The invention relates to a testing method and system of auxiliary driving vehicle hardware in loop simulation. Information fusion and decision are conducted through a to-be-tested intelligent controller according to corresponding scene information, a lateral dynamics command is sent to a driver model of the hardware in a loop simulation platform, a longitudinal dynamics command is sent to a wholevehicle control unit, then the longitudinal dynamics command is sent to a whole vehicle dynamics model through the whole vehicle control unit, the driver model and the whole vehicle dynamics model respectively response to the lateral dynamics command and the longitudinal dynamics command, thus present vehicle gesture information is generated, the present vehicle gesture information is compared with standard vehicle gesture information, and testing situation of the hardware in loop simulation is judged. According to the testing method and system of the auxiliary driving vehicle hardware in loopsimulation, joint simulation is conducted on the to-be-tested intelligent vehicle controller and the whole vehicle control unit, the simulation platform is constructed according to a real vehicle system, the simulation reduction degree and precision are improved, and the problems that testing period of a real vehicle is long, the efficiency is low, the cost is high, and testing is influenced by factors such as scene and weather limiting are solved.