In order to truly simulate the people, vehicles, roads and related factors of traffic facilities in real environment, solve the problem of traffic safety and congestion, put forward a kind of miniature scales semi-physical simulation platform of intelligent transportation. Introduced hardware and software architecture of the platform, designed on-board system, road and roadside system, detailed applications in driving autonomously and driving by interacting with other cars, three-dimensional localization and mapping, and clustered hybrid control based on event driven in internet of vehicles, finally simulated all the applications. Simulation results show that the platform can make the micro intelligent vehicles simulate real car’s driving behavior in the real road environment completely, and provide beneficial reference for the study of the traffic system and intelligent transportation simulation system.