High-fidelity radar simulator

Abstract

The invention discloses a high-fidelity radar simulator. Techniques and apparatus are described that implement a high fidelity radar simulator that performs operations associated with radar system hardware and / or software. Radar simulators may account for non-ideal characteristics within a radar system or environment and have the ability to process data from various electromagnetic (EM) simulators. By using the radar simulator, the EM simulator may operate without specific information about the antenna response or signal generation of the radar system. In this manner, the EM simulator may be decoupled from the design and operational configuration of the radar system. Further, the radar simulator may estimate performance of multiple radar systems using the same environmental response data generated by the EM simulator. The use of a high fidelity radar simulator enables issues to be efficiently found during the design, integration, and test phases of the radar system prior to performing field tests.

Description

This application is a divisional application of application number 202110075159.X, filing date January 20, 2021, and titled “High-Fidelity Radar Simulator”. Background Art

[0001] Radar is a useful device that can detect and track objects. Relative to other types of sensors, such as cameras, radar can provide improved performance in the presence of different environmental conditions, such as low lighting and fog, or with moving or overlapping objects. Therefore, radar offers many advantages for autonomous driving applications or driver assistance applications.

[0002] When designing and developing a radar, engineers can perform field tests (e.g., real-time tests) to evaluate the performance of the radar. However, field tests can be expensive and time-intensive. In addition, these tests usually occur after design and implementation. Therefore, there may be a lot of rework and additional costs when solving problems revealed by field tests. Summary of the invention

[0003] Techniques and apparatus for implementing a high-fidelity radar simulator are described. The radar simulator performs operations associated with the hardware and / or software of a radar system. Specifically, the radar simulator analyzes environmental response data provided by an electromagnetic (EM) simulator to generate a radar report. The radar report provides an estimate of the performance of the radar system for a given environment simulated by the EM simulator. To improve the fidelity of the radar report, the radar simulator can take into account non-ideal characteristics within the radar system or environment, including nonlinearities and noise. In addition, the radar simulator can take into account the modulation and multiplexing schemes employed by the radar system. To increase flexibility, the radar simulator can be designed to operate with a variety of EM simulators.

[0004] By using a radar simulator, the EM simulator can operate without specific information about the antenna response or signal generation of the radar system. In this way, the EM simulator can be decoupled from the design and operating configuration of the radar system. In addition, the radar simulator can use the same environmental response data generated by the EM simulator to estimate the performance of multiple radar systems. Using a high-fidelity radar simulator enables problems to be discovered efficiently during the design, integration, and testing phases of the radar system, for example, before performing field testing.

[0005] The various aspects described below include a method performed by a radar simulator. The method includes receiving environmental response data from an electromagnetic simulator. The environmental response data represents information from multiple propagation paths within a simulated environment. The method also includes generating channel response data based on the environmental response data. The channel response data includes composite data for each pulse of a simulated radar signal and for at least one transmit-receive channel pair of a simulated radar system. The composite data represents an integrated response of the simulated radar system to multiple propagation paths within the simulated environment. The method additionally includes performing operations associated with a transceiver of the simulated radar system to generate radar samples based on the channel response data. The method further includes performing operations associated with a processor of the simulated radar system to generate a radar report based on the radar samples. The radar report represents the performance of the simulated radar system within the simulated environment.

[0006] The various aspects described below also include a computer-readable storage medium, which includes computer-executable instructions, which implement an interface module and a radar hardware simulator in response to the execution of these instructions by a processor. The interface module is configured to receive environmental response data from an electromagnetic simulator. The environmental response data represents information from multiple propagation paths within a simulated environment. The interface module is also configured to generate channel response data based on the environmental response data. The channel response data includes composite data for each pulse of a simulated radar signal and for at least one transmit-receive channel pair of a simulated radar system. The composite data represents the integrated response of the simulated radar system to multiple propagation paths within the simulated environment. The radar hardware simulator is configured to perform operations associated with a transceiver of the simulated radar system to generate radar samples based on the channel response data.

[0007] The aspects described below also include a system having hardware and / or software operable to simulate a radar system.

[0008] This disclosure is provided to introduce a simplified concept of a high-fidelity radar simulator, which is further described in the following detailed description and accompanying drawings. For ease of description, this disclosure focuses on automotive radar systems; however, these techniques are not limited to automobiles. The techniques are also applicable to radars of other types of vehicles, systems, and mobile platforms. This disclosure is not intended to identify necessary features of the claimed subject matter, nor is it intended to be used to determine the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] This document describes details of one or more aspects of a high-fidelity radar simulator with reference to the following drawings. The same numbers are used throughout the drawings to reference similar features and components: Figure 1 An example environment is illustrated in which a radar simulator models one or more components of a radar system. Figure 2 An example electromagnetic simulator is shown. Figure 3 An example sequence flow chart for a radar simulator is shown. Figure 4 An example radar hardware simulator is shown. Figure 5 An example radar software simulator is shown. Figure 6 An example method performed by a radar simulator is illustrated. DETAILED DESCRIPTION Overview

[0010] While field testing can be used to verify and validate the performance of a radar system, these tests can be expensive and time-consuming. Additionally, field testing can occur somewhat late in the radar system development cycle. As a result, there can be significant rework and additional costs in resolving issues revealed by field testing.

[0011] To identify problems earlier in the development cycle, simulation tools can be used to estimate the performance of the radar system. Typically, simulation tools are faster and less expensive to perform than field testing. Example types of simulation tools include electromagnetic (EM) simulators, which simulate the propagation and scattering of radio frequency signals within a given environment.

[0012] While an EM simulator can provide some insights into how radar signals propagate in different environments, it may not provide a high-fidelity estimate of radar system performance. In some cases, an EM simulator generates an estimate of the response of a radar system without taking into account the characteristics of the radar system's transceiver or antenna array. An EM simulator may also not be able to simulate the effects of the modulation or multiplexing schemes employed by the radar system. Therefore, the output of an EM simulator may not represent the hardware configuration, operating mode, or signal generation of the radar system. Some EM simulators may also assume ideal conditions and fail to simulate the effects of phase noise or waveform nonlinearity. In this case, the EM simulator's estimate of radar system performance may be optimistic, which can make it difficult to discover problems in the design of the radar system.

[0013] To address these challenges, a high-fidelity radar simulator is described. The radar simulator performs operations associated with the hardware and / or software of a radar system. Specifically, the radar simulator analyzes environmental response data provided by an EM simulator to generate a radar report. The radar report provides an estimate of the performance of the radar system for a given environment simulated by the EM simulator. To improve the fidelity of the radar report, the radar simulator can take into account non-ideal characteristics within the radar system or environment, including nonlinearities and noise. In addition, the radar simulator can take into account the modulation and multiplexing schemes employed by the radar system. To increase flexibility, the radar simulator can be designed to operate with a variety of EM simulators.

