A novel platform which can be used to simulate and evaluate the intelligent behavior of driverless vehicle is presented in this paper. The platform is mainly composed of two subsystems: Road Simulation (RS) subsystem, Intelligent Virtual Traffic Environment (IVTE) subsystem. The RS subsystem is designed to obtain friction information between tires and road surface, which can be used to simulate dynamic behavior of vehicle in the IVTE more accurately. IVTE subsystem is used to provide virtual traffic scene and evaluate intelligent behavior of driverless vehicle, which adopts virtual reality and multi-agent technology.