With the rapid development of unmanned technology, how to quickly and efficiently test all aspects of the safety and effectiveness of unmanned functions is an important part of ensuring its practical application. In view of the shortcomings of the existing unmanned simulation testing platform, this paper proposes a new unmanned virtual simulation hardware in the loop (HiL) platform, which uses the unmanned simulation software ScanerStudio to build realistic Simulation scenarios, vehicle model, multi-sensor model, and complex traffic flows, Jetson Xavier as a controller and Raspberry Pi as a communication analog converter, simulating the addition of sensor noise signals to enhance the authenticity of algorithmic testing. Based on the HiL testing platform, a hierarchical evaluation model is established, and three evaluation indexes are proposed. The weight vector distribution is performed for each evaluation index, and the algorithm is quantitatively evaluated. The experiment proves that the real vehicle controller can be connected to the platform to test and evaluate the adaptive cruise control algorithm, which greatly improves the test efficiency and accelerates the algorithm development progress.