The deterministic software-in-the-loop harness that injects captured real-world V2V message sequences directly into the vehicle's application layer, enabling repeatable regression testing without booking test-track time or live RSU access.
A naive replay tool that simply fires messages back-to-back destroys the very jitter and burst patterns that expose real bugs. The harness instead uses a hardware timer-driven scheduler that reproduces each message's original inter-arrival delta, so a software regression caused by a burst of three BSMs arriving within 12 milliseconds during a real intersection encounter is faithfully reproduced on every replay run.
Real traces alone cannot cover every failure mode observed in the field, so the harness layers programmatic fault injection on top of them — deliberately dropping every third message, introducing a 300-millisecond radio blackout mid-trace, or bit-flipping a payload — to confirm the software degrades gracefully rather than producing an undefined state when reality diverges from the recording.