[0014] By using a radar simulator, the EM simulator can operate without specific information about the antenna response or signal generation of the radar system. In this way, the EM simulator can be decoupled from the design and operating configuration of the radar system. In addition, the radar simulator can estimate the performance of multiple radar systems using the same environmental response data generated by the EM simulator. Using a high-fidelity radar simulator enables problems to be discovered effectively during the design, integration, and testing phases of the radar system before field testing is performed. Example Environment

[0015] Figure 1 The figure shows an example environment 100 in which a radar simulator 102 models one or more components of a radar system 104. In the depicted environment 100, the radar system 104 is mounted on or integrated into a vehicle 106. The radar system 104 is capable of detecting one or more objects 108 that are close to the vehicle 106 and are associated with a signal-to-noise ratio greater than a detection threshold of the radar system 104. Although shown as a car, the vehicle 106 can represent other types of motor vehicles (e.g., motorcycles, buses, tractors, or construction equipment), types of non-motor vehicles (e.g., bicycles), types of rail vehicles (e.g., trains or trams), watercraft (e.g., ships or vessels), aircraft (e.g., airplanes or helicopters), or spacecraft (e.g., satellites). In some cases, the vehicle 106 can tow or include a trailer or other attachments. In general, the radar system 104 can be mounted on any type of mobile platform, including mobile machinery or robotic equipment.

[0016] In the depicted implementation, the radar system 104 is mounted on top of the vehicle 106. In other implementations, the radar system 104 may be mounted to the bottom side, front side, rear side, left side, or right side of the vehicle 106. In some cases, the vehicle 106 includes multiple radar systems 104, such as a first rear-mounted radar system 104 positioned near the left side of the vehicle 106 and a second rear-mounted radar system 104 positioned near the right side of the vehicle 106. In general, the position of one or more radar systems 104 may be designed to provide a specific field of view that includes an area of ​​interest where an object 108 may be present. Example fields of view include a 360-degree field of view, one or more 180-degree fields of view, one or more 90-degree fields of view, etc., which may overlap (e.g., four 120-degree fields of view).

[0017] Object 108 is composed of one or more types of materials that reflect radar signals. Depending on the application, object 108 may represent a target of interest or clutter. In some cases, object 108 is a moving object, such as another vehicle, a person, or an animal. In other cases, object 108 is a stationary object, such as a continuous or discontinuous road obstacle (e.g., a traffic cone, a concrete barrier, a guardrail, or a fence), a tree, or a parked vehicle.

[0018] The vehicle 106 may implement one or more radar-based systems that utilize the data provided by the radar system 104. Example types of radar-based systems include driver assistance systems or autonomous driving systems. The driver assistance system may use the data provided by the radar system 104 to monitor one or more blind spots of the vehicle 106 and alert the driver of a potential collision with an object 108. The autonomous driving system may move the vehicle 106 to a position to avoid a collision with another object 108, perform emergency braking, change lanes, or adjust the speed of the vehicle 106 while analyzing the data provided by the radar system 104.

[0019] The radar system 104 may be implemented as a continuous wave or pulse radar, a frequency modulated or phase modulated radar, a single input single output (SISO) or multiple input multiple output (MIMO) radar, or some combination thereof. In the depicted configuration, the radar system 104 is implemented as a frequency modulated continuous wave (FMCW) MIMO radar that employs a code division multiple access (CDMA) scheme. To detect the object 108, the radar system 104 transmits at least one radar transmit signal 110. At least a portion of the radar transmit signal 110 is reflected by the object 108. The reflected portion represents a radar receive signal 112. The radar system 104 receives the radar receive signal 112 and processes the radar receive signal 112 to provide data for the radar-based system of the vehicle 106.

[0020] At radar system 104, radar receive signal 112 represents a delayed version of radar transmit signal 110. The amount of delay is proportional to the tilt range (e.g., distance) from radar system 104 to object 108. Specifically, the delay represents the time required for radar transmit signal 110 to propagate from radar system 104 to object 108, and the time required for radar receive signal 112 to propagate from object 108 to radar system 104. If object 108 and / or radar system 104 are moving, radar receive signal 112 is shifted in frequency relative to radar transmit signal 110 due to the Doppler effect. In other words, the characteristics of radar receive signal 112 depend on the motion of object 108 and / or the motion of object 106.

[0021] As an example, both radar transmit signal 110 and radar receive signal 112 may have a frequency between one and four hundred gigahertz (GHz), between four and one hundred GHz, or between approximately seventy and eighty GHz. Example bandwidths for these signals may be on the order of several gigahertz or hundreds of megahertz (MHz), such as between approximately three hundred and five hundred megahertz.

[0022] In this example, the radar transmit signal 110 and the radar receive signal 112 are composed of multiple signals having different waveforms for supporting MIMO operation. For example, the radar transmit signal 110 is composed of a first radar transmit signal 110-1 and an N-th radar transmit signal 110-N, where "N" represents a positive integer. Each of the radar transmit signals 110-1 to 110-N includes a plurality of pulses 114-1 to 114K, where "K" represents a positive integer. Similarly, each radar receive signal 112 includes a plurality of pulses 114-1 to 114-K.

[0023] The individual frequencies of pulses 114-1 to 114-K may increase or decrease over time. In the depicted example, radar system 104 employs a single slope cycle to linearly increase the frequency of pulses 114-1 to 114-K over time. Other types of frequency modulation are also possible, including dual slope cycles and / or nonlinear frequency modulation. The number of pulses ("K") within a frame 116 (or scan) and the transmission characteristics (e.g., bandwidth, center frequency, duration, and transmit power) of pulses 114-1 to 114K may be customized to achieve a specific detection range, range resolution, or Doppler resolution for detecting object 108.

[0024] In this example, the radar system 104 transmits pulses 114-1 to 114-K in a continuous sequence to implement a continuous wave radar. In addition, the radar system 104 can implement a pulse radar that transmits time-separated pulses 114-1 to 114-K. The radar transmission signal 110 may include a plurality of frames 116 (e.g., a collection of a plurality of pulses 114-1 to 114-K). As an example, the number of pulses ("K") within the frame 116 may be on the order of tens of chirps (e.g., "K" may be equal to 32, 64, or 128). The duration of the frame 116 may be on the order of milliseconds (ms), such as approximately 8ms, 15ms, or 30ms. The plurality of pulses 114-1 to 114-K enables the radar system 104 to make multiple observations of the object 108 within the time period of the frame 116.

