Automatic V2X large-scale fusion scene test system based on HIL rack

Abstract

The invention relates to the technical field of intelligent network connection vehicles, and discloses an automatic V2X large-scale fusion scene test system based on an HIL rack, and the system comprises an upper computer, a real-time machine, a communication comprehensive test instrument, a satellite signal simulator, and a tested OBU. The upper computer is used for deploying nodes and realizing scene file downloading, analysis and 2D simulation test; and forwarding the V2X message output in real time to the communication comprehensive test instrument, and forwarding the GNSS signal to the satellite signal simulator. And running a V2X scene in real time, generating a V2X message, dynamically generating a virtual GNSS signal, and synchronously outputting the virtual GNSS signal to an upper computer. And the communication comprehensive test instrument receives the V2X message and sends a standardized signal to the OBU. And the satellite signal simulator generates a navigation constellation radio frequency signal according to the GNSS data and simulates a dynamic trajectory. And the detected OBU receives the V2X message and the GNSS signal, executes fusion positioning and scene perception, generates an early warning message and returns the early warning message to the upper computer. According to the invention, the test efficiency, coverage and repeatability can be improved, and support is provided for research, development and verification of the V2X technology.

Description

Technical Field

[0001] The present invention relates to the field of intelligent connected vehicle technology, and in particular to an automated V2X large-scale fusion scenario testing system based on a HIL test bench. Background Art

[0002] In the intelligent connected vehicle V2X technology verification system, standardized application scenario testing (such as forward collision warning (FCW) and blind spot alert (LTA) in Day 1, and green wave (GLOSA) in Day 2) can verify basic functional logic, but they cannot replicate the complexity of real-world, high-density traffic environments. Therefore, large-scale testing is required to ensure the integrity and reliability of the DUT.

[0003] However, there are still some challenges and problems in large-scale V2X testing, including but not limited to the following:

[0004] (1) Laboratory HIL simulation is difficult to simulate a large number of vehicles: Laboratory HIL simulation has serious efficiency defects when simulating more than 200 background vehicles; manually configuring the motion trajectory of each vehicle and the corresponding BSM message takes dozens of hours, and it is difficult to ensure the precise synchronization of message timing (such as 20Hz sending frequency) and vehicle dynamic state.

[0005] (2) Field testing with real vehicles is almost impossible due to physical constraints: It is very difficult to find more than 200 real vehicles in the field to run in parallel with the test vehicle. The cost of parallel testing is too high and safety cannot be guaranteed. In addition, combined with the V2X standard, many application scenario tests are difficult to implement. For example, the testing of FCW and application scenarios requires triggering dangerous conditions and causing uncontrollable collision risks, which is a high test risk. For example, the testing of application scenarios such as ICW requires centimeter-level positioning accuracy, which is difficult to guarantee in the field.

[0006] (3) Large-scale testing and standardized application scenarios are not effectively integrated: In laboratory environments, existing testing frameworks often separate large-scale stress testing from standardized functional verification, making it difficult to verify the response of the conventional warning functions of the tested device under large-scale stress conditions, resulting in verification blind spots.

[0007] These issues together constitute the key barriers to V2X technology research and development and verification. There is still an urgent need to develop a new test system to improve the quality of V2X technology research and development and verification. Summary of the Invention

[0008] The present invention aims to provide an automated V2X large-scale fusion scenario test system based on a HIL bench, which can improve test efficiency, coverage and repeatability, and provide strong support for the research and development and verification of V2X technology.

[0009] The basic solution provided by the present invention is: an automated V2X large-scale fusion scenario test system based on a HIL bench, including a host computer, a real-time machine, a communication tester, a satellite signal simulator and an OBU under test;

[0010] The host computer is used to deploy nodes; the host computer communicates with the real-time machine via Ethernet to download and parse scene files and perform 2D scene simulation tests; the host computer integrates a signal conversion module, which forwards the V2X messages output by the real-time machine to the communication tester via the UDP protocol, and forwards the GNSS signals to the satellite signal simulator;

[0011] The real-time machine is used to run a preset V2X scenario and generate V2X messages through the C-V2X protocol stack; dynamically generate a virtual GNSS signal based on the scenario's spatiotemporal coordinates; and periodically output the V2X message and GNSS signal to a host computer synchronously;

[0012] The communication tester is configured to: receive V2X messages forwarded by the host computer in V2X PC5 mode and send standardized radio frequency signals to the OBU under test through the radio frequency port; the satellite signal simulator is used to generate navigation constellation radio frequency signals based on GNSS data provided by the host computer to simulate dynamic trajectories;

[0013] The OBU under test is used to receive V2X messages from the communication tester and GNSS signals from the satellite signal simulator; and perform fusion positioning and scene perception, generate warning messages and transmit them back to the host computer through the vehicle bus; the host computer receives the warning messages returned by the OBU under test and performs analysis and verification.

