DE102019125075A1 - Method for the computer-implemented simulation of a LIDAR sensor in a virtual environment - Google Patents

Abstract

The invention relates to a method for the computer-implemented simulation of a LIDAR sensor in a virtual environment, with the following steps:
(S100) Reading in a VR data record (VR) representative of the virtual environment,
(S200) Reading in a parameter data set (PM) for the parameterization of a LIDAR sensor simulation module,
(S300) Generating a laser beam data set (LD) representative of a laser beam (LS1, LS2, LS3, LS4, LS5) emitted by the LIDAR sensor using the LIDAR sensor simulation module (4) and the parameter data set (PM),
(S400) determining a range data record (RD) representative of a range of the laser beam (LS1, LS2, LS3, LS4, LS5) by evaluating the VR data record (VR) and the laser beam data record (LD) by ray tracing, and
(S500) Generating image data (BD) representative of the virtual environment by combining the VR data set (VR) with the laser beam data set (LD) and the range data set (RD).

Description

The invention relates to a method for the computer-implemented simulation of a LIDAR sensor in a virtual environment. The invention also relates to a computer program product and a system for computer-implemented simulation of such a LIDAR sensor.

Motor vehicles can be designed for so-called autonomous driving. An autonomously driving motor vehicle is a self-driving motor vehicle that can drive, control and park without the influence of a human driver (highly automated driving or autonomous driving). In the event that no manual control is required on the part of the driver, the term robot car is also used. Then the driver's seat can remain empty; possibly the steering wheel, brake and accelerator pedals are not available.

Autonomous vehicles of this type can use various sensors to detect their surroundings and use the information obtained to determine their own position and that of other road users, navigate to a destination in cooperation with the navigation software and avoid collisions on the way there.

Such a sensor can be a so-called LIDAR sensor. LIDAR (abbreviation for light detection and ranging), describes a radar-related method for optical distance and speed measurement as well as for remote measurement. Instead of electromagnetic waves as with RADAR, laser beams are used.

LIDAR sensors offer the advantage that they can scan a 360-degree area around the motor vehicle with high resolution and speed. Typically, a LIDAR sensor uses an array of laser-based sensors (e.g. 64) that rotate at high speed (several 100 n / min). The LIDAR sensor is then able to detect obstacles hit by a laser beam. It is thus possible to determine the coordinates of every hit or of every object in the vicinity of the motor vehicle. By evaluating this LIDAR data, it is also possible to obtain information about the topology of the terrain in the area around the motor vehicle.

In order to test such automated driving, the motor vehicles are tested in the real world. However, this is an expensive process and the risk of accidents is high. In order to avoid accidents and at the same time reduce costs, tests in the computer-generated virtual environments, such as tests in virtual cities, are necessary. The VR technology (Virtual Reality Technology) together with a virtual environment opens up many possibilities. The main advantage of VR technology is that it allows a user, such as an engineer, to be part of the tests, to interact with the test scenario or the configuration parameters.

A LIDAR simulation unit for simulating a LIDAR sensor in a virtual environment is known from KR101572618.

There is a need to show ways in which a computer-implemented simulation of a LIDAR sensor in a virtual environment can be improved.

• Einlesen eines VR-Datensatzes repräsentativ für die virtuelle Umgebung,
• Einlesen eines Parameterdatensatzes zur Parametrisierung eines LIDAR-Sensor-Simulationsmoduls,
• Erzeugen eines Laserstrahl-Datensatzes repräsentativ für einen von dem LIDAR-Sensor emittierten Laserstrahl unter Verwendung des LIDAR-Sensor-Simulationsmoduls und des Parameterdatensatzes, Bestimmen eines Reichweite-Datensatzes repräsentativ für eine Reichweite des Laserstrahles unter Auswertung des VR-Datensatzes und des Laserstrahl-Datensatzes durch Raytracing, und
• Erzeugen von Bilddaten repräsentativ für die virtuelle Umgebung durch Kombinieren des VR-Datensatzes mit dem Laserstrahl-Datensatz und dem Reichweite-Datensatz.

