Multi-ICU co-spatiotemporal hardware simulation testing system and method for automatic driving vehicle

The invention discloses a multi-ICU co-spatiotemporal hardware simulation testing system and method for an automatic driving vehicle. The testing system is integrally divided into a simulation layer,an ICU (Intelligent Control Unit) layer and a data transmission layer. The simulation layer provides a virtual environment model, a sensor model, a traffic participant model, a traffic flow model anda vehicle dynamics model of simulation testing; the ICU layer is a simulation testing object; and the data transmission layer provides a communication interface of the simulation layer and the ICU layer, software for testing monitoring and automatic testing, and a high-performance processor for ensuring the real-time performance of the whole simulation process. The testing method provides a construction method for quickly generating a virtual environment required by testing and a multi-ICU co-spatiotemporal testing method. Compared with the prior art, the testing system and method has the advantages that multiple ICUs