 34506:2026(en)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out through
ISO technical committees. Each member body interested in a subject for which a technical committee has been
established has the right to be represented on that committee. International organizations, governmental and
non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the
International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are described
in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the different types of
ISO documentsdocument should be noted. This document was drafted in accordance with the editorial rules
of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawnISO draws attention to the possibility that some of the elementsimplementation of this
document may beinvolve the subjectuse of (a) patent(s). ISO takes no position concerning the evidence,
validity or applicability of any claimed patent rights in respect thereof. As of the date of publication of this
document, ISO had not received notice of (a) patent(s) which may be required to implement this document.
However, implementers are cautioned that this may not represent the latest information, which may be
obtained from the patent database available at www.iso.org/patents. ISO shall not be held responsible for
identifying any or all such patent rights. Details of any patent rights identified during the development of the
document will be in the Introduction and/or on the ISO list of patent declarations received (see ).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation onof the voluntary nature of standards, the meaning of ISO specific terms and expressions
related to conformity assessment, as well as information about ISO'sISO’s adherence to the World Trade
Organization (WTO) principles in the Technical Barriers to Trade (TBT)), see the following URL:
www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee, TC22 ISO/TC 22, Road vehicles, Subcommittee SC, SC33
33, Vehicle dynamics, chassis components and driving automation systems testing.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
ISO/DPAS 34506:2026(en)
Introduction
The development, verification and validation of automated driving systems (ADS) presents a significant
challenge for both industry and regulatory authorities. Conventional physical testing methods can no longer
provide the necessary test coverage to assure safety with an acceptable degree of statistical significance.
Regulatory bodies such as the United Nations Economic Commission for Europe (UNECE) and the US
Department of Transportation (USDOT) have already recognized virtual testing as a complementary
methodology alongside track testing, real-world testing, and in-service monitoring and reporting (see
References [1][2].). However, several open questions should be addressed before virtual testing can be applied
as evidence for the assessment of the ADS. Some of these questions, identified in References [2] and [3],
include: (a) how reliability is defined in relation to automated operation, (b) the minimum degree of fidelity
required for simulation models to enable virtual testing, (c) how these simulation models are validated, and
(d) logistical considerations, such as which models are used, who supplies these models, and how, or if
proprietary algorithms may be included. See ISO/TS 21934-2 for complementary standards on virtual
simulation.
While simulation models play a crucial role in the evaluation process, this document focuses on another
criticalimportant element: the assessment of the credibility of the virtual test environments (VTEs). The
approach outlined in this document aims to ensure that VTEs can accurately and reliably replicate real-world
conditions, which is critical for trusting the validity of the virtual test results. Therefore, it is
essentialimportant to determine whether VTE can produce reliable and accurate representations of real-
world testing for pre-defined purposes, for example sensing and/or planning and/or acting, or end-to-end-
simulations. The purpose of this document is to propose metrics that can be used as quantitative measures to
assess whether a VTE accurately represents real-world conditions.
The document aims to establish guidelines provides recommendations and requirements for the development
and evaluation of VTEs. The methods described couldcan be part of a quality assurance framework to ensure
thatfor VTEs to meet certain requirements of adequacy. Figure 1Figure 1 illustrates an example methodology
for the qualification of the VTE by comparing outputs from real-world data with output data from simulation.
v
ISO/DPAS 34506:2026(en)
Figure 1 — Example schematic view of VTE evaluation process. Real world includes proving ground
testing.
NOTE 1 This document is part of the ISO 3450- seriesa set of documents (ISO 34501, ISO 34502, ISO 34503, ISO 34504
and ISO 34505), which provideprovides guidance and an overview of the scenario-based testing approach for ADS.
