Regardless of Radar type, simulation of the sensor is absolutely essential to reach the goals desired for ADAS and especially levels 4-5 for AV. Some aspects of this required simulation are discussed and how to implement these aspects into a simulation correctly.

Discussion points for Radar simulation include:

1. World Material Property measurement including Angle of Incidence
2. Advanced Ray Tracing
3. Micro Doppler, Ghost Targets and Doppler Ambiguity
4. Radar placement effects (bumper, grill, etc.)

Finally, a discussion of a cutting edge Hardware-in-the-Loop for radar is also presented.