[0025] Radar system 104 may also employ multiple access techniques to support MIMO operation. Example multiple access techniques include time division multiple access (TDMA) or code division multiple access (CDMA). For TDMA, radar system 104 delays the transmission of radar transmit signals 110-1 to 110-N by different amounts so that each signal can occur in a separate time slot. For CDMA, radar system 104 encodes radar transmit signals 110-1 to 110-N using corresponding coding sequences that are orthogonal to each other. For example, a first coding sequence used to generate radar transmit signal 110-1 causes the phase of second pulse 114-2 to be offset by 180 degrees from the phase of first pulse 1141. In contrast, a second coding sequence used to generate radar transmit signal 110-2 causes the phase of second pulse 114-2 to be offset by zero degrees from the phase of first pulse 114-1.

[0026] To transmit radar transmit signals 110 and receive radar receive signals 112, radar system 104 includes at least one antenna array 118 and at least one transceiver 120. Antenna array 118 includes at least one transmit antenna element and at least one receive antenna element. To implement a MIMO radar, antenna array 118 includes multiple transmit antenna elements and subarrays of receive antenna elements. The MIMO radar may include "N" transmit subarrays that transmit radar transmit signals 110-1 to 110-N, respectively, in the same time interval. In addition, the MIMO radar may include "M" receive subarrays that receive reflected versions of radar transmit signals 110-1 to 110-N, respectively. The number of transmit subarrays ("N") and the number of receive subarrays ("M") may be similar or different. The antenna elements within antenna array 118 may be circularly polarized, horizontally polarized, vertically polarized, or some combination thereof.

[0027] Some implementations of the radar system 104 may use an antenna array 118 to form a steered or non-steered, wide or narrow beam. Steering and shaping may be achieved through analog beamforming or digital beamforming. One or more transmit subarrays may have, for example, a non-steered omnidirectional radiation pattern, or may produce a wide, steerable beam to illuminate a large volume of space. To achieve target angular accuracy and angular resolution, a receive subarray may include multiple receive antenna elements for producing hundreds of narrow, steerable beams with digital beamforming. In this way, the radar system 104 may effectively monitor the external environment and detect one or more objects 108 within a region of interest.

[0028] The transceiver 120 includes circuits and logic for transmitting and receiving radar signals via the antenna array 118. The components of the transceiver 120 may include amplifiers, mixers, switches, analog-to-digital converters, or filters for conditioning radar signals. The transceiver 120 also includes logic for performing in-phase / quadrature (I / Q) operations, such as modulation or demodulation. The transceiver 120 may include at least one transmitter and at least one receiver.

[0029] To implement a MIMO radar system, transceiver 120 may include "N" transmitters that are respectively coupled to transmit subarrays of antenna array 118. Each transmitter may include multiple transmit chains that are respectively coupled to transmit antenna elements of the transmit subarrays. Each transmitter generates one of radar transmit signals 110-1 to 110N. The multiple transmit chains of each transmitter enable beamforming techniques to adjust the beam shape or direction associated with the transmitted radar transmit signal 110.

[0030] The transceiver 120 may also include "M" receivers, where "M" represents a positive integer that may or may not be equal to "N". The receivers are respectively coupled to the "M" receiving subarrays of the antenna array 118. Each receiver may include multiple receiving chains that are respectively coupled to the receiving antenna elements of the receiving subarrays. Each receiver receives one or more reflected versions of the radar transmit signals 110-1 to 110-N. The multiple receiving chains of each receiver enable beamforming techniques to individually adjust the amplitude and / or phase of the signals processed by the receiving chains.

[0031] In general, each transmit subarray of the antenna array 118 and the associated transmitter of the transceiver 120 form a transmit channel. In addition, each receive subarray of the antenna array 118 and the associated receiver of the transceiver 120 form a receive channel. The number of transmit channels and receive channels can be similar or different. The transmit channels and receive channels can be combined in different ways to form multiple transmit-receive channel pairs. For example, a first transmit channel and a first receive channel form a first transmit-receive channel pair. As another example, a second transmit channel and a first receive channel form a second transmit-receive channel pair.

[0032] Radar system 104 also includes one or more processors 122 and computer readable storage media (CRM) 124. CRM 124 includes radar software 126 for analyzing radar receive signals 112, detecting objects 108, and determining one or more characteristics of objects 108 (eg, position or velocity).

[0033] The radar simulator 102 models the hardware and / or software of the radar system 104 so that the performance of the radar system 104 can be evaluated for a given simulated environment. Throughout the development cycle of the radar system 104, the radar simulator 102 can be used to evaluate different system designs (e.g., different hardware configurations or different operating modes), test different versions of the radar software 126, or verify requirements, etc. Using the radar simulator 102 enables design or implementation problems within the radar system 104 to be quickly discovered during design, integration, and testing before field testing is performed.

[0034] The radar simulator 102 performs operations for simulating the hardware of the radar system (e.g., components of the antenna array 118 and / or the transceiver 120), the radar software 126 executed by the processor 122, or a combination thereof. The radar simulator 102 may also account for non-ideal characteristics of the radar system 104 or the environment 100, such as noise or non-linearity. Specifically, the radar simulator 102 may model phase noise, waveform non-linearity, and uncorrelated noise within the transceiver 120. With these capabilities, the radar simulator 102 may have a noise floor and dynamic range similar to that of the radar system 104.

[0035] The radar simulator 102 includes at least one processor 128 and a computer readable storage medium 130. The CRM 130 may be comprised of one or more memory devices capable of implementing persistent and / or non-transitory data storage. In some cases, the processor 128 and the CRM 130 are packaged together within an integrated circuit or on a printed circuit board. In other cases, the processor 128 and the CRM 130 may be implemented separately and operably coupled together so that the processor 128 can access instructions stored by the CRM 130.

[0036] The CRM 130 includes at least one interface module 132 and at least one radar hardware simulator 134. Optionally, the CRM 130 may also include at least one radar software simulator 136. The interface module 132, the radar hardware simulator 134, and the radar software simulator 136 may be implemented using hardware, software, firmware, or a combination thereof. In this example, the processor 128 implements the interface module 132, the radar hardware simulator 134, and the radar software simulator 136.

[0037] The interface module 132 enables the radar simulator 102 to process the environmental response data (such as Figure 2 ). Generally speaking, interface module 132 transforms the environmental response data into a form that can be used by radar hardware simulator 134. In some cases, interface module 132 adjusts the environmental response data to account for the antenna response of antenna array 118.

[0038] The radar hardware simulator 134 models the transceiver 120. Specifically, the radar hardware simulator 134 performs operations that simulate waveform generation, modulation, demodulation, multiplexing, amplification, frequency conversion, filtering, and / or analog-to-digital conversion operations performed by the transceiver 120. In other words, the radar hardware simulator 134 performs the operations of the transceiver 120, which occur between the processor 122 and the antenna array 118. The radar hardware simulator 134 radar hardware simulator 134 can take into account the dynamic range of the radar system 104, as well as the presence of nonlinear effects and noise. The radar hardware simulator 134 can be used to verify different hardware configurations and operating modes of the radar system 104.