NOTE 2 Examples of applicable VTE configurations include model-in-the-loop (MiL) and software-in-the-loop (SiL)
testing methodologies and can extend to hybrid testing techniques, such as hardware-in-the-loop (HiL) and vehicle-in-
the-loop (ViL).
vi
ISO/DPAS 34506:2026(en)
Road vehicles — Test scenarios for automated driving systems —
Qualification of virtual test environments
1 Scope
This document establishes a qualification scheme for virtual test environments (VTE) used in the evaluation
of automated driving systems (ADS). It specifies criteria and procedures for assessing the VTE in open-loop
and closed-loop configurations.
This document does not apply to the validation or assessment of individual simulation models (for example,
sensor or vehicle dynamics models) and does not apply to the evaluation of ADS performance.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content constitutes
requirements of this document. For dated references, only the edition cited applies. For undated references,
the latest edition of the referenced document (including any amendments) applies.
ISO 34501, Road vehicles — Test scenarios for automated driving systems — Vocabulary
ISO 34503, Road Vehicles — Test scenarios for automated driving systems — Specification for operational design
domain
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 34501, ISO 34503 as well asand the
following apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— IEC Electropedia: available at http://www.electropedia.org/
— ISO Online browsing platform: available at http://www.iso.org/obp
3.1
virtual test environment (VTE)
VTE
simulation toolchain and associated data enabling testing according to the test objectives
Note 1 to entry: VTEThe virtual test environment (VTE) enables resimulation based on recorded data and/or simulation
based on artificial data.
Note 2 to entry: The virtual test environment (VTE) may include models or representations of scenery elements (e.g.
roadway environment, such as road lanes, traffic signs), dynamic elements (e.g. vehicles and other actors, like
pedestrians)), and environmental conditions (e.g. time of day, rainfall, etc.).
Note 3 to entry: A virtual test environment (VTE) may also have a framework of algorithms showing other dynamic
elements, such as vehicles, pedestrians, active traffic signals interactinteracting with the static elements and with each
other.
Note 4 to entry: A virtual test environment (VTE) can be fully virtual or a combination of virtual and hardware
components combined to form a test environment.
Note 5 to entry: A virtual test environment (VTE) can enable simulated interactions with a function or a feature of the
automated driving system (ADS.).
ISO/DPAS 34506:2026(en)
3.2
scenario
sequence of scenes usually including the automated driving system(s) (ADS) /subject vehicle(s), and its/their
interactions in the process of performing the dynamic driving task (DDT).)
[SOURCE: ISO 34501:2022, 3.4, modified — The original Note 1 to entry and the Example have been deleted.]
4 Abbreviated terms
ADS Automated Driving Systemautomated driving system
API Application Programming Interfaceapplication programming interface
DDT Dynamic Driving Taskdynamic driving task
GNSS Global Navigation Satellite Systemglobal navigation satellite system
HiL Hardwarehardware-in-the-Looploop
ICP Iterative Closest Point
IMU Inertial Measurement Unitinertial measurement unit
LiDAR Light Detectionlight detection and Rangingranging
MiL Modelmodel-in-the-Looploop
ML Machine Learningmachine learning
ODD Operational Design Domainoperational design domain
RTK Real Time Kinematicreal time kinematic
SDL Scenario Description Languagescenario description language
SiL Softwaresoftware-in-the-Looploop
SUT System Under Testsystem under test
ViL Vehiclevehicle-in-the-Looploop
VTE Virtual Test Environmentvirtual test environment
5 Virtual test environment
5.1 Types and purposes
Depending upon the purpose of the VTE, various configurations may exist for a VTE with different components
being virtualised. For the testing of an ADS, irrespective of the software architecture (e.g. end-to-end artificial
intelligence or modular configuration), the ADS has the perception, planning and actuation functionalities. In
order to execute the test, the ADS will needneeds to be stimulated by and connected to a test environment
which may or may not have the driver-in-the-loop. Depending on the ADS under test, its interfaces, and the
availability of information (white-, grey-, black box), different virtual test methods may be used to test the
ADS. For example, the "New Assessment/Test Method for Automated Driving (NATM) Guidelines for
[11]
Validating Automated Driving System (ADS))" includes MiL/SiL, HiL and ViL as simulation approaches. In
ISO/DPAS 34506:2026(en)
addition, open-loop simulation approaches can also serve as a form of VTE, wherein recorded or simulated
stimuli are provided to the sensor to observe the outputs of the ADS, while keeping these outputs isolated
from the driving environment for test-specific reasons, such as reduced complexity. Refer to ISO 34505 for
more details on test scenario evaluation and test case generation.
