The field of autonomous vehicle research is moving towards more comprehensive and realistic simulation frameworks, enabling the development of more reliable and efficient autonomous systems. This is driven by the need for more accurate validation of autonomous vehicle software, which requires bridging the gap between low-fidelity and high-fidelity simulators. Recent developments have focused on creating novel co-simulation frameworks that integrate multiple technologies and modalities, such as 2D and 3D driving simulation, ray tracing, and multi-technology V2X communication. These advancements allow for more realistic and flexible simulation of various scenarios, including complex traffic situations and environmental conditions. Additionally, the integration of real hardware devices into virtual platforms has shown significant improvements in simulation speed and accuracy, particularly for AI-related workloads. Notable papers in this area include:

• MultiDrive, which introduces a co-simulation framework for bridging 2D and 3D driving simulation, and
• VaN3Twin, which presents a multi-technology V2X digital twin framework with ray tracing for accurate physical-layer modeling.