Grid map generation method and system, electronic equipment and storage medium

The invention provides a grid map generation method and system, electronic equipment and a storage medium. The method comprises the steps of obtaining track data and point cloud data of a millimeter-wave radar; initializing a grid map based on the SLAM trajectory data; multiplying the point cloud data of the millimeter-wave radar of the current frame by the corresponding SLAM trajectory data to obtain current frame trajectory data, and converting the current frame trajectory data into a world coordinate system; obtaining the position of a radar hit point in the initialized grid map; marking radar hit points and adjusting the probability values of the radar hit points, and updating the grid map based on the adjusted probability values; in response to the fact that processing of the point cloud data of the millimeter-wave radars of all frames is not completed, completing processing of the point cloud data of the millimeter-wave radars of all other frames based on the processing process of the current frame; and