## 3 Related Work  
Even though there are field tests and large-scale deployments already available, the development and performance evaluation of the evolving V2X technologies still strongly require extensive simulation-based experiments. There is vast literature on the simulation of V2X protocols, applications, and different V2X-based solutions: numerous simulation techniques, tools, and frameworks are available for evaluation purposes [18; 19; 20]. Simulation tools supporting ADAS testing and development can also be found in the literature, see, e.g., in [21; 22; 23; 24]. However, the set of V2X simulators with models/extensions for advanced driver-assistance systems is much smaller, and when it comes to free/open-source V2X simulators with explicit ADAS support, the list becomes almost empty, at least to the best of our knowledge. Below, we present the related work by introducing the available commercial products and existing publications of V2X-capable ADAS application simulator solutions. Vector, an automotive electronics company, supplies related industries with a professional platform of tools, software components, and services for developing embedded systems. Their product CANoe.Car2x [25] supports V2X standards and protocols from the regions of China, EU, and the US and lets users load various test scenarios and generate valid V2X communication. Authors of a Vector white paper [26] introduce that CANoe.Car2x can be applied for testing ADAS applications by generating, time synchronously, the entire data traffic for all networks used by the ADAS ECU. The system is modular, and different network interfaces, ECUs, and applications to be tested can be incorporated into the hardware-in-the-loop simulations. ADAS iiT, a collaboration of four National Instruments (NI) Alliance partners, offers a commercial simulator for V2X and related technologies [27]. Their V2X test system solutions are designed as a modular system of different building blocks with clearly defined interfaces based on NI hardware and software, S.E.A. V2X, various communication interfaces, and GNSS simulation tools [28]. The solution is flexible: tests of single devices or complete systems in functional or hardware-in-the-loop testing applications are also achievable, especially in the V2X sensor fusion and ADAS verification domain. Intra-vehicle communication, position information management, and scenario generation are both available. dSPACE also provides a commercial product within its V2X portfolio called the dSPACE V2X Interface for waveBEE [29]. This flexible solution supports all relevant V2X standards for V2X and cellular V2X paired with scalable computation power and makes it possible to integrate dSPACE advanced HiL- or PC-based simulation solutions for ADAS/AD into a waveBEE V2X simulation environment initially developed by Nordsys [30]. The system offers a wide range of testing capabilities for various applications, from V2X Day 1 to CAVs, that require detailed vehicle, environment, and infrastructure modeling and simulation. In [31], the authors introduce a 3D Simulator for Cooperative ADAS and Automated Vehicles Simulator (3 DCoAutoSim). It is a flexible, modular, tailored vehicle simulator with 3D visualization, enabling it to emulate various controlled driving environments for investigating the effect of automation and V2X communication on drivers. The solution does not include proper and detailed models of communication protocols or standardized V2X architectures. Instead, 3 DCoAutoSim simulates the V2X transmissions within the applied 3D visualization engine by calculating the communication between the different entities while considering radio signal propagation characteristics and reception failures resulting from long distances and/or building interference [32]. The authors of [33] proposed a system integrating Veins [34] with a 3D driving simulator to support the development of next-generation ADAS systems.