Autonomous vehicle test at a limited field or even on the public road has its limitations. Simulation is essential to increase the test coverage. Taiwan Semiconductor Research Institute(TSRI) develop an autonomous vehicle test system based on CarMaker, which is a simulation tool from IPG Automotive. 13 testing scenarios and 6 testing routes corresponding to the physical test at Shalun testing field are built and included in this autonomous vehicle test system. An AEB(Autonomous Emergency Braking) function will be demonstrated to show how this autonomous vehicle test system works.