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In order to overcome the danger existed in the debugging of vehicle robot driver in actual vehicle and quickly obtain the performance of test vehicle, a semi-physical simulation platform for driving performance evaluation of robot driver was designed. The performance evaluation of robot driver could also be conducted by the simulation platform. In the platform, the actual vehicle was replaced by the vehicle longitudinal dynamics model, and it could simulate the working conditions of actual vehicles. The displacement of throttle pedal, brake pedal, clutch pedal, and shift manipulator for vehicle robot driver measured by the sensor was used as input of the platform, and vehicle speed and engine speed calculated by the model were used as output of the platform. Vehicle robot driver could operate the platform without any changes. Simulation and real vehicle test results showed the proposed platform was effective.