Addressing the industry pain points of high cost, significant risk, incomplete scenario coverage, and poor repeatability in real-world autonomous driving testing, this paper develops a highly adaptable, high-precision, and scalable Hardware-in-the-Loop (HIL) testing platform for autonomous vehicles. The testing platform integrates real-world vehicle braking systems, steering systems, sensor systems, and network communication systems, providing a complete hardware-in-the-loop simulation environment for the entire vehicle.