Method for modeling a sensor in a test environment

A method for modeling a sensor, in particular an FMCW LiDAR sensor for distance measurement, in a virtual test environment, wherein:

• a simulation model is defined, wherein the simulation model comprises a virtual sensor and the virtual test environment, wherein in the method (2):
• a virtual transmission signal sent by the virtual sensor is simulated in the virtual test environment;
• it is determined whether the virtual transmission signal impacts a virtual object at a point of impact in the virtual test environment;
• in the event of a positive determination, a distance of the virtual transmission signal covered by the virtual sensor up to the point of impact is calculated in the virtual test environment;
• and
• at least one output value of the virtual sensor is determined based on the calculated distance,
• wherein the determination of the output value further takes place based on at least one parameter of the simulation model, wherein the parameter and/or the output value is/are modeled by a probabilistic distribution.