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With the wide application of intelligent and network technologies in the transportation industry, intelligent driving of mine truck has become an inevitable trend in the development of mining industry. Simulation test is one of the important means to accelerate the development and implementation of intelligent driving technology. Different from the intelligent single-vehicle solution of passenger car autonomous driving, the intelligent mining truck system takes the ground management and supervision system as the center for comprehensive dispatch and command, and the mining environment is complex and time-varying, which brings great challenges to the safe operation of intelligent driving of mine truck. Therefore, according to the characteristics of multi-vehicle collaborative control and complex and changeable environment of mine trucks, this paper builds a set of mine trucks intelligent multi-vehicle collaborative simulation platform that includes ground management and supervision system, vehicle intelligent driving computing platform, mining scene model, vehicle sensor model, and multi-vehicle collaborative simulation communication interface. This simulation platform has been successfully applied to the testing of on-board decision control algorithms and ground dispatch planning algorithms for a mining truck intelligent driving project, and can provide test support for the research and development of multi-vehicle intelligent technology.