A computer-implemented method for processing raw data recorded by a sensor from the real world into test data for stimulating a control unit to be tested, comprising the following method steps: providing recorded raw data from the real world recorded by means of a sensor for a recording period along a recording path of at least a part of the environment of the recording path, said data comprising temporally consecutive data value sets having resulted from real objects detected by the sensor, determining real objects detected by the sensor from the consecutive data value sets and creating consecutive path data sets, each of which describes a scene having images of said real objects at consecutive points in time, providing a library having synthetic objects, determining the absolute velocity of the sensor along the recording path at time zero of the recording period and, in the event that the absolute velocity of the sensor along the recording path at time zero of the recording period is different from zero, supplementing the temporally consecutive path data set for an initiation period before the first path data set having temporally consecutive supplemental data sets, such that the sensor has an absolute velocity of zero at time zero of the initiation period and the temporally consecutive supplementary data sets have synthetic objects showing a quasi-synchronous temporal sequence of movements between temporally immediately consecutive supplementary data sets quasi-synchronously leading to the images of the real objects of the first path data set at time zero of the recording period, and generating the test data for stimulating a control unit to be tested by converting the supplemental data sets to such raw data as would have been recorded by the sensor during the initiation period in the real world if the sensor had detected the synthetic objects in the successive supplemental data sets as real objects, and supplementing the recorded raw data before the first path data set at time zero of the recording period with the raw data obtained by converting the supplemental data sets. providing recorded raw data from the real world recorded by means of a sensor for a recording period along a recording path of at least a part of the environment of the recording path, said data comprising temporally consecutive data value sets having resulted from real objects detected by the sensor, determining real objects detected by the sensor from the consecutive data value sets and creating consecutive path data sets, each of which describes a scene having images of said real objects at consecutive points in time, providing a library having synthetic objects, determining the absolute velocity of the sensor along the recording path at time zero of the recording period and, in the event that the absolute velocity of the sensor along the recording path at time zero of the recording period is different from zero, supplementing the temporally consecutive path data set for an initiation period before the first path data set having temporally consecutive supplemental data sets, such that the sensor has an absolute velocity of zero at time zero of the initiation period and the temporally consecutive supplementary data sets have synthetic objects showing a quasi-synchronous temporal sequence of movements between temporally immediately consecutive supplementary data sets quasi-synchronously leading to the images of the real objects of the first path data set at time zero of the recording period, and generating the test data for stimulating a control unit to be tested by converting the supplemental data sets to such raw data as would have been recorded by the sensor during the initiation period in the real world if the sensor had detected the synthetic objects in the successive supplemental data sets as real objects, and supplementing the recorded raw data before the first path data set at time zero of the recording period with the raw data obtained by converting the supplemental data sets.