Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
  • G01S7/497—Means for monitoring or calibrating
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/006—Theoretical aspects
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
  • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
  • G01S7/491—Details of non-pulse systems
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F30/00—Computer-aided design [CAD]
  • G06F30/20—Design optimisation, verification or simulation
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F30/00—Computer-aided design [CAD]
  • G06F30/30—Circuit design
  • G06F30/36—Circuit design at the analogue level
  • G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
  • G06T15/00—Three-dimensional [3D] image rendering
  • G06T15/06—Ray-tracing
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F2111/00—Details relating to CAD techniques
  • G06F2111/08—Probabilistic or stochastic CAD

Definitions

• the present invention relates to a method for simulating sen sor data of a continuous wave, CW, light detection and rang ing, lidar, sensor.
• the invention further relates to a device for simulating sensor data of a CW lidar sensor.
• Lidar is a laser-based technology for measuring distances to a target which can provide high-resolution three-dimensional representations of the surrounding.
• Lidar system service ap plications in automatic driver assistance systems, ADAS, pro vide so-called environmental models used for parking assis tants, collision warning and for autonomous driving applica tions.
• Lidar systems are extensively used in a wide range of fields, including geodesy, seismology, airborne laser swath mapping, ALSM, and laser altimetry.
• lidar sensors There exist different types of lidar sensors. For instance, pulsed lidar sensors emit short laser pulses and measure the time-of-flight of the laser pulse from emission to its return to the lidar sensor. The measured time-of-flight can be used to compute the distance to a reflecting target.
• lidar sensors uses continuous wave, CW, sig nals.
• light is continuously emitted.
• the light source can be modulated by either modulating the amplitude in amplitude modulated continuous wave, AMCW, methods or by mod ulating the frequency in frequency modulated continuous wave, FMCW, methods.
• AMCW modulating the amplitude in amplitude modulated continuous wave
• FMCW mod ulating the frequency in frequency modulated continuous wave
• CW methods are preferred to pulsed lidar sensor methods because of their accuracy and robustness .
• lidar simulation data is also required in many other fields, including the development of signal processing algorithms, training neural networks, vir tual validation, and the like.
• lidar sensor data modelling pulsed lidar sensors is discussed in A. Kim et al . , "Simulating full-waveform lidar", Proc. SPIE 7684, Laser Radar Technology and Applications XV, 2010, and in A. Kim, “Simulating full-waveform LIDAR”, Diss. Monterey, California. Naval Postgraduate School, 2009.
• a known method to provide lidar sensor data comprises simu lating ideal point clouds with a single simulated ray.
• the propagation of the ray is computed using ray-tracing up to the nearest intersection point with a surface, whereby only mirror-reflection is considered. Accordingly, only one dis tance per ray is computed. Further, multiple rays per beam may provide multiple points. In such simulations, only point data is provided as an output but no information regarding the resulting signal is generated.
• Real lidar sensors in contrast, produce a time-varying electrical signal which must be processed to produce points in the simulated scene.
• the time-varying signal comprises a lot of additional information about the simulated scene, including object shape, object class, multiple reflections, and the like. Such information is inevitably lost if only point clouds are provided as an output .
• the time-varying signal contains features which result from physical properties of the lidar sensor and the environment, including beam shape, object motion between beams, weather effects on the signal, and the like. These features lead to artifacts in the lidar data which must be accounted for when developing sensors, and algorithms based on their outputs. Accordingly, point clouds may be insufficient for simulating lidar sensors during development and more realistic data may be required.
• the invention provides a meth od for simulating sensor data of a continuous wave, CW, light detection and ranging, lidar, sensor as recited in claim 1.
• the invention provides a de vice for simulating sensor data of a CW lidar sensor as re cited in claim 10.
• the invention provides a computer program product as recited in claim 14.
• the invention provides a non- transitory, computer-readable storage medium as recited in claim 15.
• the invention provides a meth od for simulating sensor data of a continuous wave, CW, light detection and ranging, lidar, sensor, wherein a ray set com prising at least one ray is generated based on a CW signal.
• a ray in the ray set has an emission starting time and an emission duration.
