Simulation method and device of virtual driving scene, electronic equipment and storage medium

The invention relates to a simulation method and device for a virtual driving scene, electronic equipment and a storage medium, and the method comprises the steps: obtaining environment perception data collected in a target driving scene, the environment perception data comprising radar point cloud data and multi-view image data; the radar point cloud data and the multi-view image data are utilized to construct a dynamic and static Gaussian graph corresponding to the target driving scene, the dynamic and static Gaussian graph comprises a plurality of nodes and edges among the nodes, each node is used for representing an object element and semantic information corresponding to the object element, and the semantic information is used for representing the target element; each edge is used for representing the mutual relation between the object elements located at the two ends of the edge; a physical simulation component is introduced into the dynamic and static Gaussian map, a virtual driving scene corresponding