Method and system for simulation-assisted determination of echo points, and emulation method and emulation apparatus

A system for the simulation-assisted determination of at least one actual echo point of an object, comprising:

• means for calculating a predicted object reference point of the object and a predicted sensor device reference point of a radar-based sensor device on the basis of an actual object reference point and an actual sensor device reference point;
• means for determining a predicted echo point of the object on the basis of an emission characteristic of the radar-based sensor device, the predicted object reference point, and the predicted sensor device reference point;
• means for calculating a predicted spatial relative relationship between the predicted echo point and the predicted object reference point;
• means for calculating an updated actual object reference point;
• means for determining a simulated actual echo point of the object on the basis of the predicted spatial relative relationship and the updated actual object reference point;
• and
• means or outputting the simulated actual echo point.

A non-transitory computer-readable storage medium having stored thereon on instructions, that when executed by one or more processors cause to be performed a method for the simulation-assisted determination of at least one actual echo point of an object, wherein the method comprises:

• calculating a predicted object reference point of the object and a predicted sensor device reference point of a radar-based sensor device on the basis of an actual object reference point and an actual sensor device reference point;
• determining a predicted echo point of the object on the basis of an emission characteristic of the radar-based sensor device, the predicted object reference point, and the predicted sensor device reference point;
• calculating a predicted spatial, relative relationship between the predicted echo point and the predicted object reference point;
• calculating, an updated actual object reference point;
• determining a simulated actual echo point of the object on the basis of the predicted, spatial, relative relationship and the updated actual object reference point;
• and
• outputting the simulated actual echo point.