Automatic driving simulation test method based on Carla and ROS

The invention provides an automatic driving simulation test method based on Carla and ROS, and the method comprises the steps: creating a simulation driving environment in an automatic driving simulator Carla, and configuring an automatic driving agent to control a virtual vehicle; real-time data interaction and action mapping are established between a physical vehicle configured with an ROS system and a virtual vehicle in an automatic driving simulator Carla, and collaborative simulation of the ROS and the Carla is achieved; and different scene files are supported to be imported to carry out scene testing on the automatic driving vehicle. The virtual sensor suite is flexibly configured through self-defined addition of a JSON configuration file; visual display of virtual vehicle driving postures and sensor data is realized, and a sensor data acquisition function is provided; according to the invention, the problem of insufficient authenticity and completeness of the existing automatic driving simulation test