Sensor simulation modeling method and device for intelligent driving controller

The invention discloses a sensor simulation modeling method and device for an intelligent driving controller, and the method comprises the following steps: S1, reconstructing an automatic driving scene, including automobiles, pedestrians, roads, buildings and traffic signs, in a digital world from collected data, and controlling the reconstructed scene to carry out simulation, rare key scenes are generated; s2, performing simulation modeling on an ideal environment sensor in a virtual environment, wherein the simulation modeling comprises a static background, a dynamic object and an out-of-area object; s3, performing simulation modeling on the physical perception sensor in the virtual environment, wherein the simulation modeling comprises camera simulation, laser radar simulation and millimeter wave radar simulation; s4, performing simulation modeling on the hybrid sensor in the virtual environment, taking the target list/environment parameters as input, and taking the target list/sensor original data as outp