A data augmentation method for traffic simulation, comprising: acquiring (S 100) a point cloud of a frame, the point cloud comprising a plurality of original obstacles; wherein when an acquisition vehicle moves along a movement route, the acquisition vehicle obtains the point cloud by scanning the plurality of original obstacles around the acquisition vehicle with a radar; obtaining (S200) a plurality of position voids by removing the original obstacles from the point cloud, and filling the position voids with surrounding environment to obtain a real background of the point cloud; arranging (S300) a plurality of new obstacles labeled by labeling data, in the real background of the point cloud; wherein the labeling data of the plurality of new obstacles comprises position data, orientations, obstacle types, and identity recognition numbers; and adjusting (S400) the plurality of new obstacles based on the position data, the orientations, the identity recognition numbers, and the obstacle types in the labeling data of the plurality of new obstacles, to obtain adjusted labelling data of the plurality of new obstacles and determine the adjusted labelling data as layout data of the plurality of new obstacles; wherein the adjusting comprises: adding or removing a new obstacle for different scenarios and requirements, or changing labeling data of a new obstacle by changing the position data, the orientation, the identity recognition number, and the obstacle type of the new obstacle; the layout data of the new obstacles comprises: data obtained by the adding or removing, or the changed labeling data of the new obstacle. acquiring (S 100) a point cloud of a frame, the point cloud comprising a plurality of original obstacles; wherein when an acquisition vehicle moves along a movement route, the acquisition vehicle obtains the point cloud by scanning the plurality of original obstacles around the acquisition vehicle with a radar; obtaining (S200) a plurality of position voids by removing the original obstacles from the point cloud, and filling the position voids with surrounding environment to obtain a real background of the point cloud; arranging (S300) a plurality of new obstacles labeled by labeling data, in the real background of the point cloud; wherein the labeling data of the plurality of new obstacles comprises position data, orientations, obstacle types, and identity recognition numbers; and adjusting (S400) the plurality of new obstacles based on the position data, the orientations, the identity recognition numbers, and the obstacle types in the labeling data of the plurality of new obstacles, to obtain adjusted labelling data of the plurality of new obstacles and determine the adjusted labelling data as layout data of the plurality of new obstacles; wherein the adjusting comprises: adding or removing a new obstacle for different scenarios and requirements, or changing labeling data of a new obstacle by changing the position data, the orientation, the identity recognition number, and the obstacle type of the new obstacle; the layout data of the new obstacles comprises: data obtained by the adding or removing, or the changed labeling data of the new obstacle. <EOS>