Laser radar simulation data generation method, computer equipment and storage medium

Abstract

The present invention discloses a laser radar simulation data generation method, a computer device and a storage medium, and relates to the field of computer technology. The method of the present invention includes creating a solid spherical object for representing a preset weather state in a laser radar simulation environment, controlling the simulated radar to emit a laser radar signal in the laser radar simulation environment to obtain point cloud data of the virtual target as laser radar simulation data, wherein when the laser radar signal passes through the solid spherical object and irradiates the virtual target, obtaining the point cloud data of the virtual target includes: predicting the intensity attenuation of the laser radar signal based on the solid spherical object, and determining the laser radar reflection intensity based on the intensity attenuation. The laser radar reflection intensity of the point cloud data obtained in the simulation environment of the present invention fully considers the intensity attenuation caused by the weather state, and effectively improves the authenticity of the laser radar simulation data.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a laser radar simulation data generation method, a computer device and a storage medium. Background Art

[0002] At present, it costs a lot to collect real LiDAR data, but using simulation tools to generate LiDAR simulation data can greatly reduce the cost. However, when using simulation tools to generate LiDAR simulation data, the impact of weather on simulation data is not fully considered, or the existing methods only simulate different weather conditions at the visual level, which has no substantial impact on the generated LiDAR simulation data. Therefore, there is still a big difference between the LiDAR simulation data generated by simulation software in the existing technology and the real LiDAR data. Summary of the invention

[0003] In order to overcome the above-mentioned defects, the present application is proposed to provide a lidar simulation data generation method, computer equipment and storage medium that solve or at least partially solve the technical problem of how to improve the authenticity of lidar simulation data corresponding to different weather conditions.

[0004] In a first aspect, the present invention provides a method for generating laser radar simulation data, comprising:

[0005] Creating a solid spherical object for representing a preset weather state in a laser radar simulation environment, wherein the laser radar simulation environment includes a simulated radar, a weather state, and a virtual target object;

[0006] In the laser radar simulation environment, control the simulated radar to emit a laser radar signal to obtain point cloud data of the virtual target, and use the point cloud data as the laser radar simulation data, wherein the attributes of the point cloud data include laser radar reflection intensity;

[0007] Among them, when the laser radar signal passes through the solid spherical object to irradiate the virtual target, obtaining the point cloud data of the virtual target includes: predicting the intensity attenuation of the laser radar signal based on the solid spherical object, and determining the laser radar reflection intensity based on the intensity attenuation.

[0008] The above-mentioned preset weather conditions are rainy or foggy.

[0009] The above-mentioned creation of a solid spherical object for representing a preset weather state includes: setting an attenuation coefficient of the solid spherical object according to the preset weather state, and constructing an intensity attenuation model corresponding to the solid spherical object based on the attenuation coefficient.

[0010] Correspondingly, predicting the intensity attenuation of the laser radar signal based on the solid spherical object includes: calculating the intensity attenuation caused by the laser radar signal passing through the solid spherical object based on the intensity attenuation model.

[0011] Further, the calculating, based on the intensity attenuation model, the intensity attenuation caused by the laser radar signal passing through the solid spherical object comprises:

[0012] Calculate, based on the attenuation coefficient, a first attenuation result generated when the laser radar signal is refracted by the solid spherical object and irradiated onto the virtual target object;

[0013] Calculate, based on the attenuation coefficient, a second attenuation result generated by the laser radar signal being reflected by the solid spherical object;

[0014] A weighted result of the first attenuation result and the second attenuation result is determined as the intensity attenuation.

[0015] The calculation of the first attenuation result generated when the laser radar signal is refracted by the solid spherical object and irradiated onto the virtual target object based on the attenuation coefficient includes:

[0016] Obtaining the signal strength of the laser radar signal reaching the solid spherical object and recording it as the incident signal strength;

[0017] Obtaining the distance between the object illuminated by the laser radar signal after being refracted by the solid spherical object and the solid spherical object and recording it as the distance between entities;

[0018] The first attenuation result is calculated based on the attenuation coefficient, the distance from the laser radar signal to the solid spherical object, the incident signal intensity and the distance between the entities.