The object of the invention is achieved by a method for the computer-implemented simulation of a LIDAR sensor in a virtual environment, with the steps:

• Reading in a VR data set representative of the virtual environment,
• Reading in a parameter data set for the parameterization of a LIDAR sensor simulation module,
• Generating a laser beam data set representative of a laser beam emitted by the LIDAR sensor using the LIDAR sensor simulation module and the parameter data set, determining a range data set representative of a range of the laser beam while evaluating the VR data set and the laser beam data set Ray tracing, and
• Generation of image data representative of the virtual environment by combining the VR data set with the laser beam data set and the range data set.

With the parameter data set, various parameters of the LIDAR sensor to be simulated can be freely configured by a user, whereby by determining a range data set representative of a range of the laser beam while evaluating the VR data set and the laser beam data set by ray tracing, a particularly computer resource-saving method can be provided. In this way, a computer-implemented simulation of a LIDAR sensor in a virtual environment can be improved.

According to one embodiment, the parameter data set parameterizes a static LIDAR sensor with a horizontal scanning area and / or a vertical scanning area and / or a maximum range and / or a scanning rate. So can a simple way too static LIDAR sensor can be simulated in a virtual environment.

According to a further embodiment, the parameter data set parameterizes a rotating LIDAR sensor, the laser beam data set being representative of a rotating laser beam. In addition, the parameter data set can define a horizontal scanning area and / or a vertical scanning area and / or a maximum range and / or a scanning rate. In this way, a rotating LIDAR sensor can also be simulated in a virtual environment in a simple manner.

According to a further embodiment, sampling data representative of sampling points of the LIDAR sensor are temporarily stored in a ring memory. The ring memory is designed in such a way that the oldest data is deleted when new data is added. This way the memory size can be minimized. Each storage element of the ring buffer stores the data that contain all scanned LIDAR points at a sampling time.

According to a further embodiment, a laser beam is visualized to a user in the virtual environment according to the laser beam data record. The visualization of the laser beams enables a user, such as an engineer, to interact with the laser beams in the virtual environment. The user can see an object detected by the LIDAR sensor in the virtual environment, which simplifies the evaluation of simulation results.

According to a further embodiment, a user can use an HMI in the virtual environment. In this way, a user in the virtual environment can make various inputs with an HMI designed as a virtual HMI, such as entering the parameter data set or changing it. Thus, a user can act completely within the virtual environment and does not have to leave it, e.g. to change the parameter data set.

The invention also includes a computer program product and a system for computer-implemented simulation of such a LIDAR sensor.

• 1 in schematischer Darstellung ausgewählte Komponenten eines Systems zur computerimplementierten Simulation eines LIDAR-Sensors in einer virtuellen Umgebung,
• 2A in schematischer Darstellung eine Simulation eines statischen LIDAR-Sensors
• 2B eine weitere schematische Darstellung einer Simulation eines statischen LIDAR-Sensors.
• 3A eine Visualisierung des statischen LIDAR-Sensors in einer virtuellen Umgebung in perspektivischer Darstellung.
• 3B eine Visualisierung des statischen LIDAR-Sensors in einer virtuellen Umgebung in einer Draufsicht.
• 4 eine weitere Visualisierung des statischen LIDAR-Sensors.
• 5A in schematischer Darstellung eine Simulation eines um seine x-Achse rotierenden LIDAR-Sensors.
• 5B eine weitere schematische Darstellung einer Simulation eines um seine z-Achse rotierenden LIDAR-Sensors.
• 6A in schematischer Darstellung eine Simulation eines um seine x-Achse rotierenden LIDAR-Sensors.
• 6B eine weitere schematische Darstellung einer Simulation eines um seine z-Achse rotierenden LIDAR-Sensors.
• 7 eine Visualisierung eines rotierenden LIDAR-Sensors in einer virtuellen Umgebung in perspektivischer Darstellung.
• 8 eine Visualisierung eines mit einem LIDAR-Sensor erfassten Objektes.
• 9 eine Visualisierung eines HMI zur Verwendung in einer virtuellen Umgebung.
• 10 in schematischer Darstellung einen Verfahrensablauf zum Betrieb des in 1 gezeigten Systems.

