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However, the integration of software and hardware in these complex systems presents significant testing challenges, particularly with respect to ensuring passenger safety. To address these challenges, simulation has emerged as a crucial step in the testing of ADSs. This paper presents a solution to the challenges faced in testing ADSs, with a focus on the validation of ADS simulators. The proposed approach involves using simulations and metamorphic testing (MT) to generate multiple concrete metamorphic relations (MRs) for testing ADS simulators. In order to accomplish this goal, we introduce three metamorphic relation patterns (MRPs). Each MRP is accompanied by a metamorphic relation input pattern (MRIP) that aids in generating detailed MRs. These MRs are designed to identify potential issues within the ADS simulator. To simplify the testing process and facilitate MT for testers, a self‐evolving scenario‐testing framework is also presented. 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