“…Defining such routes, however, may become more and more time-consuming with a growing number of vehicles and larger simulation scenarios as, for example, needed for PACE. In order to reduce the effort for developers, in addition to speed annotations, a set of basic driver behaviors and related features should be provided by our simulator, such as the following: (i) Autonomous, microscopic driver behaviors regarding traffic [26], including, stopping in front of red traffic lights, giving way, regarding speed limits, and avoiding collisions with other vehicles and objects (ii) Scripted maneuvers defined by developers as part of the scenario definition like speed changes and braking maneuvers that can be triggered by the environment, as required by CACC (iii) Parameterization of the maneuvers that need to be varied while prototyping as the driver reaction time and randomized behavior (e.g., swaying in the lane) [12,27]. Additionally, cellular communication might be required to integrate remote information source.…”