Hardware in the Loop testing (HIL) is a crucial aspect of controller development. The HIL system provides a virtual operating environment for the controller under test, which should theoretically achieve the same results as real vehicle testing. The real-time simulation model simulates the real environment, excluding the controller, and includes the whole vehicle dynamics model, road environment model, and other subsystem models. The hardware-in-the-loop system executes the real-time simulation model and delivers actual sensor and control signals to the controller under test, following conditioning and conversion. This enables signal closed-loop and facilitates functional testing and strategy verification of the controller.