Development and Test Tool CANoe.Car2x

Simulation, Development and Test of V2X-based Communication Applications


Option Car2x is especially suitable for application and function development, as well as the testing of ECUs which exchange information with other vehicles or the traffic infrastructure based on V2X application messages. Domain-specific measurement windows enable the effective analysis of communication across all protocol levels. The scope of functions also makes it possible to stimulate the V2X functions based on traffic scenarios and carry out tests using specific test functions.

CANoe.Car2x is designed to meet your requirements in an optimum way. You get a fully developed tool which is adapted to the requirements of the V2X domains from the ground up. CANoe.Car2x supports standards and protocols from the regions of China, the EU and the US released by GB/T (China), ETSI (EU) and IEEE (US). This includes application messages such as CAM, DENM, SPaT, MAP, BSM, IVIM, SREM and SSEM, as well as subordinate protocols such as DSMP in China, GeoNetworking in the EU and IEEE 1609 (WAVE) in the US. For the wireless standard, you can choose whether communication is to occur over WLAN IEEE 802.11p or 3GPP C-V2X PC5, where there are hardware solutions for both versions.

In addition, all the powerful functions you’re familiar with from CANoe are available. This makes CANoe with the Option Car2x the ideal expansion of your multibus test tool for getting your V2X-based ECUs on the path to readiness for serial production. 


  • CANoe.Car2x supports the wireless standards WLAN IEEE 802.11p and 3GPP C-V2X PC5.
  • Protocols and application messages of the China, Europe and US regions are supported.
  • The management of ASN.1-based application messages in a flexible database ensures supplementation with additional application messages by the user.
  • Domain-specific measurement windows for V2X, such as the Map Window, enable efficient analysis of communication.
  • Individually configurable access to all data elements of the protocols and application messages in measurement windows and CAPL enables maximum flexibility in analysis, stimulation and testing.
  • Synchronization of the Map Window with other measurement windows simplifies subsequent analysis.
  • Security mechanisms are supported for all regions (China, EU and US), including the creation, importing and management of a PKI with its certificates and private keys.
  • Simulation of individual ITS stations up to and including complex traffic scenarios with vehicles, infrastructure and vehicle networks using the Scenario Editor, the V2X stack and domain-specific programming libraries.
  • Using the Scenario Editor, you can create a virtual route-based test environment with just a few clicks which can be configured over time. Predefined scenarios for EEBL, FCW, EVA, ICW etc. are already included in the scope of delivery.
  • Through expansion with Vector DYNA4, applications can be tested in a closed-loop environment.

Application Areas

  • Analyze and test the V2X communication of your ECU with the help of a remaining bus simulation at the workstation or a hardware-in-the-loop structure (HiL).
  • Monitor and measure V2X communication together with communication on a variety of different on-board networks (e.g. Ethernet, CAN etc.) during test runs and record them together.
  • Visualize the V2X communication of your light signal systems and RSUs, i.e. the intersection topology (MAP), light signals (SPaT) and signage like speed limits (IVIM) in the Map Window.
  • Also record the actual light signals/traffic signs with the Video Window of CANoe in sync with V2X communication. An integrated or conventional webcam is sufficient for this.
  • Comfortably analyze recorded V2X communication at your workstation.
  • Stimulate your test vehicle during actual driving tests with simulated vehicles.
  • Test your traffic light prioritization (CAM R09/SREM/SSEM) by simulating the respective communication partner (RSU/bus/emergency vehicle). Traffic scenarios with competing communication partners in particular, like bus and police vehicles, can also be tested in this way.
  • Carry out extensive closed-loop testing in conjunction with Vector DYNA4.


Application Messages

With CANoe.Car2x, you can use/send any application messages, like CAM/DENM (ETSI) and BSM (C-SAE and SAE), which are defined in ASN.1.


Car2x Network Explorer

Network Explorer

The Car2x Network Explorer is a viewer for Car2x databases and features a diverse array of functions. On the one hand, it offers a clear depiction of the data structure of the messages and makes it possible to quickly locate the signals being searched for. On the other hand, you can configure the sending behavior, and thus the V2X stack, using the node and message attributes. By generating CAPL structure files, you can also quickly and easily access the signals/data fields in CAPL.

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Car2x Database

Simulation Setup

To create & interpret/encode & decode V2X messages, CANoe.Car2x requires a description of the application message. These messages are made available to CANoe by the Car2x databases and contain all the information necessary for encoding/decoding and converting the physical raw values into logical values. A database is created based on the ASN.1 files. This makes it possible for CANoe.Car2x to also support application messages not included in the scope of delivery.

