  The rapid growth of connected and automated vehicle (CAV) solutions have made
a significant impact on the safety of intelligent transportation systems.
However, similar to any other emerging technology, thorough testing and
evaluation studies are of paramount importance for the effectiveness of these
solutions. Due to the safety-critical nature of this problem, large-scale
real-world field tests do not seem to be a feasible and practical option. Thus,
employing simulation and emulation approaches are preferred in the development
phase of the safety-related applications in CAVs. Such methodologies not only
mitigate the high cost of deploying large number of real vehicles, but also
enable researchers to exhaustively perform repeatable tests in various
scenarios. Software simulation of very large-scale vehicular scenarios is
mostly a time consuming task and as a matter of fact, any simulation
environment would include abstractions in order to model the real-world system.
In contrast to the simulation-based solutions, network emulators are able to
produce more realistic test environments. In this work, we propose a
high-fidelity hardware-in-the-loop network emulator framework in order to
create testing environments for vehicle-to-vehicle (V2V) communication. The
proposed architecture is able to run in real-time fashion in contrast to other
existing systems, which can potentially boost the development and validation of
V2V systems.
