A Hardware-in-the-Loop V2X Simulation Framework: CarTest

Area of Science:

• Automotive Engineering
• Cyber-Physical Systems
• Intelligent Transportation Systems

Background:

• Vehicle-to-Everything (V2X) technology is rapidly advancing, promising to revolutionize driving.
• Current V2X applications rely on On-Board Units (OBUs) for data processing, focusing on safety, efficiency, and information services.
• Real-world field testing for V2X systems suffers from low efficiency, limited coverage, and inability to replicate hazardous scenarios.

Purpose of the Study:

• To develop a Hardware-in-the-Loop (HIL) based laboratory simulation test framework for V2X systems.
• To address the limitations of traditional field testing by providing a controlled and repeatable testing environment.
• To evaluate the performance and scalability of the developed V2X testing framework.

Main Methods:

• Implementation of a HIL-based laboratory simulation test framework named CarTest.
• Development of relevant test cases for common and advanced V2X applications.
• Creation of a test evaluation system to assess framework performance.

Main Results:

• The CarTest framework demonstrated reliable output and strong repeatability in V2X testing.
• The framework successfully simulated extreme and hazardous driving scenarios.
• The system proved to be highly scalable for various V2X applications, including Forward Collision Warning (FCW), Intersection Collision Warning (ICW), Cooperative Adaptive Cruise Control (CACC), and Global Navigation Satellite System (GNSS) injection testing.

Conclusions:

• The HIL-based CarTest framework effectively compensates for the shortcomings of real-world V2X testing.
• The developed framework provides a robust, repeatable, and scalable solution for V2X system validation.
• This study also identifies and discusses key challenges and solutions related to HIL testing for V2X researchers.