What's the equivalent of animal trials for autonomous vehicles? Closed-circuit tests? Is there any evidence that these companies haven't gone through closed ci

What's the equivalent of animal trials for autonomous vehicles? Closed-circuit tests? Is there any evidence that these companies haven't gone through closed circuit tests and passed before testing in public roads? The next step in drug trials is, in fact, testing on humans and some do suffer serious injury or death. I don't think there's any way around it and the greater good of having a pharmaceutical industry at all outweighs those unfortunate incidents.