[0019] Furthermore, the method further comprises:

[0020] Setting the refractive index parameter of the solid spherical object;

[0021] When the laser radar signal irradiates the solid spherical object, the incident angle of the laser radar signal reaching the surface of the solid spherical object is obtained, and the exit angle of the signal is calculated according to the incident angle and the refractive index parameter;

[0022] The position of the object illuminated by the laser radar signal after being refracted by the solid spherical object is determined according to the emission angle, and the distance between the entities is determined according to the position.

[0023] The second attenuation result generated by the reflection of the laser radar signal by the solid spherical object calculated based on the attenuation coefficient includes:

[0024] Get the simulated radar working parameters;

[0025] The second attenuation result is calculated based on the attenuation coefficient, the distance from the laser radar signal to the solid spherical object and the simulated radar operating parameters.

[0026] In a second aspect, the present invention provides a computer device comprising a processor and a memory, wherein the memory is suitable for storing multiple program codes, and the program codes are suitable for being loaded and run by the processor to execute the laser radar simulation data generation method described in any one of the technical solutions of the above-mentioned laser radar simulation data generation method.

[0027] In a third aspect, the present invention provides a computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the laser radar simulation data generation method described in any one of the technical solutions of the above-mentioned laser radar simulation data generation method.

[0028] The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects: the present invention mainly simulates real weather conditions such as rainy days or foggy days by creating a solid spherical object in a lidar simulation environment, and predicts the intensity attenuation of the lidar signal based on the solid spherical object, and determines the lidar reflection intensity based on the intensity attenuation, so that the lidar reflection intensity of the point cloud data obtained in the simulation environment fully considers the intensity attenuation caused by the weather conditions, thereby improving the effectiveness of the lidar simulation system and effectively improving the authenticity of the lidar simulation data in the simulation scenes of foggy and rainy days. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:

[0030] Figure 1 is a schematic flow chart of main steps of a method for generating laser radar simulation data according to an embodiment of the present invention;

[0031] Figure 2 is a schematic diagram of creating a solid spherical object in a laser radar simulation environment according to an embodiment of the present invention;

[0032] Figure 3It is a flowchart diagram of specific implementation steps for calculating the intensity attenuation caused by a laser radar signal passing through a solid spherical object based on an intensity attenuation model according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0034] In the description of the present invention, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, and memories, and may also include software parts, such as program codes, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware, or a combination of the two. Non-temporary computer-readable storage media include any suitable medium that can store program codes, such as a magnetic disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, and the like. The term "A and / or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B", and may include only A, only B, or A and B. The singular terms "one" and "the" may also include plural forms.

[0035] Here we first explain some terms involved in this application.

[0036] LiDAR reflection intensity: refers to the intensity of the light signal reflected back after the laser beam emitted by the LiDAR encounters an object. It is related to the physical properties of the object (such as color, material, surface condition, etc.). Different objects will reflect light with different intensities. Reflection intensity is an important parameter in LiDAR data and helps improve the accuracy of environmental perception. It should be understood that special weather conditions (such as rainy or foggy days) will cause the LiDAR reflection intensity to attenuate.

[0037] Existing simulators do not materialize the simulation of fog and rain in space on rainy or foggy days, so the generated simulation data cannot reflect the impact of weather on the laser radar simulation data. This application materializes fog and rain in the existing simulator, and constructs an intensity attenuation model in the simulator to reflect the intensity attenuation of the laser radar signal caused by fog and rain, so that the laser radar simulation data generated by the simulator fully considers the impact of weather, and the generated simulation data is closer to the real laser radar data.

[0038] See attached Figure 1 The present application provides a method for generating laser radar simulation data, which mainly includes the following steps S101 and S102 as shown in the figure:

[0039] Step S101: creating a solid spherical object for representing a preset weather state in a laser radar simulation environment;

[0040] Specifically in this embodiment, the lidar simulation environment can be understood as a simulation environment formed by using an existing simulator or simulation software, such as a virtual lidar simulation environment formed by using a Velodyne lidar simulator. The formed lidar simulation environment includes a simulated radar, weather conditions and virtual targets, wherein the simulated radar is used to scan the virtual targets in the simulation environment and generate lidar data. The weather conditions can be sunny, rainy or foggy, etc., and the virtual targets can be pedestrians, vehicles, trees and other targets that appear in the simulation environment.

