Simulation and testing of Advanced Driving Assistance Systems (ADAS) and Autonomous Driving Systems (ADS) has gained in the recent years a lot of attention both from the automotive industry and academia. Testing this systems on the road is closer to their final real-world application and it is a desirable approach, but it is incredibly costly at the same time. Also, it is unfeasible or too dangerous to cover rare corner cases using such real-world testing. Thus, the common goal of the industry is to evaluate the systems' performance in some well-designed challenging scenarios, a.k.a. scenario-based testing, in a safe virtual environment.