[0039] The radar software simulator 136 may model the radar software 126 of the radar system 104. Specifically, the radar software simulator 136 performs digital baseband processing operations that simulate the operations performed by the processor 122. These operations may include Fourier transforms (e.g., fast Fourier transforms), noise floor estimation, clutter map generation, constant false alarm rate thresholding, object detection, and object position estimation (e.g., digital beamforming). In some cases, the radar software simulator 136 includes a version of the radar software 126. In this way, the radar simulator 102 can be used to verify software requirements and evaluate different software versions of the radar system 104.

[0040] During operation, radar simulator 102 receives environmental response data from EM simulator 138 and generates radar reports. The radar reports can be used to evaluate the performance of radar system 104 for a given simulated environment. Figure 2 The EM simulator 138 is further described.

[0041] Figure 2An example electromagnetic (EM) simulator 138 is shown that evaluates the propagation and scattering effects of simulated electromagnetic signals (eg, radio frequency signals). Example types of electromagnetic simulators 138 include CarMaker TM and ANSYS TM In general, the electromagnetic simulator 138 evaluates one or more propagation paths 204 that originate from a reference point 206 and return to the reference point 206 within the simulation environment 208. Example types of propagation paths 204 may include a direct line-of-sight path 204-1 or an indirect path 204-2 associated with multipath propagation. In some cases, the electromagnetic simulator 138 uses ray tracing to determine the various propagation paths 204.

[0042] During operation, the electromagnetic simulator 138 determines the characteristics of the different propagation paths 204 within the simulated environment 208. Specifically, the EM simulator 138 receives one or more environmental parameters 210 that specify the characteristics of one or more simulated objects (e.g., the position, velocity, and / or material composition of the simulated objects). The electromagnetic simulator 138 generates the simulated environment 208 based on the environmental parameters 210.

[0043] As an example, simulated environment 208 includes simulated versions of vehicle 212, people 214, trees 216, and buildings 218. Environmental parameters 210 can also cause electromagnetic simulator 138 to simulate different types of weather 220, terrain, road geometry, traffic regulations, and traffic conditions. In some cases, environmental parameters 210 specify the movement of reference point 206. In simulated environment 208, reference point 206 represents a location on simulated vehicle 222, which can be compared to Figure 1 Corresponding to the location of radar system 104 on vehicle 106 in FIG.

[0044] EM simulator 138 generates environmental response data 224, which may change over time as reference point 206 or an object within simulated environment 208 moves. Environmental response data 224 may include composite data having amplitude, phase, and frequency information. Depending on the type of EM simulator, EM simulator 138 may rely on information about radar system 104 to generate environmental response data 224. Example types of information about radar system 104 may include a maximum operating frequency of radar system 104 for estimating a spatial resolution of radar system 104 and / or a pulse repetition frequency (PRF) of radar system 104 to determine a clear range of radar system 104.

[0045] As an example, the EM simulator 138 uses ray tracing to generate the environmental response data 224. To improve efficiency, rays may be transmitted and received from the reference point 206, which may represent the center of the radar system 104. In addition, the EM simulator 138 may assume that the antenna array 118 has an omnidirectional pattern for transmission and reception. In this way, ray tracing may be performed without considering separate transmit-receive channel pairs or differences between the various sub-arrays of the antenna array 118.

[0046] Some EM simulators 138 provide propagation data 226 as environmental response data 224. Propagation data 226 includes a list of propagation paths 204 (e.g., rays) and characteristics of electromagnetic signals propagating along propagation paths 204. These characteristics may include relative amplitude, Doppler shift, time of flight, or departure and arrival angles. In this example, the EM simulator 138 may generate propagation data 226 without relying on information about the radar system 104.

[0047] Other EM simulators 138 may provide integrated data 228 as environmental response data 224. Instead of including information about individual propagation paths 204, integrated data 228 represents the combined environmental response resulting from multiple propagation paths 204 for at least one transmit-receive channel pair. To generate integrated data 228, EM simulator 138 accepts radar parameters 230 during operation. Radar parameters 230 provide information about radar system 104 or radar transmit signal 110. As an example, radar parameters 230 include antenna response 232 associated with antenna array 118 and / or frequency range associated with radar transmit signal 110.

[0048] Antenna response 232 enables EM simulator 138 to take into account characteristics of antenna array 118, including antenna patterns of one or more subarrays, relative spacing between subarrays and reference point 206, and antenna element spacing within a subarray. EM simulator 138 may use frequency range 234 to estimate propagation losses at various frequencies. If radar parameters 230 are not available, EM simulator 138 may generate integrated data 228 using a set of default radar parameters. The default radar parameters may specify an ideal antenna response or ideal waveform characteristics. EM simulator 138 passes environmental response data 224 to ( Figure 1 ) radar simulator 102, as shown in reference Figure 3 Further description of .

[0049] Figure 3 An example sequence flow chart 300 of the radar simulator 102 is shown. During operation, the radar simulator 102 analyzes the environmental response data 224 and generates a radar report 302 that can be used to evaluate the radar system 104 for ( Figure 2) performance of simulated environment 208. Different types of radar reports 302 are possible. In general, radar reports 302 represent any type of data that may be generated by radar system 104. This may include samples of signals received by transceiver 120, information processed by processor 122, or information transmitted to a radar-based system of vehicle 106.

[0050] To generate the radar report 302, the interface module 132 generates channel response data 304 based on the environmental response data 224. The channel response data 304 is in a form that can be used by the radar hardware simulator 134. In some implementations, the radar simulator 102 includes multiple interface modules 132 that are designed to transform environmental response data 224 associated with different EM simulators 138. For example, the first interface module 132 is enabled to transform the environmental response data 224 associated with the CarMaker TM Similarly, the second interface module 132 is enabled to transform the environmental response data 224 generated by ANSYS TM The generated environmental response data 224 is transformed. In this manner, the radar simulator 102 is compatible with multiple EM simulators 138 that can generate different types of environmental response data 224.

[0051] The channel response data 304 represents the integrated response of the radar system 104 to the plurality of propagation paths 204 within the simulated environment 208. Specifically, the channel response data 304 includes a matrix of composite data for each pulse 114 and each transmit-receive channel pair. The channel response data 304 may include channel impulse response data (e.g., time domain data) or channel frequency response data (e.g., frequency domain data).

[0052] In order to transform the environmental response data 224 into a format usable by the radar hardware simulator 134, the interface module 132 may perform a variety of different operations. These operations may include data rearrangement, scaling, quantization, weighting, and phase shifting. Consider a case where the environmental response data 224 includes ( Figure 2 In this case, the interface module 132 may rearrange the integrated data 228 so that the information associated with the different transmit-receive channel pairs appears in the expected order. Additionally or alternatively, the interface module 132 may scale the integrated data 228 so that the data is in the expected measurement units.

