Virtual–real interactive testing (VRIT) is a practical approach to assessing the safety and intelligence of connected vehicles. Under this testing scheme, state consistency between physical and virtual spaces must be guaranteed. This paper proposes a multispace synchronization framework to ensure the desired interactive performance of VRIT systems. According to this framework, the synchronization process is decomposed into tracking and extensional periods. In addition, the heterogeneous data collected from physical and virtual spaces are divided into three layers. Each layer has a specific priority in the generation of the tracking trajectory. Furthermore, an extensional trajectory is integrated based on the proposed filtering mechanism, which improves the synchronization accuracy under high latency conditions. Finally, numerical experiments are conducted to demonstrate the superiority of the proposed method and to illustrate how the key parameters affect the system performance.

中文翻译：

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用于虚拟-真实交互测试的基于异构数据的时空轨迹同步

虚拟-真实交互测试 (VRIT) 是一种评估联网车辆安全性和智能性的实用方法。在这种测试方案下，必须保证物理空间和虚拟空间之间的状态一致性。本文提出了一种多空间同步框架，以确保 VRIT 系统具有理想的交互性能。根据该框架，同步过程被分解为跟踪期和延伸期。此外，从物理空间和虚拟空间收集的异构数据分为三层。每一层在跟踪轨迹的生成中都有特定的优先级。此外，基于所提出的过滤机制集成了扩展轨迹，提高了高延迟条件下的同步精度。最后，