The invention will now be explained with reference to a drawing. Show it:

• 1 A schematic representation of selected components of a system for the computer-implemented simulation of a LIDAR sensor in a virtual environment,
• 2A a schematic representation of a simulation of a static LIDAR sensor
• 2 B another schematic representation of a simulation of a static LIDAR sensor.
• 3A a visualization of the static LIDAR sensor in a virtual environment in a perspective representation.
• 3B a visualization of the static LIDAR sensor in a virtual environment in a top view.
• 4th another visualization of the static LIDAR sensor.
• 5A a schematic representation of a simulation of a LIDAR sensor rotating about its x-axis.
• 5B Another schematic representation of a simulation of a LIDAR sensor rotating about its z-axis.
• 6A a schematic representation of a simulation of a LIDAR sensor rotating about its x-axis.
• 6B Another schematic representation of a simulation of a LIDAR sensor rotating about its z-axis.
• 7th a visualization of a rotating LIDAR sensor in a virtual environment in a perspective representation.
• 8th a visualization of an object detected with a LIDAR sensor.
• 9 a visualization of an HMI for use in a virtual environment.
• 10 a schematic representation of a process sequence for operating the in 1 shown system.

It gets on first 1 Referenced.

A system is shown 2 for the computer-implemented simulation of a LIDAR sensor in a virtual environment.

As virtual reality, in short VR , the representation and simultaneous perception of reality and its physical properties in a real-time computer-generated, interactive virtual environment is called.

In order to create a feeling of immersion, special output devices such as virtual reality headsets are used to represent the virtual environment. To give a spatial impression, two images are made up of different Perspectives generated and displayed (stereo projection).

Special input devices (not shown), such as a 3D mouse, data glove or flystick, are required for interaction with the virtual world. The flystick is used for navigation with an optical tracking system, whereby infrared cameras permanently transmit the position in space to the system by capturing markers on the flystick 2 report to a user 8th can move freely without wiring. Optical tracking systems can also be used to record tools and complete human models in order to locate them within the VR - Manipulate scenarios in real time.

Some input devices convey to the user 8th a force feedback on the hands or other body parts (Force Feedback), so that the user 8th can orientate itself through the haptics and sensors as a further sensory perception in the virtual environment.

In addition, software specially developed for this purpose is required to create a virtual environment. The software has to create complex three-dimensional worlds in real time, ie with at least 25 frames per second, in stereo separated for the left and right eye of the user 8th can calculate. This value varies depending on the application - a driving simulation, for example, requires at least 60 images per second to avoid nausea (simulator sickness).

From the components of the system 2 are in the 1 a LIDAR sensor simulation module 4th and a ring buffer 6th as well as one with the system 2 HMI connected to exchange data 10 illustrated that the user 8th on the head and is designed in the present embodiment as The system 2 is designed to determine the current viewing direction of the user based on the virtual environment 8th image data to be taken into account BD to be provided by the HMI 10 the user 8th can be visualized.

The system is there 2 also designed to provide a VR -Record VR representative of the virtual environment and a parameter data set PM for the parameterization of a LIDAR sensor simulation module 4th read in.

The LIDAR sensor simulation module 4th is designed in the present exemplary embodiment to generate a laser beam data record LD (please refer 10 ) representative of a laser beam emitted by the LIDAR sensor using the LIDAR sensor simulation module and the parameter data set PM and generate a range data set RD (please refer 10 ) representative of a range of the laser beam under evaluation of the VR Record VR and the laser beam data set LD to be determined by ray tracing.