[0053] In another example, the environmental response data 224 includes ( Figure 2) propagation data 226. In this case, the interface module 132 quantizes the propagation data 226 into delay bins. Instead of determining the number of delay bins based on the range resolution of the radar system 104, the interface module 132 determines the number of delay bins based on a sampling frequency that can represent the radar transmit signal 110 without losing information. As an example, the sampling frequency can represent the Nyquist frequency, which is twice the maximum frequency of the simulated radar transmit signal. In this way, the radar simulator 102 can generate channel response data 304 with a higher resolution, which enables the radar hardware simulator 134 to process the channel response data 304 and improve the fidelity of the radar simulator 102.

[0054] The interface module 132 generates an integrated response of the quantized propagation data 226 for each pulse 114 of the simulated radar signal and each transmit-receive channel pair. Specifically, the interface module 132 weights the quantized propagation data 226 by the composite radiation pattern of the transmit subarray and the receive subarray of the antenna array 118. The composite radiation pattern includes a composite gain pattern for the departure direction and the arrival direction of the propagation path 204. Due to the variation in the antenna element spacing and the variation in the performance of each antenna element, each subarray can have a unique amplitude and phase pattern for these specific angles. In addition, the interface module 132 applies a phase shift based on the relative position of each subarray relative to the reference point 206. By performing the above operations, the interface module 132 generates the channel response data 304 of one pulse 114 of the simulated radar signal for each transmit-receive channel pair.

[0055] By using propagation data 226, interface module 132 can dynamically determine channel response data 304 for different radar systems 104 having different numbers of transceiver channels or utilizing different frequencies. In this way, EM simulator 138 does not need to be executed multiple times in sequence, which saves time when evaluating different types of radar systems 104.

[0056] To generate channel response data 304 for additional pulses 114 within frame 116 of simulated radar signal, interface module 132 applies additional phase shifts based on the center frequency of the simulated radar signal, the Doppler shift obtained for each propagation path 204, and the pulse repetition frequency of radar system 104. In other words, channel response data 304 for subsequent pulses 114 is based on the Doppler information within propagation data 226 and the timing between adjacent pulses (e.g., inter-pulse period (IPP)). Other phase shifts may also be added to individual samples within pulse 114 based on the sampling frequency described above. In some implementations, interface module 132 uses multithreading to calculate channel response data 304 for multiple pulses 114 in parallel.

[0057] Interface module 132 may transform environmental response data 224 between the time domain or the frequency domain depending on the intended domain of radar hardware simulator 134. Alternatively, operations performed by radar hardware simulator 134 and radar software simulator 136 may be tailored to operate in the domain of environmental response data 224. In this manner, time-intensive transformation operations may be avoided.

[0058] Radar hardware simulator 134 generates radar samples 306 based on channel response data 30. Specifically, radar hardware simulator 134 performs operations associated with transceiver 120 to generate radar samples 306. Radar samples 306 represent samples of one or more simulated radar received signals. The operations of radar hardware simulator 134 will be referred to in detail below. Figure 4 Further description.

[0059] The radar software simulator 136 generates the radar report 302 based on the radar samples 306. In this case, the radar report 302 represents data generated by the radar software simulator 136, such as a radar data cube, an indication of whether an object is detected, information about the detected object (e.g., position information or velocity information), etc. If the radar simulator 102 does not include the radar software simulator 136, the radar report 302 may include any other type of intermediate data generated by the radar hardware simulator 134, such as the radar samples 306.

[0060] ( Figure 2 The EM simulator 138 and the radar simulator 102 may be operated together or separately. In a first example, the EM simulator 138 is operably coupled to the radar simulator 102. During operation, the EM simulator 138 directly communicates the environmental response data 224 associated with a first time interval to the radar simulator 102. The radar simulator 102 processes the environmental response data 224 and generates a radar report 302 associated with the first time interval. This process is repeated for subsequent time intervals. In general, each time interval is associated with a frame 116 of a simulated radar signal. By operating the EM simulator 138 and the radar simulator 102 together, the radar simulator 102 can evaluate the environmental response data 224 as soon as it becomes available.

[0061] In the second example, the EM simulator 138 and the radar simulator 102 operate separately. First, the EM simulator 138 generates environmental response data 224 of the simulated environment 208. The environmental response data 224 is recorded to a storage memory, such as (e.g., Figure 1102). In this case, the environmental response data 224 is associated with a plurality of time intervals. At a later time, the radar simulator 102 accesses the storage memory and analyzes the environmental response data 224 offline. This configuration is advantageous for environments that are complex and require additional time to simulate. By storing the environmental response data 224, the EM simulator 138 can be executed once, and the environmental response data 224 can be reused to test the radar simulator 102 multiple times.

[0062] Figure 4 An example radar hardware simulator 134 is shown. In the depicted configuration, the radar hardware simulator 134 includes at least one waveform generator 402, at least one transmit-receive channel module 404, and at least one receive chain module 406. The waveform generator 402 may simulate a voltage controlled oscillator of the radar system 104, or some other type of signal generator.

[0063] The transmit-receive channel module 404 is coupled to the waveform generator 402 and ( Figure 3 ) interface module 132. Transmit-receive channel module 404 applies any modulation or multiplexing scheme to waveform signal 418. This enables transmit-receive channel module 404 to generate simulated radar transmit signals that are delayed or phase encoded according to the scheme employed by radar system 104. In general, transmit-receive channel module 404 combines the simulated radar transmit signals from all transmit channels to form each MIMO receive channel.

[0064] The transmit-receive channel module 404 generates simulated radar receive signals 420-1 to 420-R based on the waveform signal 418 and the channel response data 304, where "R" represents a positive integer. In some implementations, for improved efficiency, this operation is performed in the frequency domain. The simulated radar receive signals 420-1 to 420-R represent the outputs of the receive antenna elements of one or more receive subarrays.

[0065] In the depicted configuration, the radar hardware simulator 134 includes a plurality of receive chain modules 406-1 through 406-R. The receive chain modules 406-1 through 406-R model receive chains within the transceiver 120, which may be associated with the same receiver or a different receiver. Each receive chain module 406 may include a gain module 408, a downconversion module 410, a noise module 412, a filter module 414, an analog-to-digital converter (ADC) module 416, or some combination thereof.

[0066] The gain module 408 simulates an amplifier (such as a low noise amplifier) ​​within the receive chain of the transceiver 120. The downconversion module 410 simulates a downconversion mixer within the receive chain of the transceiver 120. The noise module 412 generates random noise to simulate internal or external noise affecting the receive chain of the transceiver 120. The filter module 414 simulates a filter within the receive chain, such as a bandpass filter or a lowpass filter. The ADC module 416 simulates an analog-to-digital converter within the receive chain.

