The invention provides a simulation test method, apparatus and device of an autonomous vehicle, and a storage medium. The method comprises the following steps: acquiring initial road mining data collected by a road mining main vehicle; performing a simulation test by using the initial road mining data and a decision planning control algorithm to be tested to determine a first driving trajectory ofa main vehicle to be tested; comparing the first driving trajectory of the main vehicle to be tested with the driving trajectory of the road mining main vehicle, and correcting the initial road mining data according to a comparison result; and performing a simulation test by using the corrected road mining data and the decision planning control algorithm to be tested to determine a second drivingtrajectory of the main vehicle to be tested. By adoption of the simulation test method, apparatus and device provided by the embodiment of the invention, obstacles around the main vehicle to be tested in the initial road mining data can be deleted ensure that the scene in the corrected road mining data of the main vehicle to be tested is reasonable, and when the simulation test is performed again, the driving trajectory is determined and controlled for the main vehicle to be tested, thereby ensuring the items checked by the simulation test are more comprehensive.