For testing and safety assurance of assistance systems and (semi-)autonomous vehicles, precisely adjustable traffic situations must be performed on a test track: the vehicles to be examined must be brought into reproducible situations with stationary objects (e.g. lane markings) but also with other moving road users (e.g. vehicles, pedestrians). In addition, in the development phase of collision avoidance systems, tight passages and dangerous collision scenarios, which would pose a safety risk to human drivers, are part of the test program. In order to meet the high functional requirements for the test vehicle, as well as for the traffic partners (here called “target vehicles”), a system for coordinated automated test execution was developed. It is described in this chapter.