A method, implemented in an electronic processing system that includes a memory and one or more processors, includes receiving, at the electronic processing system, sensor data representing information collected by a first sensor (i) located on or in a first vehicle and (ii) configured to sense an environment external to the first vehicle. The method also includes storing the received sensor data in the memory, and generating, via the one or more processors and using the stored sensor data, a virtual model of an event involving at least one vehicle.