In this context, ray tracing is understood to mean an algorithm based on the emission of rays for concealment calculation, i.e. an algorithm for determining the visibility of three-dimensional objects from a specific point in space.

In other words, ray tracing is primarily a method for calculating occlusion, i.e. for determining the visibility of objects from one eye point 12th (please refer 2 ).

As part of ray tracing, the laser beam data record LD evaluated, which indicates the starting point and the direction of a simulated laser beam in the form of a half-line in space. For an object in the virtual environment according to the VR -Record VR the point of intersection at which the simulated laser beam hits the object is now determined by means of a geometric method. This also includes the distance from the eye point 12th of the LIDAR sensor is calculated up to the point of intersection and in the form of the range data set RD provided.

The parameter data set PM can parameterize a static LIDAR sensor with a horizontal scanning area and / or a vertical scanning area and / or a maximum range and / or a scanning rate, or the parameter data set PM can parameterize a rotating LIDAR sensor, with the laser beam data set LD is representative of a rotating laser beam, as will be explained in detail later.

In the ring buffer 6th can scan data D. are temporarily stored representative of the sampling points of the LIDAR sensor. Furthermore, the system is 2 - as will also be explained in detail later - designed to generate a laser beam in accordance with the specific laser beam data set LD in the virtual environment to the user 8th to visualize it and give it to the user 8th to enable the HMI 1 0 to be used in the virtual environment.

For this and the tasks and functions described below, the system 2 , the LIDAR sensor simulation module 4th and the ring buffer 6th each have corresponding hardware and / or software components.

It is now also applied to the 2A and 2 B Referenced to illustrate the simulation of a static lidar sensor.

In the virtual environment, the number of vertical laser beams LS1 , LS2 , LS3 , LS4 , LS5 certainly. An angle of inclination of the LIDAR sensor is also taken into account and the alignment of the laser beams LS1 , LS2 , LS3 , LS4 , LS5 adjusted accordingly.

A first laser beam LS1 (please refer 2A) is at the position of the eye point 12th of the LIDAR sensor at a starting angle SW1 emitted. If - as in the present embodiment - for a vertical scanning area VFOV If a value = 40 ° is selected, the starting angle SW1 should be 70 °. In other words, the value of the starting angle SW1 is calculated as follows: $$\text{SW1}=\mathrm{\pi }-\text{VFOV}/2.$$

The individual laser beams LS1 , LS2 , LS3 , LS4 , LS5 are evenly spaced from one another in the circumferential direction. If - as in the present embodiment - the vertical scanning area VFOV has a value = 40 ° and the number of laser beams LS1 , LS2 , LS3 , LS4 , LS5 five is a step angle of 40 ° / 5 = 8 °.

In an analogous way (see 2 B) can be a starting angle SW2 for the horizontal scanning area HFOV be determined: $$\text{SW2}=\mathrm{\pi }-\text{HFOV}/2.$$

It is now also applied to the 3A and 3B Referenced.

It shows a visualization of laser beams that are emitted by a LIDAR sensor in a virtual environment. The value for the vertical scan area VFOV is 18 °, the value for the horizontal scanning range HFOV is 180 °, the number m of the horizontal laser beams is 8 and the number n the vertical laser beam is 3.

The total number G In the present exemplary embodiment, the sampling points are at a sampling rate t = 0.005s G = mxn / t = 8 x 3 x 1 / 0.005 = 4800.

In other words, the total G the scanning points result from the total number of laser beams. The product is based on the number m of the horizontal laser beams and the number n of the vertical laser beams on a simulation run. For an accurate simulation, the values for m and n should be selected according to the LIDAR specifications. Since each simulation run is carried out at a fixed point in time, the simulation run is also referred to as a fixed update. There are no limits to the choice of the fixed time step size T in the virtual environments. As a rule, however, a period of 5 - 25 milliseconds (= 0.005s to 0.025s) is selected. The simulation is carried out with a sampling rate t = 1 / T.

