The aim of this article is to propose the initial validation steps for a test-purpose self-driving vehicle. The basis of the computer simulation in question is a passenger vehicle converted to be capable of specific self-driving tasks, meaning that it features a complete low-level control system, an onboard computer for high-level computation and a full sensor set consisting of laser scanners, lidars, cameras and GNSS receivers. The computer simulation of the described vehicle is created using the SVL Autonomous Vehicle Simulator and aims to completely model the behavior of the real transformed vehicle. To ensure the fidelity of the computer simulation, a set of comparative measurements are defined, which are realized using both the real vehicle and its computer simulation. The basis of comparison is, on one hand, the assessment of the vehicle control system by comparing control input and output, on the other hand, the comparison of onboard sensor measurement results.