[0014] Furthermore, the nodes include RSU simulation nodes, OBU simulation nodes, RV simulation nodes and BkgLoad large-scale vehicle collection simulation nodes.

[0015] Furthermore, the host computer further includes:

[0016] The time synchronization module uses the PTP protocol to ensure that the clock synchronization error of each node is ≤1ms;

[0017] The logic judgment module verifies the accuracy by comparing the warning message output by the tested OBU with the expected event of the real-time machine;

[0018] The UDP_TxTunnel simulation node encapsulates the V2X message into a UDP data packet and sends it to the communication tester.

[0019] Furthermore, the RSU simulation node is deployed in an independent Docker container and is configured as follows:

[0020] Bind to the preset geo-fence area, periodically broadcast MAP messages and SPAT messages; and forward the BSM message of the RV node to the OBU under test to realize V2I communication link simulation;

[0021] Establish a socket connection with the communication tester through the interface card of the host computer to realize the transparent transmission of ASN.1 encoded messages;

[0022] The OBU simulation node operates as a virtual measured object and is configured to mirror the actual measured OBU hardware status and execute early warning logic.

[0023] Furthermore, the RV simulation node is dynamically deployed in a multi-threaded manner and is configured as follows:

[0024] Generates trajectory and behavior logic in real time based on vehicle dynamics model; and periodically generates BSM messages to establish a V2V communication link with the OBU under test;

[0025] The BkgLoad large-scale vehicle collection simulation node is deployed as a separate node in the simulation environment and is configured to: dynamically adjust the number of vehicles through the control panel to adjust the channel load intensity; realize the relative position relationship between vehicles and BSM message packet encapsulation through logic, simulate the channel congestion environment to verify the warning sensitivity of the tested OBU in a large-scale vehicle environment.

[0026] Furthermore, the system supports dual-mode testing:

[0027] Hardware-in-the-loop mode, where V2X messages and GNSS signals are generated by the real-time machine;

[0028] In 2D simulation mode, the host computer is separated from the real-time machine operation scenario and only generates V2X messages.

[0029] Furthermore, the trajectory generation method of the RV simulation node and the BkgLoad large-scale vehicle collection simulation node is as follows:

[0030] Preset the driving route, speed and acceleration parameters and vehicle behavior logic in the host computer;

[0031] The vehicle dynamics model based on the real-time machine calculates the position / speed / heading angle in real time.

[0032] Furthermore, the V2X message adopts a priority queue mechanism:

[0033] Security messages use the 802.11p AC_VO queue to ensure transmission delay ≤ 50ms;

[0034] Service messages are transmitted using the AC_BE queue.

[0035] Furthermore, when performing field tests, the satellite signal simulator and real-time machine are removed and a power amplifier is connected instead for semi-real vehicle testing; the RF output end of the communication tester is switched to the power amplifier, and the real vehicle GNSS signal is used instead of the simulated signal.

[0036] Furthermore, a node isolation mechanism is built for each node in the host computer, so that large-scale simulation scenarios and standard scenarios can run in parallel in a shared map and use case environment without interfering with each other;

[0037] The node isolation mechanism includes: allocating independent virtual network partitions for large-scale simulation scenarios; configuring dedicated communication bandwidth channels for standard scenarios; and dynamically allocating computing resources.

