On the one hand, Apollo is used to support the development and iteration of the internal Apollo system, and on the other hand, it provides cloud-based decision-making system simulation services for developers of the Apollo ecosystem. The Apollo simulation platform is a cloud service built on Baidu Cloud and Azure, which can use the Apollo version specified by the user to perform simulation tests in the cloud. Apollo simulation scenarios can be divided into Worldsim and Logsim. Worldsim is a scene composed of artificially preset roads and obstacles, which can be used as a simple and efficient unit test to test autonomous vehicles, while Logsim is a scene extracted from road test data, which truly reflects the complex and changeable obstacles in the actual traffic environment. and traffic conditions. The Apollo simulation platform also provides a relatively complete scene discrimination system, which can evaluate the autonomous driving algorithm from the aspects of traffic rules, dynamic behavior and comfort.