A method and a system for simulation-assisted determination of at least one actual echo point of an object, and a method and an emulation apparatus for emulating a detection target. Here, a predicted object reference point of the object and a predicted sensor device reference point of a sensor device, in particular a radar-based sensor device, are calculated on the basis of an actual object reference point and an actual sensor device reference point and a predicted echo point of the object is calculated on the basis of an emission characteristic of the sensor device, the predicted object reference point, and the predicted sensor device reference point. Moreover, a predicted relative relationship, in particular a spatial relative relationship, is calculated between the predicted echo point and the predicted object reference point. An updated actual object reference point is calculated, in particular at least substantially in real time, and a simulated actual echo point of the object determined on the basis of the predicted relative relationship and the updated actual object reference point, in particular at least substantially in real time. The simulated actual echo point output.