[0067] During operation, waveform generator 402 generates waveform signal 418, which is representative of a waveform generated by radar system 104. Waveform signal 418 is a discrete time signal that may be modulated in frequency or phase. As an example, waveform signal 418 is a linear frequency modulated signal including multiple pulses 114. Other types of modulation are possible, including single slope frequency modulation, dual slope frequency modulation, frequency step modulation, nonlinear frequency modulation, phase modulation, etc. Waveform generator 402 may also incorporate nonlinearity and / or phase noise into waveform signal 418.

[0068] In some examples, waveform generator 402 has access to recorded waveforms of radar system 104 and provides the recorded waveforms as waveform signals 418. Waveform generator 402 can dynamically provide different types of waveform signals 418 based on the operating mode of radar hardware simulator 134. In some implementations, the operating mode is dynamically adjusted by radar software simulator 136. As an example, the characteristics of waveform signal 418 (e.g., bandwidth, pulse width, pulse repetition frequency, number of pulses, frequency modulation) can change as radar software simulator 136 searches for or tracks a simulated object. Waveform generator 402 can also introduce nonlinearity and phase noise based on the specific implementation of transceiver 120. In general, Figure 1 The CRM 130 may store information that enables the waveform generator 402 to generate the waveform signal 418 .

[0069] Transmit-receive channel module 404 generates simulated radar receive signals 420-1 to 420-R based on channel response data 304 and waveform signal 418. Specifically, transmit-receive channel module 404 adjusts channel response data 304 associated with different transmit-receive channel pairs to implement a multiple access scheme. For TDMA, transmit-receive channel module 404 can apply different delays in different simulated radar transmit signals. For CDMA, transmit-receive channel module 404 can modulate the phase of pulses 114 within the simulated radar transmit signals.

[0070] The receive chain modules 406-1 to 406-R generate radar samples 306-1 to 306-R based on the simulated radar receive signals 420-1 to 420-R. Specifically, the gain module 408 amplifies the simulated radar receive signal 420 to generate an amplified signal 422. The down-conversion module 410 performs a frequency hopping (beating) operation to generate a down-converted signal 424. The frequency hopping operation down-converts and demodulates the amplified signal 422 using one of the simulated radar transmit signals. The noise module 412 injects random noise into the down-converted signal 424 to generate a down-converted signal with noise 426. Since each receive chain module 406-1 to 406-R generates noise independently, the noise applied between each receive chain module 406-1 to 406-R is uncorrelated. The filter module 414 filters the down-converted signal together with the noise 426 to generate a filtered signal 428. Analog-to-digital converter module 416 samples and quantizes filtered signal 428 to generate radar samples 306. ADC module 416 may operate at the same sampling rate as the analog-to-digital converter of radar system 104. This enables radar simulator 102 to have the same dynamic range as radar system 104.

[0071] Radar samples 306-1 through 306-R include samples of pulses 114 for each frame 116. Radar samples 306-1 through 306-R may be in a format used within radar system 104. For example, radar samples 306-1 through 306-R may be a 3D matrix having dimensions “R,” “S,” and “K,” where “R” represents the number of receive chains, “S” represents the number of ADC samples, and “K” represents the number of pulses within frame 116. Radar samples 306-1 through 306-R are provided to ( Figure 3 The radar software simulator 136 analyzes the radar samples 306-1 to 306-R to generate the radar report 302, as shown in FIG. Figure 5 Further described.

[0072] Figure 5An example radar software simulator 136 is shown. In the depicted configuration, the radar software simulator 136 implements a raw data processing module 502, a detection module 504, and an angle estimation module 506. The raw data processing module 502 performs one or more operations to generate at least one radar data cube 508 based on the radar samples 306-1 to 306-R. As an example, the raw data processing module 502 may perform one or more Fourier transform operations, such as a fast Fourier transform (FFT) operation. Over time, the raw data processing module 502 generates a plurality of radar data cubes 508 for each frame 116 of the radar receive signal 112. If the radar samples 306-1 to 306-R are associated with different receive channels, the raw data processing module 502 may generate a radar data cube 508 for each receive channel.

[0073] Radar data cube 508 includes amplitude and / or phase information (e.g., in-phase and quadrature components) associated with different range bins 510-1 to 510-A, Doppler bins 512-1 to 512-B, and receive channels 514-1 to 514-C, where "A", "B", and "C" represent positive integers that may or may not be equal to each other. In other words, radar data cube 508 includes multiple range-Doppler graphs for each receive chain associated with a receive channel. If radar simulator 102 simulates a MIMO radar system, different radar data cubes 508 may contain data for different transmit-receive channels. In this case, "C" may represent different transmit-receive channels.

[0074] Detection module 504 and / or angle estimation module 506 process radar data cube 508. For example, detection module 504 may apply a constant false alarm rate (CFAR) threshold to identify one or more detections within radar data cube 508. Angle estimation module 506 may employ digital beamforming techniques to determine an angular position associated with one or more detections. Radar report 302 generated by radar software simulator 136 may include radar data cube 508, information generated by detection module 504, or information generated by angle estimation module 506. Radar report 302 provides an estimate of the performance of radar system 104 within a simulated environment.

[0075] In some cases, radar simulator 102 may be operably coupled to a radar-based system of vehicle 106 (not shown) or a vehicle simulator (not shown). Thus, radar software simulator 136 may pass radar reports 302 to either of these entities. This may enable a radar-based system to be tested using simulated radar data, or a vehicle simulator to operate using simulated radar data. Example Method

[0076] Figure 6 An example method 600 for operating the radar simulator 102 is depicted. The method 600 is shown as a plurality of sets of operations (or actions) being performed, but is not necessarily limited to the order or combination of operations shown herein. In addition, any of one or more of the operations may be repeated, combined, or reorganized to provide other methods. In the following discussion, reference may be made to Figure 1 environment 100, and Figure 1-Figure 3 The entities detailed in the description are referenced for example purposes only. The technology is not limited to being performed by one entity or multiple entities.

[0077] At 602, environmental response data is received from an electromagnetic simulator. The environmental response data represents information from multiple propagation paths within a simulated environment. For example, the radar simulator 102 receives information from Figure 2 The environmental response data 224 of the electromagnetic simulator 138 of the simulation environment 208 is shown in FIG. The environmental response data 224 represents information from the plurality of propagation paths 204 within the simulation environment 208. The electromagnetic simulator 138 may use ray tracing to determine the plurality of propagation paths 204. Example electromagnetic simulators 138 may include, but are not limited to, CarMaker TM and ANSYS TM Electromagnetic simulator 138 may reference some information about radar system 104 to generate environmental response data 224, such as a maximum frequency or a pulse repetition frequency. Example types of environmental response data 224 include propagation data 226 or integrated data 228, such as reference Figure 2 Further described.