[0041] In this embodiment, the preset weather state may be rainy or foggy, etc., and the solid spherical object may be understood as water droplets or raindrops formed in the air under the preset weather state. In this step, the implementation method of creating the solid spherical object in the laser radar simulation environment may include creating the solid spherical object in the simulation scene formed by the simulator according to a preset shape, size, color, position, etc., and the creation method is similar to the method of creating a virtual target in a simulation scene in the prior art.

[0042] Specifically in this embodiment, the creation of a solid spherical object for characterizing a preset weather state should also include: setting the attenuation coefficient of the solid spherical object according to the preset weather state, and constructing an intensity attenuation model corresponding to the solid spherical object based on the attenuation coefficient. The attenuation coefficient is determined according to the different attenuation of electromagnetic waves in different weather conditions. For example, the attenuation of battery waves by raindrops is usually related to the rain intensity and the wavelength of electromagnetic waves. In practical applications, the attenuation coefficient corresponding to rainy days can be set according to different rain intensities and wavelengths. For example, when a radar wave with a wavelength of 5.6 cm passes through a precipitation area with a rain intensity of 10 mm / h, the attenuation coefficient is usually set to more than 3 db / km. The intensity attenuation model is mainly used to calculate the intensity attenuation of the laser radar signal after passing through the solid spherical object.

[0043] Furthermore, after the laser radar signal is irradiated to the solid spherical object, the intensity and the emission angle of the laser radar signal will change, wherein the emission angle refers to the angle at which the laser radar signal is refracted from the solid spherical object after the laser radar signal is refracted by the solid spherical object. The intensity attenuation model provided in the embodiment of the present application can calculate the changed emission angle according to the incident angle of the laser radar signal reaching the solid spherical object, and calculate the intensity attenuation generated on the solid spherical object according to the intensity of the laser radar signal reaching the solid spherical object.

[0044] Among them, the intensity attenuation model can be specifically implemented as follows: set the refractive index parameter of the solid spherical object; when the laser radar signal irradiates the solid spherical object, obtain the incident angle of the laser radar signal reaching the surface of the solid spherical object, and calculate the signal's exit angle according to the incident angle and the refractive index parameter. For example, the refractive index parameter is set to n, and n = sin(i) / sin(r), where i is the incident angle and r is the exit angle. Further, after obtaining the exit angle r, the position of the object irradiated by the laser radar signal after being refracted by the solid spherical object can be determined according to the exit angle, and the distance between the solid spherical object and the irradiated object can be determined according to the position, for example, the distance can be calculated based on the propagation speed of the laser radar signal and the time taken for the laser radar signal to reach the position. In the embodiment of the present application, the distance between the object illuminated by the laser radar signal after being refracted by the solid spherical object and the solid spherical object is recorded as the distance between entities. In combination with the actual application scenario, if the illuminated object is a solid spherical object, the distance between the current solid spherical object and the illuminated solid spherical object can be determined according to the position; if the illuminated object is a virtual target, the distance between the current solid spherical object and the virtual target can be determined according to the position.

[0045] For example, Figure 2 Shown is a schematic diagram of a solid spherical object created in a laser radar simulation environment shown in an embodiment of the present application, where the rain shown in the figure is the solid spherical object, and i shown in the figure is the incident angle of the laser radar signal reaching the solid spherical object, and r is the exit angle of the laser radar signal after passing through the solid spherical object.

[0046] Step S102: in the laser radar simulation environment, controlling the simulated radar to emit a laser radar signal to acquire point cloud data of the virtual target object, and using the point cloud data as the laser radar simulation data.