[0038] The working principle and advantages of the present invention are:

[0039] The present invention provides an automated V2X large-scale fusion scenario test system based on a HIL test bench, which can improve test efficiency, coverage, and repeatability, and provide strong support for the development and verification of V2X technology. The key points are:

[0040] First, this solution creates a comprehensive node-based simulation architecture that enables comprehensive and accurate coverage of test scenarios. By introducing RSU simulation nodes, OBU simulation nodes, RV (background vehicle) simulation nodes, and BkgLoad large-scale vehicle collection simulation nodes, this solution enables the flexible construction of integrated scenarios encompassing diverse traffic participants (vehicles, roadside infrastructure) and complex interactions. The BkgLoad node, as an independent simulation entity, dynamically adjusts the number of virtual vehicles via a control panel, directly simulating varying wireless channel loads. Its logic implements the relative positional relationships between vehicles and encapsulates BSM message packets, accurately replicating real-world conditions characterized by channel congestion caused by large numbers of vehicles communicating, verifying the warning sensitivity of the OBU under test in extremely high-density traffic. Furthermore, the RV node generates trajectories and behavior logic in real time based on a vehicle dynamics model and periodically broadcasts BSM messages. This not only establishes a V2V communication link with the OBU under test but also ensures the fidelity of traffic flow dynamics. The RSU node, bound to a geofence, broadcasts MAP / SPAT messages and forwards BSM messages, completing the V2I communication link. All these nodes run collaboratively in the host computer, sharing maps and use case environments. They can simulate scenarios ranging from simple two-vehicle interactions to complex urban intersections or highways with hundreds or even thousands of background vehicles and multiple RSUs. This covers various fusion perception and decision-making scenarios required for V2X applications, greatly expanding the coverage and complexity of test scenarios.

[0041] Second, through the coordinated operation of the host computer, real-time machine, communication tester and satellite signal simulator, this solution can achieve closed-loop generation and verification of V2X messages and high-precision positioning signals, and support continuous scenario iterative testing, which can significantly reduce testing costs.

[0042] Third, this solution allows for a smooth transition to field testing. By removing the simulator, connecting the amplifier, and utilizing real GNSS signals, semi-live vehicle testing can be easily performed, verifying the consistency between laboratory results and real-world conditions. This solution offers significant flexibility, dynamically adapting to varying testing needs.

[0043] Fourth, this solution incorporates a strict time synchronization mechanism to ensure the accuracy of event timing across a large number of nodes, providing a foundation for verifying time-sensitive functions such as collision warnings. Second, a node isolation mechanism enables parallel execution of load simulation and core test cases in high-density environments without interfering with each other, helping to improve system resource utilization and test throughput, thereby increasing test efficiency and further reducing testing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the system structure of an embodiment of an automated V2X large-scale fusion scenario test system based on a HIL bench in a laboratory test scenario of the present invention;

[0045] Figure 2 This is a schematic diagram of the system structure of an embodiment of an automated V2X large-scale fusion scenario test system based on a HIL bench in an outdoor test scenario of the present invention;

[0046] Figure 3 This is a schematic diagram of the operating interface of the host computer when setting node parameters in an embodiment of an automated V2X large-scale fusion scenario test system based on a HIL bench of the present invention;

[0047] Figure 4 This is a schematic diagram of the operating interface of the host computer when calling the scenario configuration in an embodiment of an automated V2X large-scale fusion scenario test system based on a HIL bench of the present invention. DETAILED DESCRIPTION

[0048] The following is a further detailed description through specific implementation methods:

[0049] The embodiment is basically as shown in the attached Figure 1 Shown: An automated V2X large-scale fusion scenario test system based on a HIL bench, including a host computer, a real-time machine, a communication tester, a satellite signal simulator and the OBU under test.

[0050] The host computer is used to deploy nodes; the nodes include RSU simulation nodes, OBU simulation nodes, RV simulation nodes and BkgLoad large-scale vehicle collection simulation nodes.

[0051] Specifically, the RSU simulation node is deployed in an independent Docker container and is configured as follows:

[0052] Load the ETSI ITS-G5 or C-V2X protocol stack and bind it to a preset geo-fenced area (such as an intersection area, etc.). In actual application, the area is selected according to test requirements.

[0053] By default, MAP messages and SPAT messages are broadcast periodically at intervals of 100ms. The BSM message of the RV node is forwarded to the OBU under test to achieve V2I communication link simulation.

[0054] A socket connection is established between the host computer's interface card and the communication tester to achieve transparent transmission of ASN.1 encoded messages.

