Conclusion
As can be seen from the decision matrix, Torcs and Vires VTD and IPG are the most fitting solutions. But Vires VTD has the big drawback of being a commercial software. As a result, we decided to use the Torcs simulation framework as our first choice. The only real drawback of this solution is the limited scenario generation. That is why we keep the IPG Carmaker as a backup solution (since it's performance is close to Vires VTD but with a free student version) for a possible extension of the scenarios and started communication with ETH lab.