Table 1Table 1 presents examples of VTE configurations for various subject under test.
Table 1 — Examples of VTE configurations for various subject under test (SUT)
Test platform
Driving
(functionality Sensor ADS software Actuator Driver + HMI
environment
under test)
Software-in-the- virtual virtual virtual virtual virtual
loop
SiL
(any)
Hardware-in-the real and virtual real and virtual virtual virtual virtual
loop
HiL
(perception)
Hardware-in-the virtual real and virtual virtual virtual virtual
loop
HiL
(planning)
Hardware-in-the virtual virtual real and virtual virtual virtual
loop
HiL
(actuation)
Hardware-in-the virtual virtual real and virtual virtual real
loop
HiL
(Driver
handover)
Hardware-in-the virtual virtual real and virtual virtual real
loop
HiL
(actuation)
Proving ground real and virtual real real real and virtual real
(any)
Open road real and virtual real and virtual real real and virtual real
(any)
Open loop (any) real and virtual real and virtual real and virtual real and virtual real and virtual
5.2 General requirements
5.2.1 Components of VTE
Figure 2 illustrates the components of a VTE: simulation module, scenario execution module, and scenario
description module. Each module includes further components to enable the testing.
ISO/DPAS 34506:2026(en)
NOTE The chosen architecture is a high-level and simplified architecture enabling a structured explanation within
the document. The implemented structure can deviate to address the specific needs of the VTE, as described in 5.1 .
a) The simulation module shall include all necessary models and inputs to enable the testing of the ADS.
Therefore, it should include an engine which provides all relevant signals to stimulate the SUT.
b) The scenario execution module shall process all the relevant information of the test case,
synchronizessynchronize the engines and includesinclude the user interface, test analysis and test
control.
1) To enable automated testing, the test scenario execution module shall incorporate predefined criteria
for both completion and termination. Examples of such criteria include achieving the final pose for
successful completion or detecting Timetime-to-Collisioncollision (TTC) below a specific threshold
for termination. Additionally, the module shall establish the communication between the VTE and the
ADS.
c) The scenario description module shall process all relevant test scenario-related information. This can
include Operational Design Domain (ODD) attributes and the behaviour of test scenario entities, including
traffic density, road conditions, and weather variations. A possible structure can be found in ISO 34505 .
ISO/DPAS 34506:2026(en)
Figure 2 — Modularised Virtual Test Environment Frameworkvirtual test environment framework
illustrating VTE components
ISO/DPAS 34506:2026(en)
5.2.2 Pre-execution modules of a VTE
An execution in a VTE requires configuration instructions, test scenario content and execution instruction. The
input to the test scenario module is a test scenario, which is built in three steps: "create," "format,"" and
"store".
a) Create Phasephase
1) The input should include all relevant information to ensure reproducible test scenarios with the
required level of fidelity. This can include (e.g. static, dynamic, and environmental elements, which
may be two or three dimensional.). The input should include ODD attributes (e.g., traffic patterns,
road conditions, and weather effects.). For example, if the scenario entails a transition from dry
weather to rainy weather, the VTE should be able to simulate the effect of changing weather on the
scenario execution and its effect on the perception of the sensors as part of the ADS.
2) Input test scenarios that are executed in the VTE should accurately represent real-world dynamics
with realistic static and dynamic objects.
3) Digital information from e.g., for example, backend, infrastructure, and OBU should be included, if
needed.
b) Format Phasephase
1) Inputs should be defined using a Scenario Description Language (an SDL), with which it may be
capable of international extensions and compatibility in the future.
