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Before autonomous driving vehicles are commercialized, they need to undergo a series of rigorous tests. This paper first proposes the general process of autonomous driving system testing, and then summarizes the research progress of autonomous driving vehicle testing from the model, simulation, network, and vehicle levels, and analyzes the characteristics of various testing technologies. Finally, this paper gives suggestions on the development of autonomous driving testing technology.dblp:conf/apsec/ChenMWCC21 fatcat:ndzze62phrggvl7otmhbldwqmy