Hence the total number of points G per second can be determined by G = mxnx T. In addition, the sampling rate t can be determined according to the following equation: $$\text{t}=1/\text{T}=\text{G}/\left(\text{m}\times \text{n}\right).$$

It is now additionally on 4th Referenced.
A visualization of laser beams according to the image data is shown BD . The dimensions of the LIDAR area are determined by the length of the laser beams according to the range data set RD certainly.

If a laser beam crossed an object, it would not go through the object. A maximum value for the range as well as for the other values can be specified in accordance with the LIDAR specifications, e.g. through the parameter data set PM .

It is now also applied to the 5A and 5B Reference is made to explain the simulation of a LIDAR sensor rotating about its x-axis, ie its roll or pitch axis.

The laser beams are also used to simulate a rotation around the x-axis, for example LS1 . LS2 . LS3 , LS4 , LS5 rotated around the x-axis, step by step by a value of a rotation angle DW1 clockwise (see 5B) . In the present exemplary embodiment, rotation only takes place in one direction.

In the present exemplary embodiment, the LIDAR sensor only emits a single laser beam that is rotated through 360 °.

If in the present embodiment for the angle of rotation DW1 a value of 2 ° is selected and for the sampling rate t = 0.005s a full rotation of 360 degrees with the rotation time RT = 360 ° / DW1 xt = (360/2) x 0.005 = 0.9s. The total number of points G per second would then be G = mxn / T = mxnxt = 1 x 64 / 0.005 = 12800 points. It is possible to have the total number of points G by choosing a higher sampling rate.

In the present embodiment, only a single laser beam is simulated around the To keep the need for hardware and computer resources low, as this also allows the number of objects to be kept low. In contrast to the present exemplary embodiment, however, several laser beams can also be simulated at the same time.

It is now also applied to the 6A and 6B Reference is made to explain the simulation of a LIDAR sensor rotating about its z-axis, ie its vertical axis.

In an analogous manner, the LIDAR sensor only emits a single laser beam that is rotated through 360 °, step by step around the z-axis by a value of a rotation angle DW2 clockwise (see 6B) .

A buffering mechanism is required to hold the sample data D. that add to the total number of points G include buffers, which are then processed later by a control unit of the motor vehicle. The ring buffer is used for this 6th used.

The ring buffer 6th has a predetermined size. The oldest data is released when new data is added. Each storage element of the ring buffer 6th stores the scan data D. that contain all scanned lidar points at one point in time.

In the present exemplary embodiment, the size of the ring memory 6th , ie its total number of storage elements, automatically calibrated. To determine the memory size S. For example, the following formula can be used with only one rotary or swivel axis: $$\text{Memory size}=\text{Scanning area}/\text{Rotation angle}.$$

If there could be two rotary or swivel axes: $$\text{S.}=\text{HFOV}/\text{DW1}+\text{VFOV}/\text{DW2}$$

It is now additionally on 7th Referenced.

In the present embodiment it is provided that a laser beam according to the laser beam data set LD in the virtual environment to the user 8th is visualized.

What is shown is a visualization of a laser beam from a LIDAR sensor of a motor vehicle on a street with curbs and a water surface. The laser beam of the LIDAR sensor is rotated by a full 360 ° around its vertical axis and pivoted by 18 ° around its roll axis (x-axis) with an angle of rotation DW1 or. DW2 of 1 °.

It is now additionally on 8th Referenced.

