In this paper we present the simulation software tool Pro-SiVIC for verifying and validating of Advanced Driver Assistance Systems (ADAS) and autonomous (self-driving) vehicles. The specificity of Pro-SiVIC lies in the in-depth virtual prototyping of new or improved perception sensors, and in simulating numerous indoor/outdoor scenarios combining vehicles , obstacles, climate conditions, environment and sensors. Such simulations enable virtual verification and validation of perception algorithms and sensor settings. Pro-SiVIC has been designed to help engineers to build realistic real-life 3D scenarios and experience parts of autonomous functions virtually. As a result, the need for physical prototypes is be reduced and in some cases even eliminated at different development stages from early design to final validation. We will show how the software sensor models can on simulate environmental factors that influence sensor performance such as lighting conditions, weather, and characteristics and behavior of other road users. We will also illustrate how the platform can be connected to real-time data management, to the other tools which use different algorithms of perception, post-processing, data-fusion, path planning and control. The process can be applied so users can quickly and precisely study the performance of embedded systems in both typical and critical use cases, to ensure the product will be safe and reliable in operation.