A testing framework for predictive driving features with an electronic Horizon

•Analysis and evaluation of map-based predictive driving features for intelligent transportation systems.•Verification of decision-level fusion algorithms using a Hardware-in-the-Loop co-simulation.•Design of a Hardware-in-the-Loop co-simulation framework with model-based reactive testing.•Use of a generic and modular framework to study the performance of the electronic-horizon-based fusion approaches.•Case studies regarding the effects of sensor failures using driving simulation.