There are test tracks. Both Waymo and Uber have publicly said that they have fake cities to test the code https://www.theatlantic.com/technology/archive/2017/08/insid...
http://www.businessinsider.com/ubers-fake-city-pittsburgh-se...
http://www.businessinsider.com/ubers-fake-city-pittsburgh-se...
Do they have crash test dummy kids running out on the road? To they have road work with giant potholes?
I can't even imagine the amount of data being generated by the fleets at waymo and others but compared to all the infinite possibilities I must assume their data set is tiny.
Well, there you go.