Generating simulated sensor data for training and validation of detection models

A system comprising one or more processing devices and one or more memory devices operably coupled to the one or more memory devices, the one or more memory devices storing executable code effective to cause the one or more processing devices to:

• define a three-dimensional (3D) model including a subject vehicle defining one or more sensor locations and one or more obstacles;
• simulate perception of the 3D model by one or more sensors at the one or more sensor locations to obtain one or more sensor outputs such that the one or more sensor outputs simulate sensor noise;
• annotate the one or more sensor outputs according to locations of obstacles in the 3D model;
• and
• at least one of train and test a model according to the one or more sensor outputs and the annotations;
• wherein the executable code is further effective to cause the one or more processors to simulate perception of the 3D model by the one or more sensors by simulating a RADAR (radio detection and ranging) sensor output according to perception of the 3D model from the one or more sensor locations;
• and
• wherein the executable code is further effective to cause the one or more processors to simulate perception of the 3D model by the one or more sensors in sufficient detail that the sensor noise results from multiple simulated reflections of a simulated electromagnetic wave propagated from a simulated RADAR sensor.