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BA-TRACE is presented, a boundary-aware trace reconstruction framework for scenario-based evaluation of mixed AUTOSAR AP and ROS 2 vehicular embedded systems that reconstructs the expected cross-platform path and exposes boundary-specific latency such as point-cloud transfer overhead.
VAST is presented, a V2X/Dynamic Map-aware validation toolchain that connects Scenic, Scenario Simulator v2, AWSIM, Autoware, and SIM-LDM and addresses interoperability challenges, including Lanelet2-to-Scenic mapping, ROS 2-based co-simulation through SS2, Dynamic Map object injection into Autoware, and collection of TTC, PET, collision, timeout, and performance measurements.