Saad Minhas author Aura Hernandez-Sabate author Shoaib Ehsan author Katerine Diaz author Ales Leonardis author Antonio Lopez author Klaus McDonald Maier author 2016 Photorealistic virtual environments are crucial for developing and testing automated driving systems in a safe way during trials. As commercially available simulators are expensive and bulky, this paper presents a low-cost, extendable, and easy-to-use (LEE) virtual environment with the aim to highlight its utility for level 3 driving automation. In particular, an experiment is performed using the presented simulator to explore the influence of different variables regarding control transfer of the car after the system was driving autonomously in a highway scenario. The results show that the speed of the car at the time when the system needs to transfer the control to the human driver is critical. Simulation environment Automated Driving Driver-Vehicle interaction ADAS;IAM; 600.085; 600.076 exported from refbase (http://refbase.cvc.uab.es/show.php?record=2865), last updated on Fri, 26 Feb 2021 14:22:53 +0100 text http://refbase.cvc.uab.es/files/MHE2016.pdf MHE2016 ECCVW 2016 conference publication 9915 894 900