Apollo can provide 3D virtual environment, road and weather changes. Recently, Baidu also proposed a new data-driven approach for end-to-end simulation of autonomous driving: Augmented Autonomous Driving Simulation (AADS). This method augments real-world imagery with simulated traffic flow to create photo-realistic simulated scenes that resemble real-world renderings. Specifically, it is recommended to scan Street View with LiDAR and cameras. Decompose the input data into background, scene lighting and foreground objects. At the same time, a new view synthesis technique is proposed, which can change the viewpoint on a static background. The foreground vehicle comes with a computer 3D model. With accurately estimated outdoor lighting, 3D vehicle models, computer-generated pedestrians, and other moving subjects can be repositioned and rendered back to background images to create photorealistic Street View images. In addition, simulating traffic flow, synthesizing the placement and movement of objects, captures real-world vehicle trajectories that look natural and capture the complexity and variety of real-world scenarios.