Virtual test evaluation is an important development direction for automatic driving technology testing and evaluation. The millimeter-wave radar sensor model used in virtual test evaluation should meet the real-time and accuracy requirements of the system. The current millimeter-wave radar model can satisfy real-time requirements but cannot simulate the physical characteristics of millimeter-wave radar. This study proposes a millimeter-wave radar model, which introduces the radar cross-sectional (RCS) area judgment index based on geometric clipping extraction and target visibility judgment. Through simulation verification of target visibility, the millimeter-wave radar model integrated with RCS indicators has demonstrated consistent test results with real millimeter-wave radar. The millimeter-wave radar model can better simulate the physical characteristics and error conditions of real millimeter-wave radar as well as enhance the accuracy of virtual simulation tests and evaluation of automatic driving while ensuring the real-time requirements of the simulation.

虚拟测试评估是自动驾驶技术测试和评估的重要发展方向。虚拟测试评估中使用的毫米波雷达传感器模型应满足系统的实时性和准确性要求。当前的毫米波雷达模型可以满足实时性要求，但不能模拟毫米波雷达的物理特性。本研究提出了一种毫米波雷达模型，该模型引入了基于几何削波提取和目标可见性判断的雷达截面积（RCS）区域判断指标。通过对目标可见性的仿真验证，与RCS指示器集成的毫米波雷达模型已经证明了与真实毫米波雷达一致的测试结果。