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Advanced driver assistance systems are an important step on the way towards the autonomous driving. However, there are new challenges in the release of increasingly complex systems. For the testing of those systems many test kilometers are necessary to represent sufficient diversity. Hence, the virtual testing of driver assistance systems brings new opportunities. In virtual environments, it is possible to run a much higher distance in a short time. Simultaneously, the complexity of the environment and the test scenarios are individually adjustable. It is possible to test scenarios that are not feasible in a real environment due to a risk of injury. A big challenge is the physical correct implementation of real vehicles and their components into the Virtual Reality. To enable a realistic virtual testing the vehicles surrounding sensors need to be modeled adequately. Thus, this paper presents an approach for the implementation of a Lidar model into a Virtual Reality. A physical Lidar model is combined with a real-time capable vehicle dynamics model to investigate the influence of vehicle movements to the sensor measurements. The models are implemented into a highly realistic virtual city environment. Finally, a test campaign shows the influence of the Lidars physics and the vehicle dynamics on the detection results.

New approaches for testing of autonomous driving functions are using VirtualReality (VR) to analyze the behavior of automated vehicles in variousscenarios. The real time simulation of the environment sensors is still a challenge.In this paper, the conception, development and validation of an automotiveradar raw data sensor model is shown. For the implementation, theUnreal VR engine developed by Epic Games is used. The model consists of asending antenna, a propagation and a receiving antenna model. The microwavefield propagation is simulated by a raytracing approach. It uses the methodof shooting and bouncing rays to cover the field. A diffused scatteringmodel is implemented to simulate the influence of rough structures on thereflection of rays. To parameterize the model, simple reflectors are used. Thevalidation is done by a comparison of the measured radar patterns of pedestriansand cyclists with simulated values. The outcome is that the developedmodel shows valid results, even if it still has deficits in the context of performance.It shows that the bouncing of diffuse scattered field can only be doneonce. This produces inadequacies in some scenarios. In summary, the papershows a high potential for real time simulation of radar sensors by using raytracing in a virtual reality.