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Map Window

Map Window

The Map Window provides you with a quick overview of your test scenario. Here, the locations of all received V2X objects (ITS vehicle stations, ITS roadside stations) and the received events are also visualized automatically on the map. You can also draw objects in the Map Window using a programming library.

This enables you to individually adapt your test configuration to your requirements to display test-specific parameters or status information in the Map Window, for example. Window synchronization also makes it possible to – when measurement is stopped – go through the messages step by step and analyze the data in the Map Window with the data of other measurement windows, such as the Trace Window.

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Protocol Analyzer

Protocol Analyzer

Using the Protocol Analyzer, you execute Car2x protocol checks automatically. You can check protocol-specific content individually for various protocols, such as DSMP, GeoNetworking, IEEE 1609.3 and security (China/ETSI/IEEE 1609.2). If an error is detected, warning and error messages are displayed in the Trace Window and in the detailed view.

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Trace Window

The Trace Window provides extended functionality for evaluating V2X packets, protocols (GB/T DSMP, ETSI and WAVE 1609.x) and the application messages (C-SAE, ETSI and SAE).

In addition to the general functions in CANoe, you can adapt the window in a domain-specific way, where application messages are decoded according to the definition in the database. You can configure columns, highlight packets/protocols/ITS stations in color or analyze error messages of the Protocol Analyzer. In addition, messages from a sender can be displayed on a line, which increases clarity considerably.

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Data Window/Graphic Window/State Tracker

Data Window/Graphic Window/State Tracker

Select signals from vehicles which you would like to monitor depending on the test. The Data Window displays the resolved values, including the units defined in the database. If you would like to display these signals graphically, the Graphics Window can be used as an alternative. To analyze states and state transitions and visualize temporal dependencies, we recommend the State Tracker.

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Car2x Station Manager

Station Manager

The Car2x Station Manager is the main unit for managing ITS stations. Using the Car2x Station Manager, you can assign received packets to the ITS stations managed in CANoe manually or automatically.

This means that CANoe.Car2x not only offers a packet-based view of communication, but an ITS station-based view as well. You can define individual colors for ITS stations for a clear overview.

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Simulation / Stimulation / Test

Scenario Editor

Scenario Editor

The Scenario Editor is an application with which traffic scenarios can be created on a map using a graphical interface. Routes on which the ITS stations can move can be defined here. The driving behavior (speed) can be configured in a timeline for the stations. In addition, the point in time at which events (e.g. a V2X brake message) are to be sent can be defined at any point in time. If a scenario is read into CANoe and played back, valid communication is generated using the scenario combined with the V2X stack. The scenario can be started and stopped as desired, including from CAPL at runtime. A scenario can also be ported to any desired GNSS position with a new heading, where the Scenario Manager converts the scenario and creates it at the newly defined position.

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Interaction Layer

Interaction Layer

The Car2x interaction layer is configured via the Car2x database and supports you in creating your environment simulation. You can create nodes (ITS stations) here and specify which application messages are to be sent from these nodes. A supporting CAPL function library also offers functions for setting and reading all data content and protocol information and for changing the sending behavior at runtime. This enables you to update the content of a message, exchange security certificates, suppress sending or simply adjust the cycle time to suit your testing needs before sending the message.


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Function Library

The Car2x function library (programming interface) available in CAPL offers domain-specific functions for influencing the measurement and the behavior of the simulation from CAPL at runtime. For example, it offers functions for accessing and responding to the data content of the packets, functions for querying and changing security parameters and certificates, querying attributes from scenarios and controlling scenarios. On the one hand, this allows expanded analysis functions and tests to be implemented. On the other, it makes it possible to dynamically respond at runtime when conditions arrive.

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The V2X stack ensures that all essential data of the protocol fields and signals, such as time stamps, sequence numbers, cause code etc. are filled in automatically. The sending intervals of the messages are also calculated based on the current situation here as well. If a scenario is also defined, the scenario data is automatically used to fill the application messages and the data of the underlying protocols is adjusted accordingly. All functions of the interaction layer and function libraries can also be used to influence the data traffic created by the V2X stack for various different tests.

An independent V2X stack governs the communication behavior for each region (CN/EU/US). The V2X stack also supports Basic System Profile 1.5.2 for the EU protocol.
The V2X stack also provides the option to upgrade a vehicle without a V2X ECU to a V2X vehicle with a few configuration settings. Here, the V2X stack can use the GNSS data (e.g. from VN4610) so that real V2X behavior can be generated by the current position.

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Certificate Manager

Certificate Manager

In order for the V2X messages generated by CANoe.Car2x to be accepted by the ECU under test, the packet must contain a valid signed security header.

