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Simulation testing is critical for the development and optimization of connected and autonomous vehicle (CAV) driving systems. Existing simulation tools for autonomous driving testing generally focus on single-vehicle-based perception, decision, and control. Nevertheless, cooperative maneuvering among CAV and human-driven vehicles is of utmost importance in many high-value scenarios, e.g., intersections, platooning, and bottlenecks. To this end, this article aims to establish a comprehensive and realistic co-simulation framework that combines both vehicle and traffic simulation. For the sake of presentation and without loss of generality, CARLA is employed for vehicle simulation as it features high-fidelity vehicle dynamics models, while Simulation of Urban Mobility is employed for traffic simulation as it provides advanced traffic models. Further, vehicle trajectory extraction technology is applied to extract vehicle …