A Survey of V2X Testing for Cooperative Connected and Automated Mobility

The application of V2X technology has promoted autonomous driving from autonomous vehicles to connected vehicles, so various V2X test methods have gradually become an important research direction. Generally V2X testing for the cooperative connected and automated mobility includes a test framework, infrastructure deployment, and use cases. These three parts of the V2X testing affect each other and determine the performance of different test methods. Firstly, this article reviews the related research of V2X performance testing and analyzes the usual techniques in the testing framework. Then RSU deployment is introduced as an example of facility deployment. Finally, the typical use cases and their performance indicators are summarized.