Autonomous driving represents the future of transportation, and simulation testing is a critical technology for ensuring the safety and reliability of autonomous driving. In simulation systems, a real-time and accurate radar model is crucial for enhancing the confidence of autonomous driving simulation systems. Existing radar models are typically simplistic and cannot accurately reflect the detection results of real radars. This paper introduces a data-driven radar modeling method that analyzes radar detection mechanisms to identify the model’s input parameters. Furthermore, this method decouples the model’s output parameters based on the differing mechanisms of radar output parameters and tailors model structures to align with the mechanistic characteristics of each parameter. Subsequently, considering the varied influences among input parameters, a segmented model structure is proposed that reduces input dimensionality while retaining critical information. Lastly, the model outputs are optimized using Kalman filtering. This study collects radar data from real vehicles to train the radar model. Testing has demonstrated that the radar model developed by this paper’s method yields outputs very close to actual radar predictions, with a significant improvement in prediction accuracy compared to traditional radar models. The model operates in approximately 0.8 ms, markedly faster than the real radar’s 72-millisecond detection cycle. This demonstrates that the radar model developed using this modeling method can predict radar detection results accurately and in real-time.
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