• the ray is propagated through a simulated scene comprising at least one object.
• a signal contribution of the propagated ray is computed at a detection location in the simulated scene.
• An output signal is generated based on mix ing the CW signal with the computed signal contributions of the rays in the ray set.
• the invention provides a device for simulating sensor data of a CW lidar sensor, comprising a processing unit and at least one of a storing unit and an output unit.
• the processing unit generates a ray set compris ing at least one ray based on a CW signal, each ray of the ray set having an emission starting time and an emission du ration.
• the processing unit propagates, for each ray in the ray set, the ray through a simulated scene comprising at least one object.
• the processing unit computes, for each ray in the ray set, a signal contribution of the propagated ray at a detection location in the simulated scene.
• the pro cessing unit further generate an output signal, based on mix ing the CW signal with the computed signal contributions of the rays in the ray set.
• the storing unit is adapted to store the output signal and the output unit is adapted to output the output signal.
• the invention provides a comput er program product comprising executable program code config ured to, when executed by a computing device, perform the method for simulating sensor data of a continuous wave sen sor .
• the invention provides a non- transitory, computer-readable storage medium comprising exe cutable program code configured to, when executed by a compu ting device, perform the method for simulating sensor data of a CW lidar sensor.
• the invention provides simulation data corresponding to full- waveform signals of CW lidar sensors. Instead of only providing "perfect" point-clouds-type representations of the simu lated scene, the entire signal information is kept.
• the provided sensor data which comprises the output signal, also allows to determine additional information, such as object shapes and object classes, and object orientation.
• the sensor data also comprises artifacts which are present in real lidar data, which originate from physical properties of the lidar sensor and the environment and are absent in point-clouds-type data, such as multiple reflec tions of the lidar beam. Therefore, sensor development can be improved by also taking said artifacts into account.
• the invention accurately simulates how a real CW lidar sensor works and therefore accurately recreates the output of a real CW lidar sensor.
• the provided high-quality data which is both complete and accurate to the real world, can also be of high value for developing signal processing algorithms, training neural networks, virtual validation, and the like.
• the ray set com prises exactly one ray.
• the ray set comprises a plurality of rays.
• the ray set may comprise at least 2, preferably at least 100, more preferably at least 500 and most preferably at least 1000 rays.
• the upper number of rays may also be restricted.
• the ray set may comprise at most 100,000, pref erably at most 10,000, more preferably at most 5000 and most preferably at most 2000 rays.
• each ray in the ray set comprises a spatial origin in the simulated scene and an emission direction in the simulated scene.
• the rays are sampled in both space and time.
• Sam pling in space comprises determining the spatial origin and direction of emission and sampling in time comprises assign ing a portion of the CW signal to the ray.
• the emission di rection may correspond to a single vector in the simulated scene, indicating in which direction the ray is emitted.
• propagat ing the ray comprises determining a light path of the ray based on the spatial origin of the ray, based on the emission direction of the ray and based on reflection of the ray on the objects in the simulated scene. Further, a throughput of the ray along the light path to the detection location is computed. Computing the signal contribution is based on the computed throughput. According to an embodiment, only a sin gle reflection may be taken into account. Generally, however, multiple reflections of the rays from the objects may also be considered. The number of reflections may be restricted, i.e. only numbers of reflections smaller than a predetermined threshold are taken into account.
• mixing the CW signal with the computed signal contribution of the ray is based on a signal offset between the signal contribution and the CW signal.
• the signal offset is determined based on the emission starting time of the ray and the light path of the ray.
• the emis sion direction is randomly selected for each ray.
• the emis sion direction of the rays may also be uniformly selected.
• the emission directions are chosen to account for the finite extent of the laser beam emitted by the lidar sen sor.
• laser beams may be described by Gaussian beams having a waist w_0, but the laser beams may also have an arbitrary shape.
• the emission direction of the entire beam in this case, can be described by a certain solid an gle.
• the emission direction of the lidar sensor may be adjustable.
• the lidar sensor may comprise a micro mirror adapted to deflect the emitted laser, thereby scanning a certain spatial region.
