A method for generating simulated point cloud data, a device, and a storage medium includes: acquiring at least one frame of point cloud data collected by a road collecting device in an actual environment without a dynamic obstacle as static scene point cloud data; setting, least one dynamic obstacle in a coordinate system matching the static scene point cloud data; simulating in the coordinate system, a plurality of simulated scanning lights emitted by a virtual scanner located at an origin of the coordinate system; updating the static scene point cloud data according to intersections of the plurality of simulated scanning lights and the at least one dynamic obstacle to obtain the simulated point cloud data comprising point cloud data of the dynamic obstacle; and at least one of adding a set noise to the simulated point cloud data, and, deleting point cloud data corresponding to the dynamic obstacle according to a set ratio.