The safety of single-vehicle autonomous driving technology is limited due to the limits of perception capability of on-board sensors. In contrast, vehicle-road collaboration technology can overcome those limits and improve the traffic safety and efficiency, by expanding the sensing range, improving the perception accuracy, and reducing the response time. However, such a technology is still under development; it requires rigorous testing and verification methods to ensure the reliability and trustworthiness of the technology. In this thesis, we focus on three major tasks: (1) analyze the functional characteristics related to the scenarios of vehicle-road cooperations, highlightening the differences between vehicle-road cooperative systems and traditional single-vehicle autonomous driving systems; (2) refine and classifiy the functional characteristics of vehicle-road cooperative systems; (3) design and develop a simulation system, and provide a visual interface to facilitate development and analysis. The efficiency and effectiveness the proposed method are verfied by experiments.