Virtual test evaluation is an important development direction for automatic driving technology testing and evaluation. The millimeter-wave radar sensor model used in virtual test evaluation should meet the real-time and accuracy requirements of the system. The current millimeter-wave radar model can satisfy real-time requirements but cannot simulate the physical characteristics of millimeter-wave radar. This study proposes a millimeter-wave radar model, which introduces the radar cross-sectional (RCS) area judgment index based on geometric clipping extraction and target visibility judgment. Through simulation verification of target visibility, the millimeter-wave radar model integrated with RCS indicators has demonstrated consistent test results with real millimeter-wave radar. The millimeter-wave radar model can better simulate the physical characteristics and error conditions of real millimeter-wave radar as well as enhance the accuracy of virtual simulation tests and evaluation of automatic driving while ensuring the real-time requirements of the simulation.
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