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Persival Knowledge Database
Learn about co-simulation and stay up to date about credible sensor models.

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Ray-Tracing Radar Simulation Without a 3D Environment
When people think about high-fidelity radar simulation, they typically imagine one thing: a detailed 3D environment.
Geometry, meshes, materials, everything needs to be modeled, prepared, and maintained before a single ray can be traced. But what if you could get the same physical fidelity without requiring a predefined 3D scene at all?
clemenslinnhoff
Jun 153 min read


Closing the Sim2Real Gap in Offroad Lidar Simulation
When we talk about lidar simulation, most discussions focus on sensor models, ray tracing, or point cloud generation. But in many real-world applications, the biggest challenge lies elsewhere: the materials.
clemenslinnhoff
Jun 104 min read


Building Realism: Our Sensor Material Database for Lidar Simulation
Simulating lidar sounds straightforward at first: send out light, measure the distance, and construct the point cloud. In practice, however, the challenge lies in what happens in between. The way infrared light interacts with the world is anything but simple, and without modeling that interaction correctly, even the best sensor model will fall short.
clemenslinnhoff
May 283 min read


Continuous V&V for Sensor Simulation: How to Build Credible Sensor Models Iteratively
We apply a development method that embeds continuous verification & validation (V&V) into every iteration of our perception sensor model development, so lidar and radar models become more credible, traceable, and automation‑ready as they evolve.
clemenslinnhoff
Jan 63 min read


Building Standardized Co-Simulation Workflows for Automotive and Mobility: An Open-Source Demo
The automotive and mobility industry is embracing virtual testing at scale. To make these simulations realistic and interoperable, standardization is key. That’s why we created the Standardized Co-Simulation Demo , an open-source example of how to combine scenario execution, sensor simulation, and multi-domain orchestration using OpenMCx , esmini , and our own physical sensor models , all aligned with ASAM OpenX standards . Check out the GitHub repository here . Co-simulatio
clemenslinnhoff
Dec 1, 20253 min read


Quantifying Lidar Sensor Performance through DIN SAE SPEC 91471 Testing Methods
The DIN SAE SPEC 91471 offers a structured way to assess lidar performance. In this blog post, we will explore key performance tests, each critical for understanding lidar capabilities.
clemenslinnhoff
Oct 14, 20253 min read


Tutorial #14: How to measure weather influence on perception sensors
In this video, Clemens, our CTO, introduces the Persival Weather Test Bench. It automatically records sensor measurements in adverse...
clemenslinnhoff
Aug 19, 20251 min read


Tutorial #13: FMCW lidar simulation with ray tracing
In this video, Clemens, our CTO, demonstrates how to simulate radial velocity measurements using the Sensor Model Development Library...
clemenslinnhoff
Jul 27, 20251 min read


Tutorial #12: Timing effects in lidar simulation with ray tracing
In this video, Clemens, our CTO, explores how to simulate timing effects in perception sensors using the Sensor Model Development Library...
clemenslinnhoff
Jul 27, 20251 min read


Tutorial #11: Standards-based lidar simulation with ray tracing
In this video, Clemens, our CTO, demonstrates how to build a physical perception sensor model using standardized interfaces like ASAM OSI...
clemenslinnhoff
Jul 27, 20251 min read


Tutorial #10: ASAM OpenMATERIAL 3D Material Mapping
In this video, Clemens, CTO of Persival, demonstrates how to map physical material properties to 3D geometries using the ASAM...
clemenslinnhoff
Jul 9, 20251 min read


Tutorial #9: Introduction to ASAM OpenMATERIAL 3D Materials
In this video, Clemens, CTO of Persival, shifts focus from geometry to the material side of the ASAM OpenMATERIAL 3D standard. He...
clemenslinnhoff
Jul 2, 20251 min read


Tutorial #8: Detailed animations with ASAM OSI and ASAM OpenMATERIAL 3D
In this video, Clemens, CTO of Persival, dives into how animations are handled using standardized formats and interfaces, specifically...
clemenslinnhoff
Jun 25, 20251 min read


Tutorial #7: Combining ASAM OpenMATERIAL 3D Geometry with ASAM OSI and ASAM OpenSCENARIO
In this video, Clemens, CTO of Persival, demonstrates how ASAM OpenMATERIAL 3D works in combination with ASAM OpenSCENARIO and the ASAM...
clemenslinnhoff
Jun 18, 20251 min read


Tutorial #6: Introduction to ASAM OpenMATERIAL 3D Geometry
In this video, Clemens, CTO of Persival, introduces the ASAM OpenMATERIAL 3D standard, focusing on how to standardize the geometry of 3D...
clemenslinnhoff
Jun 11, 20251 min read


Video Tutorial #5: ASAM OSI trace file
In this video, Clemens, CTO of Persival, provides a short introduction to ASAM OSI trace files. Building on the previous tutorials,...
clemenslinnhoff
Jun 4, 20251 min read


Video Tutorial #4: Introduction to ASAM OSI
In this video, Clemens, CTO of Persival, explains how to effectively transfer data between individual models in a Co-Simulation using the...
clemenslinnhoff
May 28, 20251 min read


Video Tutorial #3: Creating an ASAM OpenDRIVE map and an ASAM OpenSCENARIO file
In this video, Clemens, CTO of Persival, demonstrates how to create ASAM OpenDRIVE and ASAM OpenSCENARIO files using an open-source tool....
clemenslinnhoff
May 21, 20251 min read


Video Tutorial #2: Introduction to ASAM OpenX Standards
In this video, Clemens, CTO of Persival, introduces the main ASAM OpenX standards for automotive simulation. These standards help ensure...
clemenslinnhoff
May 14, 20251 min read


Video Tutorial #1: Introduction to Automotive Co-Simulation
In this video, Clemens, CTO of Persival, introduces the concept of Co-Simulation and its benefits. Unlike all-in-one simulation tools,...
clemenslinnhoff
May 6, 20251 min read
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