This paper proposes a new radar sensor modelling for Advanced Driver Assistance Systems (ADAS) prototyping. The model is embedded on the SiVIC platform (Simulator for Vehicle, Infrastructure and Sensors). Lots of simulators already exist for this issue, but none is designed to address the objectives of real-time computation, highly sampled signal generation. And few simulators offer the ability to be integrated in a dynamic platform for the ADAS prototyping. In this paper, several radar technologies will be presented. Then, a radar designed especially for automotive domain will be described exploring each subparts, radar antenna andi.e. propagation channel. Such as the generic model, hypothesis done on electromagnetic waves and environmental objects modelling will also be provided. A first model of simple duplex radar with Frequency Shift Keying (FSK) modulation is implemented and shown as illustration for the defined architecture. Finally, in order to optimize the duration for signal generation, several software architecture solution will be proposed.