Simulation method of frequency-modulated continuous wave laser radar

The invention relates to a simulation method of a frequency-modulated continuous wave laser radar. The method comprises steps of loading the customized laser radar sensor model parameters and the customized simulation environment into a computer, and performing single-point scanning on an obstacle in the simulation environment by the sensor model according to a preset scanning track to obtain theposition of the laser radar sensor model at the current moment, the distance value at the current moment and the speed value at the current moment,converting the current data obtained by single-pointscanning into three-dimensional point cloud data containing speed information, and storing the three-dimensional point cloud data,and completing one-time track scanning to obtain a frame of three-dimensional point cloud data containing speed information, packaging the current frame of data, and publishing the data.A high-simulation environment is established, simulation is carried out based on a single-point scanning model