[0047] Specifically in this embodiment, the attributes of the point cloud data include the laser radar reflection intensity. It should be understood that the point cloud data may include three-dimensional position information and three-dimensional label information, wherein the three-dimensional position information is the position and direction of the laser radar in space. In three-dimensional space, the position of the laser radar can be represented by coordinates in a coordinate system, including the coordinates of the laser radar in the horizontal and vertical directions (x, y, z), and its posture, that is, the rotation angle. The three-dimensional label information is used to characterize the object category, that is, the identifier assigned to the detected object or feature in the three-dimensional laser radar data, so as to facilitate the identification and classification of different objects. For example, in an autonomous driving scenario, the three-dimensional label information may include pedestrians, vehicles, buildings, etc.

[0048] In one implementation of step S102: when the laser radar signal passes through the solid spherical object and irradiates the virtual target, obtaining the point cloud data of the virtual target includes: predicting the intensity attenuation of the laser radar signal based on the solid spherical object, and determining the laser radar reflection intensity based on the intensity attenuation, which is specifically implemented as follows: calculating the intensity attenuation of the laser radar signal passing through the solid spherical object based on the intensity attenuation model constructed for the solid spherical object, and determining the laser radar reflection intensity based on the intensity attenuation. Among them, determining the laser radar reflection intensity based on the intensity attenuation can be understood as combining the intensity attenuation with the existing reflection intensity prediction model or the existing reflection intensity calculation formula to obtain a laser radar reflection intensity that is closer to the real environment and fully considers the attenuation of the laser radar beam caused by raindrops in the air.

[0049] Furthermore, in the embodiment of the present application, the intensity attenuation of the laser radar signal passing through the solid spherical object is divided into two parts, namely, the intensity attenuation caused by refraction through the solid spherical object and the intensity attenuation caused by reflection through the solid spherical object. It should be understood that the laser radar signal emitted by the simulation radar will produce an intensity attenuation including the above two parts each time it passes through a solid spherical object. In combination with actual application scenarios, the laser radar signal emitted by the simulation radar may be irradiated onto a virtual target after passing through one or more solid spherical objects. Each time it passes through a solid spherical object, the intensity attenuation is calculated based on the intensity attenuation model provided in the embodiment of the present application. The intensity attenuation generated by passing through multiple solid spherical objects and irradiating the virtual target can be understood as the superimposed intensity attenuation obtained by multiple calculations based on the intensity attenuation model.

[0050] like Figure 3As shown, the calculation of the intensity attenuation caused by the laser radar signal passing through the solid spherical object based on the intensity attenuation model provided in the embodiment of the present application may specifically include the following steps S201 to S203:

[0051] Step S201: calculating a first attenuation result generated when the laser radar signal is refracted by a solid spherical object and irradiated onto a virtual target object based on the attenuation coefficient;

[0052] The specific implementation of step S201 is as follows:

[0053] a1. Obtain the signal strength of the laser radar signal reaching the solid spherical object and record it as the incident signal strength;

[0054] a2. Obtain the distance between the object illuminated by the laser radar signal after being refracted by the solid spherical object and the solid spherical object and record it as the distance between entities;

[0055] a3. Calculate the first attenuation result based on the attenuation coefficient, the distance from the laser radar signal to the solid spherical object, the incident signal intensity and the distance between the entities.

[0056] Furthermore, in this embodiment, the following formula (1) may be used to calculate the first attenuation result:

[0057] Formula (1)

[0058] in, represents the first attenuation result, α represents the attenuation coefficient, represents the incident signal strength, Indicates the distance from the laser radar signal to the solid spherical object, Indicates the distance between entities. Furthermore, R can be calculated based on the propagation speed of the laser radar and the time it takes for the laser radar signal to reach the solid spherical object from the simulated radar. It can be calculated based on the propagation speed of the lidar and the time it takes for the lidar signal to reach another solid spherical object or a virtual target from one solid spherical object.