[0055] In addition, the communication parameters of the RSU simulation node are configured as PC5 interface frequency band 5.895-5.925 GHz, transmission power 23 dBm, and service set identifier (ITS-SID).

[0056] The OBU simulation node operates as a virtual measured object and is configured to mirror the actual measured OBU hardware status for test result comparison and position dynamic prediction, and execute early warning logic (such as calculation of collision time TTC).

[0057] The RV simulation node is dynamically deployed in a multi-threaded form. Each RV simulation node corresponds to a simulation thread and is configured as follows:

[0058] Generates trajectory and behavior logic in real time based on vehicle dynamics model; and periodically generates BSM messages to establish a V2V communication link with the OBU under test.

[0059] The BkgLoad large-scale vehicle collection simulation node is deployed as a separate node in the simulation environment and is configured to: dynamically adjust the number of vehicles through the control panel to adjust the channel load intensity; realize the relative position relationship between vehicles and BSM message packet encapsulation through logic, simulate the channel congestion environment to verify the warning sensitivity of the tested OBU in a large-scale vehicle environment.

[0060] The trajectory generation method of the RV simulation node and the BkgLoad large-scale vehicle collection simulation node is as follows:

[0061] Preset the driving route, speed and acceleration parameters and vehicle behavior logic in the host computer;

[0062] The vehicle dynamics model based on the real-time machine calculates the position / speed / heading angle in real time.

[0063] The host computer communicates with the real-time machine via Ethernet to realize the download and analysis of scene files and 2D scene simulation testing; the host computer is integrated with a signal conversion module, which forwards the V2X message output by the real-time machine to the communication tester via the UDP protocol, and forwards the GNSS signal to the satellite signal simulator.

[0064] The host computer is also provided with:

[0065] The time synchronization module uses the PTP protocol to ensure that the clock synchronization error of each node is ≤1ms. Furthermore, the RV node's BSM message carries the SC&FT (Scenario Timestamp) to ensure spatiotemporal alignment with the GNSS signal. This technical setup fully guarantees time synchronization across all links and nodes during the test.

[0066] The logic judgment module verifies the accuracy by comparing the warning message output by the tested OBU with the expected event of the real-time machine.

[0067] The UDP_TxTunnel simulation node encapsulates the V2X message into a UDP data packet and sends it to the communication tester.

[0068] Furthermore, the V2X message adopts a priority queue mechanism:

[0069] Security messages use the 802.11p AC_VO queue to ensure transmission delay ≤ 50ms;

[0070] Service messages are transmitted using the AC_BE queue.

[0071] Through the above design, each node of the host computer can not only independently run and verify single-point functions, but also collaborate to build complex V2X scenarios, providing a high-fidelity, high-concurrency test environment for the OBU under test.

[0072] In addition, a node isolation mechanism is built for each node in the host computer, so that large-scale simulation scenarios and standard scenarios can run in parallel in a shared map and use case environment without interfering with each other;

[0073] The node isolation mechanism includes: allocating independent virtual network partitions for large-scale simulation scenarios; configuring dedicated communication bandwidth channels for standard scenarios; and dynamically allocating computing resources.

[0074] The real-time machine is used to run preset V2X scenarios and generate V2X messages through the C-V2X protocol stack, including BSM / MAP / SPAT messages; dynamically generate virtual GNSS signals (including longitude, latitude, speed, heading angle and other information) based on the scenario's spatiotemporal coordinates; and periodically output V2X messages and GNSS signals to the host computer synchronously.

[0075] The communication tester is configured to receive V2X messages forwarded by the host computer in V2X PC5 mode and send standardized radio frequency signals to the OBU under test through the radio frequency port.

[0076] The satellite signal simulator is used to generate navigation constellation radio frequency signals based on GNSS data provided by the host computer and simulate dynamic trajectories (such as vehicle acceleration and turning).

[0077] The OBU under test is used to receive V2X messages from the communication tester and GNSS signals from the satellite signal simulator; and perform fusion positioning and scene perception, generate warning messages and transmit them back to the host computer through the vehicle bus; the host computer receives the warning messages returned by the OBU under test and performs analysis and verification.

