This research paper presents the study of modelling and validating the results of simulation of LiDAR sensor with actual sensor data. The model can be further utilized for virtual testing of various ADAS functions. The virtual sensor is a physics-based sensor capable of emulating the real sensor. Initially an in-depth study of Velodyne VLP-16 sensor was carried out in order to parameterize the virtual sensor model. The sensor is modelled virtually in Gazebo simulation environment. Gazebo is used along with ROS (Robotic Operating Interface) in order to record the sensor data. Data conversion from sensor message format to Cartesian coordinates has been carried out. This was done in order to have a common format of actual and virtual data for validation. Four different objects were selected for validating the sensor data. The validation methodology is based on comparison of actual recorded data generated by Velodyne VLP-16 LiDAR and virtually generated data by the virtual LiDAR sensor model. The validation proves that the in case of static scenarios, the virtual lidar sensor model is 99 % accurate in measuring the range to the object. Although there is slight deviation from the actual value, it is in the acceptable limits.