A visualization of laser beams according to the image data is shown BD that hit an object, in the present exemplary embodiment a pedestrian, in a virtual environment. For this purpose, the laser beams are visualized with a grid-based or beam-tracing-based method (OpenGL, DirectX or Raytracing Engine). In the present exemplary embodiment, a shader code (eg OpenGL GLSL) is implemented in order to visualize the laser beams in real time. The shader code uses 2 nodes, a laser beam origin at the eye point 12th and a point of impact for the visualization of the individual laser beams. The shader can be embedded in a game engine such as Unity3d or Unreal. It is also possible to render the laser beams with a ray tracing based approach with the same nodes. The laser beams are visualized at each frame (frame in the computer graphics).

The visualization of the laser beams enables the user 8th , such as an engineer, to interact with the laser beams in the virtual environment. So the user can 8th , such as an engineer, can see an object detected by the LIDAR sensor, which simplifies the evaluation of simulation results.

Furthermore, the laser beams can be visualized in the virtual environment, in which the laser beams striking an object are combined as a 3D object, network or line and thus displayed.

It is now additionally on 9 Referenced.

A visualization of image data is shown BD .

In the present embodiment it is provided that the user 8th the HMI 10 can use in the virtual environment.

The system is for this 2 trained to configure the LIDAR sensor with a desktop computer using the keyboard and mouse menus. However, this is not possible if VR -Hardware is used, e.g. when the user 8th , such as an engineer who wears an HMI trained as an HMD on his head.

In other words, the HMI is a virtual HMI in the virtual environment for you to be in the virtual environment 8th with which the user 8th , represented in the virtual environment by his avatar 14th can make various entries. With the HMI 10 can also be the parameter data set PM entered or changed.

It will now be made with additional reference to FIG 10 a procedure for operating the system 2 explained.

In a first step S100 reads the system 2 the VR -Record VR representative of the virtual environment.

In a further step S200 reads the system 2 the parameter data set PM for parameterization of the LIDAR sensor simulation module 4th on.

In a further step S300 generates the LIDAR sensor simulation module 4th the laser beam data set LD representative of a laser beam emitted by the LIDAR sensor LS1 , LS2 , LS3 , LS4 , LS5 using the parameter data set PM .

In a further step S400 generates the LIDAR sensor simulation module 4th also the range data record RD representative of a range of the laser beam LS1 , LS2 , LS3 , LS4 , LS5 evaluating the VR Record VR and the laser beam data set LD through ray tracing.

In a further step S500 combines the LIDAR sensor simulation module in the present exemplary embodiment 4th the VR -Record VR with the laser beam data set LD and the reach data set RD around the image data BD to create.

The parameter data record PM parameterize a static LIDAR sensor with a horizontal scanning range HFOV and / or a vertical scan area VFOV and / or a maximum range and / or a sampling rate t .

Alternatively, the parameter data record PM parameterize a rotating LIDAR sensor, with the laser beam data set LD then representative of a rotating laser beam LS1 , LS2 , LS3 , LS4 , LS5 is.

The scan data D. are representative of the sampling points of the LIDAR sensor in the ring memory 6th cached. Furthermore, a laser beam is used LS1 , LS2 , LS3 , LS4 , LS5 according to the laser beam data set LD in the virtual environment to the user 8th visualized. Furthermore, the user can 8th an HMI 10 in the virtual environment in order to be able to make various entries, such as the parameter data set PM enter or change.

In a departure from the present exemplary embodiment, the sequence of the steps can also be different. Furthermore, several steps can also be carried out at the same time or simultaneously. Furthermore, different from the present exemplary embodiment, individual steps can also be skipped or omitted.

In this way, a computer-implemented simulation of a LIDAR sensor in a virtual environment can be improved.

List of reference symbols

2

system

4th

LIDAR sensor simulation module

6th

Ring buffer

8th

Users

10

HMI

12th

Eye point

14th

Avatar

BD

Image data

D.

Sample data

DW1

Rotation angle

DW2

Rotation angle

G

Total number of sample points

HFOV

horizontal scanning area

LD

Laser beam data set

LS1

laser beam

LS2

laser beam

LS3

laser beam

LS4

laser beam

LS5

laser beam

m

Number of horizontal laser beams

n

Number of vertical laser beams

PM

Parameter data set

RD

Reach record

RT

Rotation time

S.