The Certificate Manager offers the option of creating a PKI (GB/T, ETSI and IEEE 1609) and exporting the generated certificates here. If a PKI is already available, certificates (including the private keys) can be imported into CANoe.Car2x.

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Car2x Certificate Explorer

Certificate Explorer

With the Car2x Certificate Explorer, you can record and analyze known certificates saved in the Car2x Certificate Explorer and received certificates.

It also shows you the trustworthiness, certificate/signature hierarchy and content of the certificates.

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Security API / IL Security

The Car2x function library available in CAPL offers special functions for creating a valid signed security header, for example. Using these functions, you can also change the certificate of your test node at runtime to be able to test the behavior of the ECU with an invalid certificate, for example.

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Supported V2X Standards

Physical layer

  • IEEE 802.11p
  • 3GPP C-V2X (Cellular V2X) PC5 Sidelink Communication


GB/T standards (China)

  • DSMP (DSRC Short Message Protocol) including the Adaption Layer (AL)
    (GB/T 31024.3)
  • Security Header
  • C-SAE 0053 application messages
    • Basic Safety Message (BSM)
    • Signal Phase and Time (SPaT)
    • Map Data Message (MAP)
    • Roadside Safety Message (RSM)
    • RoadSide Information (RSI)


ETSI ITS standards (Europe)

  • GeoNetworking
    (ETSI TS 102 636-4-1 and ETSI EN 302 636-4-1)
  • Security Header
    (ETSI TS 103 097)
  • Basic Transport Protocol (BTP)
    (ETSI TS 102 636-5-1 and ETSI EN 302 636-5-1)
  • ETSI ITS application messages, such as 
    • Cooperative Awareness Message (CAM)
      (ETSI EN 302 637-2)
    • Decentralized Environmental Notification Message (DENM)
      (ETSI EN 302 637-3)
    • Map Data Message (MAP)
      (ISO TS 19091)
    • Signal Phase and Time (SPaT)
      (ISO TS 19091)
    • In-Vehicle Information Message (IVIM)
      (ISO TS 19321)
    • Signal Request Message (SREM)
      (ISO TS 19091)
    • Signal Status Message (SSEM)
      (ISO TS 19091)


IEEE 1609 – WAVE (US)

  • WAVE Short Message Protocol (WSMP)
    (IEEE 1609.3)
  • WAVE Service Announcement (WSA)
    (IEEE 1609.3)
  • WAVE Security Services (WSS)
    (IEEE 1609.2)
  • WAVE Peer-To-Peer Protocol 
    (IEEE 1609.2)
  • SAE J2735 – DSRC application messages, such as 
    • Basic Safety Message (BSM)
    • Signal Phase and Time (SPaT)
    • Map Data Message (MAP)



VN4610 Network Interface with GNSS receiver

The VN4610 is a powerful interface with a host connection over USB or Ethernet for accessing IEEE 802.11p and CAN(FD) networks. IEEE 802.11p-based Dedicated Short Range Communication (DSRC) communicates in the 5.9 GHz range.

The VN4610 supports the unfiltered reception and sending of IEEE 802.11p frames used to implement V2X applications. The received IEEE 802.11p wireless frames are transferred to the application time-synchronized with the CAN(FD) messages. The built-in GNSS receiver provides the GNSS time and the current GNSS position here.

Hardware for C-V2X PC5

CANoe.Car2x supports the Autotalks Craton2 EVK wireless unit as a C-V2X wireless interface. Autotalks Craton2 EVK enables 3GPP C-V2X PC5 (Sidelink) communication and can be used as a third-party network interface with CANoe. With firmware provided by Vector, the Autotalks device can be connected to CANoe and controlled from CANoe. This makes it possible to receive and send frames and, for example, to set the transmission power for each frame as well.

For more in-depth testing on the physical layer, CANoe.Car2x also supports the CMW500 network simulator from the Rohde & Schwarz company. A sample configuration which simplifies this connection, thereby ensuring a quick start, is available here.

In the end, any third-party devices can be connected as a network interface over generic UDP/IP communication for PC5 wireless frames. Here, the data can be transferred over a UDP connection and fed into CANoe using specific functions, for example. This makes it possible to interpret external data and process it in CAPL. Naturally, generated V2X frames can also be transferred to the third-party device with this and further processed by it.

Product Descriptions


CANoe.Car2x Workshops

CANoe.Car2x provides a variety of possibilities for simulating, developing and testing of 802.11p-based communication applications. But only those who are familiar with these options can fully tap the potential and save time and money.

Benefit from our workshops in order to use CANoe.Car2x even more efficiently in your daily work.

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