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Most existing studies on connected and automated vehicle (CAV) applications apply simulation to evaluate system effectiveness. Model accuracy, limited data for calibration, and simulation assumptions limit the validity of evaluation results. One alternative approach is to use emerging hardware-in-the-loop (HIL) testing methods that allow physical test vehicles to interact with virtual vehicles from traffic simulation models. This provides an evaluation environment that can replicate deployment conditions at early stages of CAV implementation - without incurring excessive costs related to large field tests. In this study, a hardware-in-the-loop (HIL) testing system for CAV applications is proposed. Cooperative adaptive cruise control (CACC) is one of the key CAV applications that has received a lot of attention. This study develops a HIL proof-of-concept testing prototype for CAV applications in a vehicle-to-vehicle (V2V …