• the ray set comprises a plurality of rays.
• the emission starting times of the rays are randomly selected.
• the emission times may also be selected uniformly.
• the emission times of the rays are chosen such that all points in time are sufficiently sampled to produce an accurate output signal.
• the contribu tions of different rays may be weighted according to an im portance sampling method.
• the signal contribu tions of the rays may be weighted with different weights.
• the CW signal is a frequency modulated continuous wave, FMCW, sig nal.
• the CW signal may also be an amplitude modulated contin uous wave, AMCW, signal.
• generating a ray set comprises, for each ray, assigning a portion of the CW signal to the ray.
• the ray corresponds to a portion of the infinite-time CW signal that begins at the emission starting time and has a length equal to the emission duration.
• the CW signal is an infinite-time signal, i.e. the laser emits continuously, and each ray corresponds to a sec tion of the CW signal in a certain time interval.
• the time dependence of the amplitude of the ray is equal to the time dependence of the corresponding section of the CW signal.
• generating the output signal comprises computing, for each ray in the ray set, a mixed signal contribution obtained by mixing the CW signal with the computed signal contribution of the ray. Further, the output signal is generated by adding the mixed signal contributions of all rays in the ray set. Accordingly, the output signal is generated after mixing all signal con tributions with the CW signal.
• the ray set comprises a plurality of rays
• the processing unit is adapted to determine the emission starting times of the rays in a random or uniform way.
• the pro cessing unit is adapted to generate the ray set by assigning, for each ray, a portion of the CW signal to the ray.
• the por tion of the CW signal assigned to the ray starts at the emis sion starting time and extends for the emission duration.
• the pro cessing unit is adapted to generate the output signal by com puting, for each ray in the ray set, a mixed signal contribu tion by mixing the CW signal with the computed signal contri bution of the ray, and by generating the output signal by adding the mixed signal contributions of all rays in the ray set .
• the computing device as well as some or all components of the system may comprise hardware and software components.
• the hardware components may comprise at least one of microcon trollers, central processing units (CPU) , graphics processing unit (GPU), memories and storage devices.
• Fig . 1 schematically shows a block diagram illustrating a device for simulating sensor data of a CW lidar sen sor according to an embodiment of the invention
• Fig . 2 schematically shows an illustration of a lidar sen sor during operation
• Fig . 3 schematically shows a CW signal with a section as signed to a ray
• Fig . 4 schematically illustrates propagating rays from a transmitter to a receiver
• Fig . 5 schematically illustrates propagating rays from a receiver to a transmitter
• Fig . 6 schematically illustrates the generation of an out put signal based on mixing the CW signal with a sig nal contribution of a ray
• Fig . 7 shows a flow diagram of a method for simulating sen sor data of a CW lidar sensor according to an embod iment of the invention
• Fig . 8 schematically illustrates a block diagram illustrat ing a computer program product according to an em bodiment of the invention.
• Fig . 9 schematically illustrates a block diagram illustrat ing a non-transitory, computer-readable storage me dium according to an embodiment of the invention.
• Figure 1 schematically illustrates a device 1 for simulating sensor data of a CW lidar sensor. Before the different compo nents of the device 1 are explained in more detail, the oper ating principle of a CW lidar sensor is described with refer ence to figure 2.
• a laser of the lidar sensor generates a continuous wave, CW, signal 101.
• the laser is controlled in such a way that the amplitude is varying as a function of time.
• the lidar system is arranged for an am plitude modulated continuous wave, AMCW, method.
• AMCW am plitude modulated continuous wave
• FMCW frequency modulated continuous wave
• the frequency of the CW signal varies as a function of time.
• a transmitter Tx of the lidar system emits the CW sig nal.
• the CW signal is reflected by one or more objects in a scene 102 and is, at least partially, received by a receiver Rx of the lidar system.
• the received signal is mixed by a mixing unit 103 of the lidar system with the original CW sig nal.
• the signal obtained in this way is emitted as an output signal 104.
• the components of the device 1 for simulat ing sensor data of a CW lidar sensor are described in more detail .
• the device 1 comprises an interface 4 which is adapted to re ceive data from external devices and to transmit data to ex ternal devices.
