A virtual lidar data generation method based on a virtual world

The invention relates to a virtual lidar data generation method based on a virtual world, comprising the following steps: step S100, acquiring scene information of the virtual world; step S200, analyzing the scene cache information obtained in step S100 to generate scene point cloud data; step S300, analyzing the scene target information obtained in step S100, and generating a scene target point cloud index set; S400, downsampling the scene point cloud data to compose the true value data to generate the virtual lidar data. The invention provides a lidar point cloud data source containing truevalue data for the development of an autopilot sensing algorithm based on a lidar sensor, point cloud data can be collected efficiently without any restrictions and the algorithm development processcan be sped up; at the same time, the consumption of human time costs caused by data acquisition and annotation in the development process is greatly reduced. 种基于虚拟世界的虚拟激光雷达数据生成方法，包括以下步骤：步骤S100，获取虚拟世界的场景信息；步骤S200，解析S100获取的场景缓存信