Intelligent vehicle systems such as ADAS, ITS and automated driving systems consist of increasing numbers of sensor technologies as well as increasingly advanced algorithms for sensor fusion, object tracking, object classification, risk estimation, driver status recognition and vehicle control. It is rapidly becoming infeasible to check the performance of each new (sensor) system in the traditional way:​ By performing test drives, storing data, manually labelling the data for reference, and manually evaluating the results. One of the approaches to address these difficulties is to install a reference sensor system on the test vehicle in addition to the prototype sensor system (device under test). The recorded data from the reference sensor system are processed – partly or fully - automatically to create reference scenarios, based on automatic object labelling and automatic event identification. Based on these reference data, the device under test can be automatically and objectively evaluated. The reference data from the reference sensor system can now be converted into a set of virtual scenarios which can be used within a CAE environment. These simulated “ground-truth reference scenarios” offer a platform for engineers to quickly check the consequences of design changes to the device under test, and allow engineers to subject the device under test to a wide variation of virtual traffic scenarios.