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Modern LiDAR sensors find increasing use in safety-critical applications.Therefore, highly accurate modeling of the system's behavior under demandingenvironmental conditions is necessary. In this paper, we present a modularstructure to accurately simulate the amplified raw detector signal of a directtime-of-flight LiDAR system for coaxial transmitter-receiver optics. Our modeldescribes, a measurement system based on standard optical components and adetector able of converting single photons to an electrical signal. To verifythe model's predictions, single-point measurements for targets of differentreflectivity at defined distances were performed. Statistical analysis shows anR-squared value greater than 0.990 for simulated and measured signal amplitudelevels. Noise modeling shows good accordance with the performed measurementsfor different target irradiance levels. The presented results have a guidingsignificance in the modeling of the complex signal processing chain of LiDARsystems, as it enables the prediction of key parameters of the system early inthe development process. Hence, unnecessary costs by design flaws can bemitigated. The modular structure allows easy adaption for arbitrary LiDARsystems.

Full-Waveform Modeling for Time-of-Flight Measurements based on Arrival Time of Photons