Data processing method and device, equipment and storage medium

The invention discloses a data processing method and device, equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: acquiring environment information of an automatic driving vehicle and to-be-processed point cloud data; based on the environment information, utilizing a preset ray tracing simulation algorithm to obtain simulation point cloud data corresponding to the environment information; based on the simulated point cloud data, performing evaluation processing on the to-be-processed point cloud data to obtain an evaluation processing result; performing exception identification processing on the to-be-processed point cloud data based on an evaluation processing result to obtain exceptional point cloud data; and filtering the abnormal point cloud data in the to-be-processed point cloud data to obtain target point cloud data. According to the invention, the efficiency and the reliability of filtering the abnormal point cloud data are improved