This paper presents an evaluation of two different Vehicle to Infrastructure (V2I) applications, namely Red Light Violation Warning (RLVW) and Green Light Optimized Speed Advisory (GLOSA). The evaluation method is to first develop and use Hardware-in-the-Loop (HIL) simulator testing, followed by extension of the HIL testing to road testing using an experimental connected vehicle. The HIL simulator used in the testing is a state-of-the-art simulator that consists of the same hardware like the road side unit and traffic cabinet as is used in real intersections and allows testing of numerous different traffic and intersection geometry and timing scenarios realistically. First, the RLVW V2I algorithm is tested in the HIL simulator and then implemented in an On-Board-Unit (OBU) in our experimental vehicle and tested at real world intersections. This same approach of HIL testing followed by testing in real intersections using our experimental vehicle is later extended to the GLOSA application. The GLOSA application that is tested in this paper has both an optimal speed advisory for passing at the green light and also includes a red light violation warning system. The paper presents the HIL and experimental vehicle evaluation systems, information about RLVW and GLOSA and HIL simulation and road testing results and their interpretations.

翻译：本文评估了两种不同的车辆与基础设施（V2I）应用，即闯红灯警告（RLVW）和绿灯优化速度建议（GLOSA）。评估方法首先开发并采用硬件在环（HIL）模拟器测试，随后将HIL测试扩展至使用实验网联车辆进行道路测试。测试所用的HIL模拟器为先进模拟设备，包含与实际路口相同的路侧单元和交通信号控制柜等硬件，能够真实模拟多种交通情景、路口几何形状及信号配时方案。首先，在HIL模拟器中测试RLW V2I算法，随后将其部署于实验车辆的车载单元（OBU），并在真实路口进行测试。同样的HIL测试方法随后扩展至GLOSA应用，即先进行HIL测试，再使用实验车辆在真实路口开展测试。本文测试的GLOSA应用既包含绿灯通行最优速度建议功能，也集成了闯红灯预警系统。本文阐述了HIL与实验车辆评估系统、RLVW与GLOSA相关信息、HIL仿真与道路测试结果及其分析解读。