I need to collect natural driving data for research reason. However, I don't have a car or other needed equipment to conduct natural driving data with real car. So, I want to achieve this goal in a simulation way. In order to achieve high fidelity simulation, all vehicles in a scenario should be able to perform lane changing, car following and other behavior that human drivers are capable of. Is there a way to construct an autonomous driving simulation environment with Automated Driving Toolbox where obstacle vehicles are also autonomous driving vehicles?