[0078] At 604, channel response data is generated based on the environmental response data. The channel response data includes composite data for each pulse of the simulated radar signal and for at least one transmit-receive channel pair of the simulated radar system. The composite data represents an integrated response of the simulated radar system to multiple propagation paths within the simulated environment. For example, Figure 3 As shown, the interface module 132 generates channel response data 304 based on the environmental response data 224. The channel response data 304 includes composite data for each pulse 114 of the simulated radar signal and for at least one transmit-receive channel pair of the radar system 104. The composite data represents the radar system 104 Figure 2 The integrated response of multiple propagation paths 204 within the simulated environment 208.

[0079] At 606, operations associated with simulating a transceiver of the radar system are performed to generate radar samples based on the channel response data. For example, radar hardware simulator 134 performs operations associated with transceiver 120 of radar system 104 to generate radar samples 306 based on channel response data 304. Example operations performed by radar hardware simulator 134 include amplification, down-conversion, noise injection, filtering, and sampling. Radar samples 306 may be associated with different receive chains of transceiver 120.

[0080] At 608, operations associated with the processor of the simulated radar system are performed to generate a radar report based on the radar samples. The radar report represents the performance of the simulated radar system within the simulated environment. For example, radar software simulator 136 performs operations associated with processor 122 of radar system 104 to generate radar report 302 based on radar samples 306. Radar report 302 may include radar data cube 508, an indication of whether an object is detected within simulated environment 208, or characteristics related to the object (e.g., location and movement).

[0081] Some examples are described below.

[0082] Example 1: A method performed by a radar simulator, the method comprising: receiving environmental response data from an electromagnetic simulator, the environmental response data representing information from a plurality of propagation paths within a simulated environment; generating channel response data based on the environmental response data, the channel response data comprising composite data for each pulse of the simulated radar signal and for at least one transmit-receive channel pair of the simulated radar system, the composite data representing an integrated response of the simulated radar system to the plurality of propagation paths within the simulated environment; performing operations associated with simulating a transceiver of a radar system to generate radar samples based on the channel response data; and Operations associated with a processor of the simulated radar system are performed to generate a radar report based on the radar samples, the radar report representing performance of the simulated radar system within the simulated environment.

[0083] Example 2: The method of Example 1, wherein: Executing operations associated with the processor include detecting at least one object within the simulated environment based on the radar samples; and The radar advisory indicates that at least one object was detected.

[0084] Example 3: The method of Example 2, wherein: Executing operations associated with the processor includes determining an angular position of at least one object; and The radar report includes an angular position of at least one object.

[0085] Example 4: The method of Example 3, wherein: Executing operations associated with the processor include generating a radar data cube based on the radar samples; and The radar data cube is processed to detect at least one object and to determine an angular position of the at least one object.

[0086] Example 5: The method of Example 1 further comprises: accepting other environmental response data from another electromagnetic simulator; generating other channel response data based on the other environmental response data; performing operations associated with simulating a transceiver of the radar system to generate additional radar samples based on the additional channel response data; and Operations associated with the processor of the simulated radar system are performed to generate another radar report based on the other radar samples.

[0087] Example 6: The method of Example 5, wherein: The environmental response data includes propagation data including a list of a plurality of propagation paths; and Other environmental response data include integrated data, which is based on a combination of multiple propagation paths.

[0088] Example 7: The method of Example 1, wherein: The channel response data comprises channel impulse response data; or The channel response data includes channel frequency response data.

[0089] Example 8: The method of Example 1, wherein performing an operation associated with the transceiver comprises: generating a waveform signal having one or more characteristics associated with a simulated radar signal; generating at least one simulated radar receive signal based on the waveform signal and the channel response data; and Radar samples are generated based on at least one simulated radar receive signal.

[0090] Example 9: The method of Example 8, wherein generating the radar samples comprises injecting random noise into at least one simulated radar receive signal.

[0091] Example 10: The method of Example 8, wherein generating the waveform signal includes providing a recorded waveform of a simulated radar system as the waveform signal.

[0092] Example 11: The method of Example 8, wherein generating the waveform signal includes modifying the waveform signal based on nonlinearities and phase noise associated with the analog radar system.

[0093] Example 12: A computer-readable storage medium comprising computer-executable instructions, which in response to being executed by a processor implements: An interface module, the interface module being configured to: receiving environmental response data from an electromagnetic simulator, the environmental response data representing information from a plurality of propagation paths within the simulated environment; and generating channel response data based on the environmental response data, the channel response data comprising composite data for each pulse of the simulated radar signal and for at least one transmit-receive channel pair of the simulated radar system, the composite data representing an integrated response of the simulated radar system to multiple propagation paths within the simulated environment; and A radar hardware simulator is configured to perform operations associated with simulating a transceiver of a radar system to generate radar samples based on the channel response data.

[0094] Example 13: The computer-readable storage medium of Example 12, wherein the computer-executable instructions, in response to being executed by a processor, implement a radar software simulator configured to: Operations associated with a processor of the simulated radar system are performed to generate a radar report based on the radar samples, the radar report representing performance of the simulated radar system within the simulated environment.

[0095] Example 14: The computer-readable storage medium of Example 13, wherein the radar software simulator is configured to: Generate a radar data cube based on the radar samples; detecting at least one object in the simulated environment based on the radar data cube; and A relative position of at least one object is determined based on the radar data cube.

[0096] Example 15: The computer-readable storage medium of Example 12, wherein: The interface module is configured to: accepting additional environmental response data from another electromagnetic simulator; and generating other channel response data based on the other environmental response data; and A radar hardware simulator is configured to perform operations associated with simulating a transceiver of the radar system to generate other radar samples based on the other channel response data.

[0097] Example 16: The computer-readable storage medium of Example 15, wherein: The environmental response data includes propagation data including a list of a plurality of propagation paths; and Other environmental response data include integrated data, which is based on a combination of multiple propagation paths.

[0098] Example 17: The computer-readable storage medium of Example 12, wherein: The channel response data comprises channel impulse response data; or The channel response data includes channel frequency response data.

[0099] Example 18: The computer-readable storage medium of Example 12, wherein the radar hardware simulator is configured to simulate nonlinearities and phase noise associated with the simulated radar system. Example 19: The computer-readable storage medium of Example 12, wherein the radar hardware simulator is configured to reference recorded waveforms of a simulated radar system to generate radar samples. Example 20: A system comprising: means for receiving environmental response data from an electromagnetic simulator, the environmental response data representing information from a plurality of propagation paths within the simulated environment; means for generating channel response data based on the environmental response data, the channel response data comprising composite data for each pulse of the simulated radar signal and for at least one transmit-receive channel pair of the simulated radar system, the composite data representing an integrated response of the simulated radar system to a plurality of propagation paths within the simulated environment; means for performing operations associated with simulating a transceiver of a radar system to generate radar samples based on the channel response data; and Means for executing operations associated with a processor of a simulated radar system to generate a radar report based on the radar samples, the radar report representing performance of the simulated radar system within a simulated environment. Although various embodiments of the present disclosure have been described in the foregoing description and shown in the accompanying drawings, it should be understood that the present disclosure is not limited thereto, but can be implemented in various ways within the scope of the following claims. From the foregoing description, it will be apparent that various changes can be made without departing from the spirit and scope of the present disclosure as defined by the following claims.