• the interface 4 can therefore be arranged as both an input unit and an output unit and may be any kind of port or link or interface capable of communicating infor mation to another system (e.g. WLAN, Bluetooth, ZigBee, Pro- fibus, ETHERNET etc.) or to a user (Display, Printer, Speaker etc . ) .
• the device 1 further comprises a processing unit 2 adapted to process data received from the interface 4.
• the processing unit 2 can be a central processing unit, CPU, or graphics processing unit, GPU, like a microcontroller, pC, an inte grated circuit, IC, an application-specific integrated cir- cuit, ASIC, an application-specific standard product, ASSP, a digital signal processor, DSP, a field programmable gate ar ray, FPGA, and the like.
• the processing unit 2 comprises a ray set generating unit 21 being in communication with the interface 4, a ray propagat ing unit 22 being in communication with the ray set generat ing unit 21, a signal contribution computing unit 23 being in communication with the ray propagating unit 22, and an output signal generating unit 24 being in communication with the signal contribution computing unit 23.
• the modules 21 to 24 may be part of the processing unit 2 or may be implemented on the processing unit 2 or on separate units in communicative connection with the processing unit 2.
• the device 1 further comprises a storing unit 3 being in com munication with the signal generating unit 24.
• the storing unit 3 can be or comprise a data storage like a magnetic storage or memory, e.g. a magnetic-core memory, a magnetic tape, a magnetic card, a hard disc drive, a floppy disc or a removable storage.
• the storing unit 3 can also be or comprise an optical storage or memory, e.g. a holographic memory, an optical tape, a Laserdisc, a Phasewriter, Phasewriter Dual, PD, a Compact Disc, CD, Digital Video Disc, DVD, high defini tion DVD, HD DVD, Blu-ray Disc, BD, or Ultra Density Optical, UDO.
• the storing unit 3 may further be a magneto-optical storage or memory, e.g. MiniDisc or Magneto-Optical Disk, MO- Disk, a volatile semiconductor or solid state memory, e.g. Random Access Memory, RAM, Dynamic RAM, DRAM, or Static RAM, SRAM; a non-volatile semiconductor/solid state memory, e.g. Read Only Memory, ROM, Programmable ROM, PROM, Erasable PROM, EPROM, Electrically EPROM, EEPROM, Flash-EEPROM, e.g. USB- Stick, Ferroelectric RAM, FRAM, Magnetoresistive RAM, MRAM, or Phase-change RAM; or a data carrier/medium.
• a magneto-optical storage or memory e.g. MiniDisc or Magneto-Optical Disk, MO- Disk, a volatile semiconductor or solid state memory, e.g. Random Access Memory, RAM, Dynamic RAM, DRAM, or Static RAM, SRAM
• a non-volatile semiconductor/solid state memory
• the device 1 may receive certain input parameters via the in terface 4, e.g. a waveform of a time-dependent CW signal or other parameters describing the CW signal, e.g. parameters relating to the phases or amplitudes of the CW signal.
• the input parameters may further comprise a maximum number or minimum number of rays to be generated by the ray generating unit 21.
• the device 1 may receive information re garding a simulated scene, such as the number, orientation and properties of objects in the simulated scene.
• the simu lated scene corresponds to an artificial environment of the lidar sensor to be simulated. Laser beams emitted by the li- dar sensor are reflected by objects arranged in the simulated scene .
• the ray generating unit 21 is adapted to generate a ray set comprising at least one and preferably a plurality of rays.
• the ray generating unit 21 defines for each ray in the ray set an emission starting time, an emission duration, a spa tial origin in the simulated scene, and an emission direc tion. All rays may be omitted from the same spatial origin. However, the spatial origin may also be different for differ ent rays.
• the emission starting times may be selected random ly. Accordingly, the ray generating unit 21 may comprise a (pseudo-) random number generator. However, the ray generating unit 21 may also select the emission starting times according to a deterministic or predefined distribution.
• the ray generating unit 21 assigns to each ray a certain sec tion of the CW signal, the section starting at the emission starting time and extending for the emission duration.
