Method for generating sensor data and method for vehicle simulation

A method for vehicle simulation, comprising the following steps:

• providing a vehicle model for simulating the vehicle dynamics of a vehicle;
• sensor data processing including processing a sensor data set generated by:
• providing first sensor measurement data of at least a first vehicle sensor,
• calculating virtual object data of a virtual vehicle surroundings model that includes a virtual second vehicle sensor, wherein a sensor acquisition range of the first vehicle sensor and a sensor acquisition range of the virtual second vehicle sensor overlap spatially and/or temporally in the vehicle surroundings model,
• calculating at least second modeled sensor data of the virtual second vehicle sensor using a trained first sensor data algorithm depending on the virtual object data, wherein the first sensor data algorithm is based on a training process using training data that include selective first sensor measurement data of the first vehicle sensor, and
• outputting the sensor data set that at least includes the first sensor measurement data and the second modeled sensor data;
• and
• actuating at least one simulated vehicle actuator assigned to the vehicle model depending on the sensor data processing.