“…However, research and development staff need to deploy vehicle-to-connection infrastructure and terminal equipment on a large scale when testing in the actual road environment, and in order to ensure the safe and reliable operation of intelligent connected vehicles in various road traffic situations, a large number of tests and validations need to be carried out in different road environments, such as urban, high-speed, and rural environments [6], and the overly large number of test scenarios and the lengthy testing time will consume a huge amount of manpower and material resources. As an important part of the development of Internet of Vehicles technology, vehicle networking in-the-loop simulation test technology can effectively reduce the test cost and improve the test efficiency, which is of great significance for the evaluation of the communication performance of V2X communication equipment, application algorithm validation and testing of Internet of Vehicles technology [7,8].…”