[0059] It should be understood that, in combination with actual application scenarios, if the laser radar signal emitted by the simulated radar passes through a solid spherical object and then directly irradiates the virtual target, then a calculation is performed directly based on the above formula (1) to obtain the first attenuation result, wherein the incident signal intensity is specifically the laser radar signal emission intensity, and the distance between the entities is specifically the distance between the virtual target and the solid spherical object. If the laser radar signal emitted by the simulated radar passes through multiple solid spherical objects and then irradiates the virtual target, it is necessary to perform multiple calculations based on the above formula (1) to obtain the first attenuation result, and the first attenuation result is equal to the last calculation result. Exemplarily, taking the example of passing through two solid spherical objects, it is necessary to perform two calculations based on the above formula (1) to obtain the first attenuation result, wherein the calculation result of the first calculation corresponds to the intensity attenuation generated by the laser radar signal at the first solid spherical object, and the calculation result of the second calculation is the intensity attenuation generated by the laser radar signal passing through the two solid spherical objects, that is, the first attenuation result. It should be noted that, in the first calculation, the incident signal intensity is specifically the laser radar signal emission intensity, and the distance between the entities is specifically the distance between the two solid spherical objects. In the second calculation, the incident signal intensity is specifically the signal intensity of the light beam that is irradiated to the second solid spherical object after attenuation by the first solid spherical object (that is, equal to the laser radar signal emission intensity minus the calculation result of the first calculation), and the distance between the entities is specifically the distance between the second solid spherical object and the virtual target.

[0060] Step S202: calculating a second attenuation result generated by the laser radar signal being reflected by the solid spherical object based on the attenuation coefficient;

[0061] The specific implementation of step S202 is as follows:

[0062] b1. Obtaining the simulated radar working parameters;

[0063] b2. Calculate the second attenuation result based on the attenuation coefficient, the distance from the laser radar signal to the solid spherical object and the simulated radar operating parameters.

[0064] Furthermore, in this embodiment, the second attenuation result can be calculated using the following formula (2):

[0065] Formula (2)

[0066] in, represents the second attenuation result, m, , c are constants, representing the working parameters of the simulated radar, t represents time, α represents the attenuation coefficient, Indicates the distance from the LiDAR signal to the solid spherical object.

[0067] It should be understood that in the above formula (2), Usually refers to the period, in oscillation or periodic motion, represents the period of the oscillation or resonant system; c refers to the propagation speed of the lidar; t refers to time, which means a certain moment or the running time of the system; c multiplied by t, that is, ct, refers to the distance the lidar propagates in time t, that is, ct represents the distance the wavefront propagates.

[0068] Similarly, in combination with actual application scenarios, if the laser radar signal emitted by the simulated radar passes through a solid spherical object and then directly irradiates the virtual target, the second attenuation result is obtained by performing a calculation based on the above formula (2). If the laser radar signal emitted by the simulated radar passes through multiple solid spherical objects and then irradiates the virtual target, it is necessary to perform multiple calculations based on the above formula (1) to obtain the second attenuation result, and the second attenuation result is equal to the superposition of multiple calculation results.

[0069] Step S203: determining a weighted result of the first attenuation result and the second attenuation result as the intensity attenuation.

[0070] Specifically, this step may be to directly determine the result of adding the first attenuation result and the second attenuation result as the intensity attenuation result, or to determine the result of adding the first attenuation result and the second attenuation result according to a preset weighting coefficient as the intensity attenuation result.

[0071] It is understood by those skilled in the art that the present invention implements all or part of the processes in the method of the above embodiment, and can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0072] Furthermore, the present invention also provides a computer device. In one embodiment of a computer device according to the present invention, the computer device includes a processor and a memory, the memory can be configured to store a program for executing the laser radar simulation data generation method of the above method embodiment, and the processor can be configured to execute the program in the memory, which includes but is not limited to the program for executing the laser radar simulation data generation method of the above method embodiment. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer device can be a control device device formed by various electronic devices.

[0073] Furthermore, the present invention also provides a computer-readable storage medium. In a computer-readable storage medium embodiment according to the present invention, the computer-readable storage medium can be configured to store a program for executing the laser radar simulation data generation method of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the above-mentioned laser radar simulation data generation method. For ease of explanation, only the parts related to the embodiment of the present invention are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present invention. The computer-readable storage medium can be a storage device formed by various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present invention is a non-temporary computer-readable storage medium.