[0078] The system (i.e., an automated V2X large-scale fusion scenario test system based on a HIL bench) supports dual-mode testing:

[0079] In hardware-in-the-loop mode, V2X messages and GNSS signals are generated by the real-time machine; it is suitable for standard testing and dangerous testing scenarios (such as intersection collision warning, emergency braking, and other high-risk tests that require millimeter-level spatiotemporal synchronization).

[0080] In 2D simulation mode, the host computer operates independently of the real-time machine and generates only V2X messages. This mode is suitable for field testing, large-scale testing, and 2D scenarios. In this mode, only V2X messages are generated. The host computer runs independently of the real-time machine, using a built-in engine to render the 2D scene and generate ASN.1 encoded messages. There is no GNSS signal; positioning relies on actual vehicle movement in the field or pre-set trajectories in the laboratory.

[0081] Specifically, if Figure 2 As shown in the figure, when performing field tests, the satellite signal simulator and real-time machine are removed, and instead a power amplifier is connected for semi-real vehicle testing; the RF output end of the communication tester is switched to the power amplifier, and the real vehicle GNSS signal is used instead of the simulated signal.

[0082] Furthermore, when applying this system for testing, the following test steps are included:

[0083] Step 1: Scene configuration and loading.

[0084] like Figure 4As shown, the host computer calls the scene database, compiles and generates executable code and downloads it to the real-time machine.

[0085] like Figure 3 As shown in Figure 1, the simulation parameters are set in the real-time machine: time step (≤10ms), OBU initial position, RV motion trajectory, communication bit error rate threshold, etc.

[0086] Step 2: Signal generation and synchronization.

[0087] After the real-time machine runs the scene, two types of signals are output synchronously:

[0088] V2X message: Generates BSM message through ASN.1 encoding, including fields such as vehicle ID, speed, acceleration, and heading angle.

[0089] GNSS signal: Generates NMEA sentences with timestamps based on the dynamic trajectory of the scene coordinate system.

[0090] The host computer ensures the temporal and spatial alignment of V2X messages and GNSS signals through time synchronization (corresponding to the time synchronization module).

[0091] When performing field, large-scale testing or simplified 2D scenario testing, the host computer runs the scenario independently and generates V2X messages through the node. There is no need to generate GNSS signals. Positioning relies on the vehicle movement in the field itself or the trajectory of the self-configured GNSS simulator in the laboratory environment.

[0092] Step 3: Signal distribution and injection.

[0093] The UDP_TxTunnel simulation node of the host computer encapsulates the V2X message into a UDP data packet and sends it to the communication tester. The communication tester encapsulates the V2X message and transmits it at the specified power.

[0094] At the same time, the host computer calculates the real-time longitude and latitude based on the set initial longitude and latitude coordinates and the dynamic position changes of the OBU in the scene, and transmits it to the GNSS simulator through the UDP protocol. The GNSS signal is modulated into a radio frequency signal by the satellite signal simulator and sent to the GNSS positioning interface of the OBU under test through a radio frequency cable or antenna.

[0095] Step 4: The OBU under test responds and provides feedback.

[0096] The OBU under test integrates V2X messages (surrounding vehicle status) with GNSS positioning data to trigger preset warning logic.

[0097] The warning message is transmitted back to the host computer via the vehicle bus, which analyzes and compares it with the expected results.

[0098] Step 5: Result determination and visualization.

[0099] The host computer verifies the accuracy of the warning through a built-in logic judgment module; test results are displayed through a GUI interface, and data can be exported and reports generated. During field testing, the vehicle's large screen can directly read whether the warning has been triggered.

[0100] This embodiment provides an automated V2X large-scale fusion scenario test system based on a HIL test bench, which can improve test efficiency, coverage, and repeatability, and provide strong support for the research and development and verification of V2X technology.