• the ray propagating unit 22 propagates all the rays in the ray set through the simulated scene.
• the ray propagating unit 22 is adapted to use ray-tracing methods known in the art .
• Ray-tracing is a method to sample geometry in a virtual scene known from computer graphics.
• ray tracing is used to create an image by shooting rays from a camera and instantaneously accumulating light on a sensor pixel, i.e. without taking the finite propagation time into account.
• ray-tracing according to the present invention also take account of the finite propagation time.
• Each ray is propagated through the simulated scene by compu ting the intersections of the current ray, i.e. the original emitted ray or the already scattered ray, with the closest object in the simulated scene and computes the parameters of reflection based on the properties of the object, using a suitable physical model.
• the ray propagating unit 22 computes the light path of each ray in the simulated scene. Reflection of the rays may have the additional effect that only part of the energy is received at a detection location. Therefore, the ray propagating unit 22 computes in addition to the light path itself also the throughput of the ray along the light path to the detection location.
• the signal contribution computing unit 23 is adapted to com pute the signal contribution of each propagated ray in the ray set at a detection location in the simulated scene.
• the signal contribution computing unit 23 computes total lengths of the light paths of the rays from the spatial origin of the ray to the detection location.
• the signal contribution unit 23 further computes a travel time, i.e. propagation time or time-of-flight , for each ray from the total length of the corresponding light path, based on the speed of light, c, as a conversion factor.
• the signal contribution computing unit 23 computes the signal contribution of each ray based on the portion of the CW sig nal assigned to the ray, wherein the portion of the CW signal assigned to the ray is phase-shifted relative to the original CW signal according to the computed travel time of the light path corresponding to the ray.
• the phase shift leads to a signal offset between the signal contribution and the CW sig nal.
• the amplitude of the signal contribution of the ray may be adjusted according to the computed throughput.
• the output signal generating unit 24 computes for each ray in the ray set a mixed signal contribution by mixing the origi nal CW signal with the computed signal contribution of the ray.
• the output signal generating unit 24 further generates an output signal by adding the mixed signal contributions of all rays in the ray set.
• the output signal generating unit 24 can be adapted to pro vide the output signal to a user via the interface 4. In ad dition, or alternatively, the output signal may be stored in the storing unit 3.
• Figure 3 shows an exemplary CW signal 5 used for generating the ray set and for generating the output signal by mixing the CW signal 5 with the computed signal contributions of the rays.
• the amplitude of the CW signal is modulated, i.e. the CW signal 5 is an amplitude modulated continuous wave, AMCW, signal.
• the CW signal 5 may also be frequency modu lated, i.e. a frequency modulated continuous wave, FMCW, sig nal .
• an emission starting time t_0 is set, e.g. 46 ns as measured relative to a prede termined initial time of 0 ns.
• an emission duration T is set, starting from the emission starting time t_0 and ending at an emission end time t_l .
• the corresponding section or portion of the CW signal 5 between the emission starting time t_0 and the emission and time t_l is assigned to the ray .
• a ray can be propagated through a simulated scene, starting from a transmitter Tx of a simulat ed lidar sensor in the simulated scene 6, the transmitter Tx being located at the spatial origin of the ray in the simu lated scene 6.
• the ray is reflected from a first object 61 and further reflected from a second object 62 and reaches a detection location corresponding to a receiver Rx of the sim ulated lidar sensor.
• propagating the ray may also be per formed in the reverse direction. That is, the ray may be traced from a spatial origin of the ray located at the posi tion of the receiver Rx of the simulated lidar sensor, being at first reflected from the second object 62, then being re flected from the first object 61, until the ray reaches the detection location corresponding to the position of the transmitter Tx of the simulated lidar sensor in the simulated scene .
• the ray set generating unit 21 assigns a certain portion of the CW signal 5 to the ray, as was described above in more detail with reference to figure 3.
• the signal contribution computing unit 23 computes the corresponding signal contribution 71 of the ray.
• the output signal generating unit 24 comprises a mixing unit 72 for mixing the signal contribution 71 of the ray and a portion 51 of the CW signal, starting at the time t_2 the ray is received at the detection location.
