Abstract: One embodiment includes a simulation system for an autonomous vehicle. The simulation system includes a user interface configured to facilitate user inputs comprising spontaneous simulated events in a simulated virtual environment during simulated operation of the autonomous vehicle via an autonomous vehicle control system. The system also includes a simulation controller configured to generate simulated sensor data based on model data and behavioral data associated with each of the simulated virtual environment and the spontaneous simulated events. The simulated sensor data corresponds to simulated sensor inputs provided to the autonomous vehicle control system via sensors of the autonomous vehicle. The simulation controller is further configured to receive simulation feedback data from the autonomous vehicle control system corresponding to simulated interaction of the autonomous vehicle within the simulated virtual environment.