2) The VTE should be able to interpret the information specified in the SDL used for the specific scenario
and instantiate various elements of the scenario during runtime. While multiple SDLs exist, the choice
of SDL used should be compatible with the VTE used for ADS testing.
3) The format should be defined in such a way that it is unambiguous and that it allows reproducible
testing.
c) Store Phasephase
1) Inputs may be stored in a database for retrieval and analysis (see ISO 34505 for details).
5.2.3 During- and Postpost-execution modules of a VTE
During and post-execution of a test run in a VTE, the test procedure shall define:
a) pass/fail criteria;
b) abort criteria, and;
c) the observation variables to be monitored, recorded and evaluated.
This execution phase shall be performed in two steps:
— Analysis step: Each test run shall be analysed to establish if the pass/fail criteria are met. Each execution
may involve identification, monitoring, recording and logging of relevant observation variables.
— Decision step: Each test run shall be assessed to establish if the stopping criteria are met. This may include
definition and monitoring of pre-defined test runs or pre-defined stopping criteria.
ISO/DPAS 34506:2026(en)
For a scalable safety assurance framework for ADS, the selected scenarios and performance metrics shall
correspond to the Operational Design Domain (ODD)ODD and the behavioural competencies of the ADS.
Performance metrics shall address ODD coverage by the selected scenarios and shall include consideration of
out-of-ODD conditions. Therefore, the requirements for the VTE inputs, execution configuration and outputs
shall be defined in relation to the ODD and the behaviour competencies of the ADS.
NOTE ISO 34505 provides a methodology for scenario evaluation and test case generation, including consideration
of the operational design domain and test criteria.
5.3 Functional requirements
5.3.1 Overview
The following clauses are describingsubclauses describe general requirements and recommendations related
to the three major modules: "5.3.2 Simulation Module",, simulation module"; "5.3.3 Scenario Execution
Module", scenario execution module"; and "5.3.4 Scenario Description Module" which has been, scenario
description module", introduced in clause 5.2.
In addition, and related to the purpose of the VTE, further general requirements should be considered.
Examples areinclude:
— impact of weather conditions, including rain, snow, fog, and icy surfaces;
— degradation of sensor signals due to atmospheric particles such as snow, rain, fog, sand, and smog;
— represent representation of the behaviour of other actors (e.g. vehicles, vulnerable road users like
pedestrians, cyclists, etc.).
5.3.2 Simulation Modulemodule
The simulation module:
— Should provide accessible output for all DDT relevant objects, like various road users, including vehicles,
pedestrians, and animals, in various situational contexts.
— Shall fullfillfulfil specific requirements for simulation, like real time processing of test scenarios for HiL
environments.
5.3.3 Scenario Execution Moduleexecution module
The scenario execution model:
— Should ensure the test scenario format is capable of being executed in the software and hardware of choice
for the VTE.
— Should ensure an unambiguous input of the test scenario definition with associated metadata labels (e.g.
ODD and behaviour description) (see ISO 34503 and ISO 34504 .).
— In case the test scenario definition includes the definition of scenery elements (e.g.,. buildings, specific type
of trees, etc.), such test scenario assets, and descriptions should be provided along with the test scenario
description to yield interpretability by the VTE. This is essential from establishingnecessary to establish
the sensing and system level performance.
ISO/DPAS 34506:2026(en)
5.3.4 Scenario Description Moduledescription module
Test scenario execution software manages and runs test scenarios by ensuring consistent and repeatable
simulations, defining both static and dynamic elements at each time step throughout execution:
— Should read, initialize, and execute test scenarios.
— Should communicate with the simulation engine, if needed.
— Should provide clear instructions for error handling to the simulation engine.
— A well-defined recovery plan should be in place so that any failures in the test scenario execution can be
logged as a logging functionality and identified for subsequent investigation, thereby supporting
determinism and reproducibility across all test cases.
6 VTE Qual
...