Claims

1. A method comprising: obtaining environmental response data representing information from a plurality of propagation paths within a simulated environment; generating channel response data based on the environmental response data, the channel response data comprising simulated radar signals for a plurality of transmit-receive channel pairs of a simulated radar system, the simulated radar signals representing an integrated response of the simulated radar system to the plurality of propagation paths within the simulated environment, the integrated response comprising weighting each of the plurality of propagation paths by a composite radiation pattern of a transmit subarray and a receive subarray of the simulated radar system; generating radar samples associated with a transceiver of the simulated radar system based on the channel response data; as well as A radar report is generated based on the radar samples, the radar report being used to identify potential problems or verify requirements of the simulated radar system within the simulated environment.

2. The method according to claim 1, characterized in that The channel response data includes composite data for each pulse of the simulated radar signal.

3. The method according to claim 1, characterized in that The integrated response includes a phase shift applied to the environmental response data based on a position of a transmit subarray or a receive subarray defining each transmit-receive channel pair in the plurality of transmit-receive channel pairs.

4. The method according to claim 1, characterized in that: Generating the radar samples includes detecting at least one object within the simulated environment and an angular position of the at least one object based on the radar samples; and The radar report includes an indication that the at least one object was detected and the angular position of the at least one object.

5. The method of claim 1, further comprising: Obtain other environmental response data; generating other channel response data based on the other environmental response data; generating other radar samples associated with the transceiver of the simulated radar system based on the other channel response data; as well as Another radar report is generated based on the other radar samples.

6. The method according to claim 5, characterized in that: The environmental response data includes propagation data, the propagation data including a list of the plurality of propagation paths; and The other environmental response data includes integrated data based on a combination of the multiple propagation paths.

7. The method according to claim 1, characterized in that Generating the radar samples associated with the transceiver of the simulated radar system includes: generating a waveform signal having one or more characteristics associated with the simulated radar signal; generating at least one simulated radar receive signal based on the waveform signal and the channel response data; and The radar samples are generated based on the at least one simulated radar receive signal.

8. The method according to claim 7, characterized in that Generating the radar samples includes injecting random noise into the at least one simulated radar receive signal.

9. The method according to claim 7, characterized in that Generating the waveform signal includes modifying the waveform signal based on nonlinearities and phase noise associated with the analog radar system.

10. A non-transitory computer-readable storage medium comprising computer-executable instructions that, in response to being executed by a processor, cause the processor to: obtaining environmental response data representing information from a plurality of propagation paths within a simulated environment; generating channel response data based on the environmental response data, the channel response data comprising simulated radar signals for a plurality of transmit-receive channel pairs of a simulated radar system, the simulated radar signals representing an integrated response of the simulated radar system to the plurality of propagation paths within the simulated environment, the integrated response comprising weighting each of the plurality of propagation paths by a composite radiation pattern of a transmit subarray and a receive subarray of the simulated radar system; generating radar samples associated with a transceiver of the simulated radar system based on the channel response data; as well as A radar report is generated based on the radar samples, the radar report being used to identify potential problems or verify requirements of the simulated radar system within the simulated environment.

11. The non-transitory computer-readable storage medium of claim 10, wherein: The channel response data includes coincidence data for each pulse of the simulated radar signal; and The integrated response includes a phase shift applied to the environmental response data based on a position of a transmit subarray or a receive subarray defining each transmit-receive channel pair in the plurality of transmit-receive channel pairs.

12. The non-transitory computer-readable storage medium of claim 10, wherein: Generating the radar samples includes detecting at least one object within the simulated environment and an angular position of the at least one object based on the radar samples; and The radar report includes an indication that the at least one object was detected and the angular position of the at least one object.

13. The non-transitory computer-readable storage medium of claim 10, the non-transitory computer-readable storage medium comprising the computer-executable instructions, the computer-executable instructions in response to being executed by the processor further causing the processor to: Obtain other environmental response data; generating other channel response data based on the other environmental response data; generating other radar samples associated with the transceiver of the simulated radar system based on the other channel response data; as well as Another radar report is generated based on the other radar samples.

14. The non-transitory computer-readable storage medium of claim 13, wherein: The environmental response data includes propagation data, the propagation data including a list of the plurality of propagation paths; and The other environmental response data includes integrated data based on a combination of the multiple propagation paths.

15. The non-transitory computer-readable storage medium of claim 10, wherein: The computer executable instructions, in response to being executed by the processor, cause the processor to generate the radar samples associated with the transceiver of the simulated radar system by: generating a waveform signal having one or more characteristics associated with the simulated radar signal; generating at least one simulated radar receive signal based on the waveform signal and the channel response data; as well as The radar samples are generated based on the at least one simulated radar receive signal.

16. The non-transitory computer-readable storage medium of claim 15, wherein: Generating the radar samples includes injecting random noise into the at least one simulated radar receive signal; and Generating the waveform signal includes modifying the waveform signal based on nonlinearities and phase noise associated with the analog radar system.

17. A system comprising a processor configured to: obtaining environmental response data representing information from a plurality of propagation paths within a simulated environment; generating channel response data based on the environmental response data, the channel response data comprising simulated radar signals for a plurality of transmit-receive channel pairs of a simulated radar system, the simulated radar signals representing an integrated response of the simulated radar system to the plurality of propagation paths within the simulated environment, the integrated response comprising weighting each of the plurality of propagation paths by a composite radiation pattern of a transmit subarray and a receive subarray of the simulated radar system; generating radar samples associated with a transceiver of the simulated radar system based on the channel response data; as well as A radar report is generated based on the radar samples, the radar report being used to identify potential problems or verify requirements of the simulated radar system within the simulated environment.

18. The system of claim 17, wherein: The processor is configured to generate the radar samples associated with the transceiver of the simulated radar system by: generating a waveform signal having one or more characteristics associated with the simulated radar signal; generating at least one simulated radar receive signal based on the waveform signal and the channel response data; as well as The radar samples are generated based on the at least one simulated radar receive signal.

19. The system of claim 18, wherein: Generating the radar samples includes injecting random noise into the at least one simulated radar receive signal; and Generating the waveform signal includes modifying the waveform signal based on nonlinearities and phase noise associated with the analog radar system.

20. The system of claim 17, wherein: The processor is further configured to: Obtain other environmental response data; generating other channel response data based on the other environmental response data; generating other radar samples associated with the transceiver of the simulated radar system based on the other channel response data; as well as Another radar report is generated based on the other radar samples.

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