Techniques are disclosed for performing hybrid simulation operations with an autonomous vehicle. A method of testing autonomous vehicle operations includes receiving, by a computer, a pre-configured scenario that includes one or more simulation parameters and one or more initial condition parameters, sending, to the autonomous vehicle and based on the one or more initial condition parameters, control signals that instruct the autonomous vehicle to operate at an operative condition, and in response to determining that the autonomous vehicle is operating at the operative condition, performing a simulation with the one or more simulated objects and the autonomous vehicle to test a response of the autonomous vehicle.

A computer system and computer-implemented method for determining a control input for a vehicle combination comprising a tractor unit and at least one trailing unit are disclosed. The computer system has processing circuitry to acquire parameters of a manoeuvre to be performed by the vehicle combination; determine an objective for the manoeuvre based on the acquired parameters of the manoeuvre, the objective including one or more of reducing a swept path of the vehicle combination, reducing off-tracking of the vehicle combination, and reducing rearward amplification of the vehicle combination; acquire a plurality of cost functions for motion of the vehicle combination; select one the plurality of cost functions based on the determined objective for the manoeuvre; and determine one or more control inputs for the vehicle combination to perform the manoeuvre using the selected cost function.