• the time t_2 corresponds to the sum of the emission starting time of the ray and the travel time of the ray.
• the portion 51 of the CW signal 5 generally differs from the portion of the CW sig nal assigned to the ray (starting at the emission starting time) by a phase shift corresponding to the travel time of the ray. Moreover, the actual signal contribution of the ray may also be affected by the throughput of the ray along the light path.
• the output signal generating unit 24 By mixing the CW signal with the computed signal contribution of the ray, the output signal generating unit 24 generates a mixed signal contribution 73. For a plurality of rays in the ray set, the output signal generating unit 24 will generate the output signal by adding the mixed signal contributions 73 of all rays in the ray set.
• Figure 7 shows a flow diagram of a method for simulating sen sor data of a CW lidar sensor.
• a ray set is generated comprising at least one ray and preferably a plurality of rays.
• the num ber of rays in the ray set may be fixed.
• the number of rays in the ray set may also be randomly chosen.
• the number of rays in the ray set may be chosen to be larger than a prede termined minimum number.
• the ray set may com prise at least 2, preferably at least 100, more preferably at least 500 and most preferably at least 1000 rays.
• the number of rays in the ray set also be selected to be smaller than a predetermined maximum number.
• the ray set may comprise at most 100,000, preferably at most 10,000, more preferably at most 5000 and most preferably at most 2000 rays .
• an emission starting time is determined, rela tive to some predetermined time origin, e.g. 0 ns.
• an emission duration of the ray is determined.
• the emission duration may be equal for all rays but may also vary for dif ferent rays.
• the emission duration of the rays may also fol low a predetermined distribution.
• a spatial origin in the simulated scene is determined.
• the spa tial origin (corresponding to the emission point of the ray) can be identical for all rays in the ray set. However, dif ferent rays may also comprise different spatial origins. Fur ther, an emission direction of each ray is determined.
• the emission direction and/or the emission starting time and/or the emission duration may be randomly selected or may be uniformly selected or sampled.
• the emission starting times are sampled in such a way that an accurate output signal is generated.
• the emission starting times are selected such that the portions of the CW signal assigned to the rays cover at least one entire phase of the CW signal.
• the contributions of respective rays may be adjusted using sampling theory, e.g. importance sampling.
• each ray in the ray set is propagated through a simulated scene.
• the simulated scene comprises a plurality of objects having predetermined geometries and physical properties. The locations and/or physical properties of the objects in the simulated scene may be fixed or may change in time.
• Propagating the rays is performed using ray tracing algorithms known in the art. For each ray, a light path of the ray is determined based on the spatial origin of the ray, the emission direction of the ray and the reflec tions of the ray on the objects in the simulated scene. More over, a throughput of the ray along the light path to the de tection location is computed.
• a signal contribution of the propagated ray at a detection location in the scene is computed for each ray in the ray set.
• a signal contribution is computed based on the computed throughput and based on the travel time of the ray.
• the travel time of the ray can be computed from the length of the light path of the ray.
• the final travel time of the ray leads to a signal offset between the signal contribu tion and the CW signal.
• the signal offset is determined based on the emission starting time of the ray and the travel time along the light path of the ray.
• each computed signal contribution is mixed with the CW signal to compute a mixed signal contribu tion of the corresponding ray.
• Mixing the CW signal with the computed signal contribution is based on the signal offset.
• the mixed signal contributions of all rays are added to gen erate an output signal.
• the output signal is stored in a memory storing unit 3. Additionally, or alternatively, the output signal is outputted to an output unit 4, e.g. a display or printer .
• Figure 8 schematically illustrates a block diagram illustrat ing a computer program product P comprising executable pro gram code PC.
• the executable program code PC is configured to perform, when executed (e.g. by a computing device), the method for simulating sensor data of a CW lidar sensor ac cording to the invention.
• Figure 9 schematically illustrates a block diagram illustrat ing a non-transitory, computer-readable storage medium M com prising executable program code MC configured to, when exe cuted (e.g. by a computing device), perform the method for simulating sensor data of a CW lidar sensor according to the invention .

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