Based on the similarity analysis of Intelligent Connected Vehicles (ICVs), a
distributed V2X hardware-in-the-loop test system for ICVs is designed, including
the PanoSim autonomous driving simulation engine, GNSS simulator, V2X simulator,
and management and cooperative control software. The system integrates the major
technologies of distributed interaction, including operation management, time
synchronization, coordinate conversion, and data preprocessing, and realizes the
spatial and temporal consistency of each simulation node. 89 V2X first-stage
application scenarios (e.g., FCW, RLVW) and 5 V2X second-stage application
scenarios (e.g., CLC) use case experimental results have proved the reliability
of the system. The FCW use case experiment results show that its simulation
results pass with high confidence. The study emphasizes the value of the system
in reducing development costs, improving safety, and accelerating the deployment
of V2X applications, while identifying future research directions such as
lateral distance impact analysis.