Memory size

SW1

Starting angle

SW2

Starting angle

t

sampling rate

T

Time increment

VFOV

vertical scanning area

VR

VR dataset

S100

step

S200

step

S300

step

S400

step

S500

step

Claims (13)

Method for the computer-implemented simulation of a LIDAR sensor in a virtual environment, with the steps: (S100) Reading in a VR data record (VR) representative of the virtual environment, (S200) Reading in a parameter data set (PM) for the parameterization of a LIDAR sensor simulation module (4), (S300) Generating a laser beam data set (LD) representative of a laser beam (LS1, LS2, LS3, LS4, LS5) emitted by the LIDAR sensor using the LIDAR sensor simulation module (4) and the parameter data set (PM), (S400) determining a range data record (RD) representative of a range of the laser beam (LS1, LS2, LS3, LS4, LS5) by evaluating the VR data record (VR) and the laser beam data record (LD) by ray tracing, and (S500) Generating image data (BD) representative of the virtual environment by combining the VR data set (VR) with the laser beam data set (LD) and the range data set (RD). Procedure according to Claim 1 , the parameter data set (PM) parameterizing a static LIDAR sensor with a horizontal scanning area (HFOV) and / or a vertical scanning area (VFOV) and / or a maximum range and / or a scanning rate (t). Procedure according to Claim 1 or 2 , the parameter data set (PM) parameterizing a rotating LIDAR sensor, the laser beam data set (LD) being representative of a rotating laser beam (LS1, LS2, LS3, LS4, LS5). Procedure according to Claim 3 , wherein sampling data (D) representative of sampling points of the LIDAR sensor are temporarily stored in a ring memory (6). Method according to one of the Claims 1 to 4th , a laser beam (LS1, LS2, LS3, LS4, LS5) being visualized to a user (8) in the virtual environment according to the laser beam data set (LD). Method according to one of the Claims 1 to 5 , wherein a user (8) can use an HMI (10) in the virtual environment. Computer program product designed to carry out a method according to one of the Claims 1 to 6th . System (2) for the computer-implemented simulation of a LIDAR sensor in a virtual environment, the system (2) being designed to read in a VR data record (VR) representative of the virtual environment, a parameter data record (PM) for the parameterization of a LIDAR Sensor simulation module (4) of the system (2) to read in a laser beam data set (LD) representative of a laser beam (LS1, LS2, LS3, LS4, LS5) emitted by the LIDAR sensor using the LIDAR sensor simulation module and of the parameter data set (PM) to generate a range data set (RD) representative of a range of the laser beam (LS1, LS2, LS3, LS4, LS5) by evaluating the VR data set (VR) and the laser beam data set (LD) Determine ray tracing and generate image data (BD) representative of the virtual environment by combining the VR data set (VR) with the laser beam data set (LD) and the range data set (RD). System (2) according to Claim 8 , the parameter data set (PM) parameterizing a static LIDAR sensor with a horizontal scanning area (HFOV) and / or a vertical scanning area (VFOV) and / or a maximum range and / or a scanning rate (t). System (2) according to Claim 8 or 9 , the parameter data set (PM) parameterizing a rotating LIDAR sensor, the laser beam data set (LD) being representative of a rotating laser beam (LS1, LS2, LS3, LS4, LS5). System (2) according to Claim 8 , 9 or 10 , the system (2) having a ring memory (6) for temporarily storing scan data (D) representative of scan points of the LIDAR sensor. System (2) according to one of the Claims 8 to 11 , the system (2) being designed to visualize a laser beam (LS1, LS2, LS3, LS4, LS5) in the virtual environment for a user (8) in accordance with the laser beam data set (LD). System (2) according to one of the Claims 8 to 12th , the system (2) being designed so that a user (8) can use an HMI (10) in the virtual environment.

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