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LiDAR sensors have played more and more important role on Intelligent and Connected Vehicles (ICV) and Advanced Driver Assistance Systems (ADAS) .However, the development and testing of LiDAR sensors under real driving environment for ADAS applications are greatly limited by various factors, and often are impossible due to safety concerns. ...LiDAR sensors have played more and more important role on Intelligent and Connected Vehicles (ICV) and Advanced Driver Assistance Systems (ADAS) .However, the development and testing of LiDAR sensors under real driving environment for ADAS applications are greatly limited by various factors, and often are impossible due to safety concerns. ...This paper proposed a novel functional LiDAR model under virtual driving environment to support development of LiDAR-based ADAS applications under early stage.

As a complementary part to current radar and lidar sensors, ultrasonic sensor has become more and more popular due to its high value to the cost.