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The performance evaluation of in-vehicle network system is important for the safety and reliability of the network. This paper discusses the architecture and requirements of the evaluation system for in-vehicle network and presents an effective method for the system design and development based on rapid prototype and hardware in the loop technique. The evaluation system proposed in this paper can carry out evaluations in network physical layer, data link layer, application layer, moreover, it is also effective for conformance evaluation of electronic control units and the vehicle dynamic behaviors. The evaluation system can be used in most in-vehicle network and it covers most parameters of in-vehicle network evaluation.