[0074] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A method for generating laser radar simulation data, characterized in that: The method comprises: Creating a solid spherical object for representing a preset weather state in a laser radar simulation environment, wherein the laser radar simulation environment includes a simulated radar, a weather state, and a virtual target object; In the laser radar simulation environment, control the simulated radar to emit a laser radar signal to obtain point cloud data of the virtual target, and use the point cloud data as the laser radar simulation data, wherein the attributes of the point cloud data include laser radar reflection intensity; When the laser radar signal passes through the solid spherical object and irradiates the virtual target, obtaining the point cloud data of the virtual target includes: predicting the intensity attenuation of the laser radar signal based on the solid spherical object, and determining the laser radar reflection intensity based on the intensity attenuation; The creating of a solid spherical object for representing a preset weather state comprises: setting an attenuation coefficient of the solid spherical object according to the preset weather state, and constructing an intensity attenuation model corresponding to the solid spherical object based on the attenuation coefficient; wherein, when the solid spherical object is a raindrop representing a rainy day, the attenuation coefficient is related to the rain intensity and the wavelength of the battery wave; the predicting of the intensity attenuation of the laser radar signal based on the solid spherical object comprises: calculating the intensity attenuation of the laser radar signal caused by passing through the solid spherical object based on the intensity attenuation model; The intensity attenuation model includes a formula (1) for calculating the intensity attenuation of the laser radar signal caused by refraction of the solid spherical object and a formula (2) for calculating the intensity attenuation of the laser radar signal caused by reflection of the solid spherical object; Formula (1) Where α is the attenuation coefficient, represents the incident signal strength, Indicates the distance from the laser radar signal to the solid spherical object, Indicates the distance between entities; Formula (2) Among them, m, , c are constants, representing the working parameters of the simulated radar, t represents time, α represents the attenuation coefficient, Indicates the distance from the LiDAR signal to the solid spherical object; The step of calculating the intensity attenuation of the laser radar signal caused by passing through the solid spherical object based on the intensity attenuation model includes: Calculate, based on the attenuation coefficient, a first attenuation result generated when the laser radar signal is refracted by the solid spherical object and irradiated onto the virtual target object; Calculate, based on the attenuation coefficient, a second attenuation result generated by the laser radar signal being reflected by the solid spherical object; A weighted result of the first attenuation result and the second attenuation result is determined as the intensity attenuation.

2. The method according to claim 1, characterized in that: The preset weather condition is rainy day or foggy day.

3. The method according to claim 1, characterized in that The first attenuation result generated by the laser radar signal being refracted by the solid spherical object and irradiated to the virtual target object is calculated based on the attenuation coefficient, including: Obtaining the signal strength of the laser radar signal reaching the solid spherical object and recording it as the incident signal strength; Obtaining the distance between the object illuminated by the laser radar signal after being refracted by the solid spherical object and the solid spherical object and recording it as the distance between entities; The first attenuation result is calculated based on the attenuation coefficient, the distance from the laser radar signal to the solid spherical object, the incident signal intensity and the distance between the entities.

4. The method according to claim 3, characterized in that The method further comprises: Setting the refractive index parameter of the solid spherical object; When the laser radar signal irradiates the solid spherical object, the incident angle of the laser radar signal reaching the surface of the solid spherical object is obtained, and the exit angle of the signal is calculated according to the incident angle and the refractive index parameter; The position of the object illuminated by the laser radar signal after being refracted by the solid spherical object is determined according to the emission angle, and the distance between the entities is determined according to the position.

5. The method according to claim 1, characterized in that The calculation of the second attenuation result generated by the laser radar signal being reflected by the solid spherical object based on the attenuation coefficient includes: Get the simulated radar working parameters; The second attenuation result is calculated based on the attenuation coefficient, the distance from the laser radar signal to the solid spherical object and the simulated radar operating parameters.

6. A computer device comprising a processor and a memory, wherein the memory is suitable for storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by the processor to execute the laser radar simulation data generation method according to any one of claims 1 to 5.

7. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the laser radar simulation data generation method according to any one of claims 1 to 5.

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