At gitlab.com/tuda-fzd/perception-sensor-modeling radar and lidar sensor system models are available and can be downloaded. Besides the models the FZD OSMP framework is published, which can be used to compile the source code into Functional Mockup Units (FMUs). Additionally there are so called strategies to output the model results in different data formats. Future work will concentrate on simulation of environmental effects and complex scenarios. The picture above shows the reflection based radar object model. On the left the ROS output of the raytracer (reflections as black and white dots), of the radar system model (detections as rainbow colored squares) and the GT (bounding boxes as grey cuboids) is shown. The right window shows the corresponding simulation in which the raytracer's paths are blue.