[0101] The above is only an embodiment of the present invention. Common knowledge such as the specific structure and characteristics of the scheme is not described in detail here. Ordinary technicians in the relevant field are aware of all common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all existing technologies in the field, and have the ability to apply conventional experimental means before that date. Ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the guidance of this application. Some typical well-known structures or well-known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. An automated V2X large-scale fusion scenario test system based on a HIL bench, characterized by: Including host computer, real-time machine, communication tester, satellite signal simulator and OBU under test; The host computer is used to deploy nodes; the host computer communicates with the real-time machine via Ethernet to download and parse scene files and perform 2D scene simulation tests; the host computer integrates a signal conversion module, which forwards the V2X messages output by the real-time machine to the communication tester via the UDP protocol, and forwards the GNSS signals to the satellite signal simulator; The real-time machine is used to run a preset V2X scenario and generate V2X messages through the C-V2X protocol stack; dynamically generate a virtual GNSS signal based on the scenario's spatiotemporal coordinates; and periodically output the V2X message and GNSS signal to a host computer synchronously; The communication tester is configured to: receive V2X messages forwarded by the host computer in V2X PC5 mode and send standardized radio frequency signals to the OBU under test through the radio frequency port; the satellite signal simulator is used to generate navigation constellation radio frequency signals based on GNSS data provided by the host computer to simulate dynamic trajectories; The OBU under test is used to receive V2X messages from the communication tester and GNSS signals from the satellite signal simulator; and perform fusion positioning and scene perception, generate warning messages and transmit them back to the host computer through the vehicle bus; the host computer receives the warning messages returned by the OBU under test and performs analysis and verification.

2. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 1 is characterized in that: The nodes include RSU simulation nodes, OBU simulation nodes, RV simulation nodes and BkgLoad large-scale vehicle collection simulation nodes.

3. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 1 is characterized in that: The host computer also includes: The time synchronization module uses the PTP protocol to ensure that the clock synchronization error of each node is ≤1ms; The logic judgment module verifies the accuracy by comparing the warning message output by the tested OBU with the expected event of the real-time machine; The UDP_TxTunnel simulation node encapsulates the V2X message into a UDP data packet and sends it to the communication tester.

4. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 2 is characterized in that: The RSU simulation node is deployed in an independent Docker container and is configured as follows: Bind to the preset geo-fence area, periodically broadcast MAP messages and SPAT messages; and forward the BSM message of the RV node to the OBU under test to realize V2I communication link simulation; Establish a socket connection with the communication tester through the interface card of the host computer to realize the transparent transmission of ASN.1 encoded messages; The OBU simulation node operates as a virtual measured object and is configured to mirror the actual measured OBU hardware status and execute early warning logic.

5. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 2 is characterized in that: The RV simulation node is dynamically deployed in a multi-threaded manner and is configured as follows: Generate trajectory and behavior logic in real time based on vehicle dynamics model; And periodically generate BSM messages to establish a V2V communication link with the OBU under test; The BkgLoad large-scale vehicle collection simulation node is deployed as a separate node in the simulation environment and is configured to: dynamically adjust the number of vehicles through the control panel to adjust the channel load intensity; realize the relative position relationship between vehicles and BSM message packet encapsulation through logic, simulate the channel congestion environment to verify the warning sensitivity of the tested OBU in a large-scale vehicle environment.

6. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 1 is characterized in that: The system supports dual-mode testing: Hardware-in-the-loop mode, where V2X messages and GNSS signals are generated by the real-time machine; In 2D simulation mode, the host computer is separated from the real-time machine operation scenario and only generates V2X messages.

7. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 5 is characterized in that: The trajectory generation method of the RV simulation node and the BkgLoad large-scale vehicle collection simulation node is as follows: Preset the driving route, speed and acceleration parameters and vehicle behavior logic in the host computer; The vehicle dynamics model based on the real-time machine calculates the position / speed / heading angle in real time.

8. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 1 is characterized in that: The V2X message adopts a priority queue mechanism: Security messages use the 802.11p AC_VO queue to ensure transmission delay ≤ 50ms; Service messages are transmitted using the AC_BE queue.

9. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 1 is characterized in that: When performing field tests, the satellite signal simulator and real-time machine are removed and a power amplifier is connected for semi-real vehicle testing. The RF output of the communication tester is switched to the power amplifier, and the simulated signal is replaced by the real vehicle GNSS signal.

10. The automated V2X large-scale fusion scenario testing system based on a HIL bench according to claim 1, characterized in that: The host computer has a node isolation mechanism for each node, so that large-scale simulation scenarios and standard scenarios can run in parallel in a shared map and use case environment without interfering with each other; The node isolation mechanism includes: allocating independent virtual network partitions for large-scale simulation scenarios; configuring dedicated communication bandwidth channels for standard scenarios; and dynamically allocating computing resources.

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