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.

A sensor calibration system periodically receives scene data from a detector in a calibration scene. The calibration scene includes calibration targets. The sensor calibration system generates a calibration map based on the scene data. The calibration map is a virtual representation of the calibration scene and includes features of the calibration targets that can be used as ground truth features for calibrating AV sensors. The sensor calibration system can periodically update the calibration map. For instance, the sensor calibration system receives the scene data at a predetermined frequency and updates the calibration map every time it receives new scene data. The predetermined frequency may be a frequency of the detector completing a full scan of the calibration scene. The sensor calibration system provides a latest version of the calibration map for being used by an AV to calibrate a sensor on the AV 110.

An emulation test system and method are provided for time adjusting emulated echo signals in response to a periodic electromagnetic signal. The method includes generating a scene simulation including a simulated object; generating a simulation frame indicating object transform information regarding the simulated object; calculating positions and velocities of an emulated targets corresponding to the simulated object using the object transform information; generating a ray tracing frame corresponding to the simulation frame indicating the calculated positions and velocities of the emulated targets; predicting a time point in a next feature in a feature pattern of the electromagnetic signal; calculating predicted target information of the simulated object at the predicted time point using the calculated positions and velocities; and generating an echo signal in response to the next burst of the electromagnetic signal using the predicted target information to compensate for latencies introduced by differences between real world and simulation times.

A method is disclosed that can include the steps of: in response to a radar stimulator aircraft receiving information for causing it to stimulate a radar system in a user specified manner, the radar stimulator aircraft monitoring the position of an onboard unit thereof relative to at least one antenna of the radar system; and based on the received information and the monitored position of the onboard unit the radar stimulator aircraft controlling its flight and the emission of radar signals thereby to stimulate the radar system in the user specified manner.

The invention relates to a radar reflector (1) for reflecting radar radiation (2), comprising at least one reflection element (5) rotatable about a central axis (4) of the radar reflector (1) and an adjusting device (7) for changing and/or parameterizing a characteristic of a radar echo (3) of the radar reflector (1). At least one of the following parameters can be changed by means of the adjusting device (7): the angular velocity ω of rotational motion of the at least one reflection element (5) about the central axis (4); an effective reflection area of the at least one reflection element (5); and a fastening position p of the at least one reflection element (5) relative to the central axis (4). The invention also relates to a system for controlling automated operation of a motor vehicle, comprising at least one radar reflector of this type, and to a motor vehicle (23), which has a radar sensor (24) and is designed to automatedly carry out a predefined sequence of driving maneuvers in accordance with a sensed characteristic of the radar echo of the radar reflector.

A sensor calibration system periodically receives scene data from a detector in a calibration scene. The calibration scene includes calibration targets. The sensor calibration system generates a calibration map based on the scene data. The calibration map is a virtual representation of the calibration scene and includes features of the calibration targets that can be used as ground truth features for calibrating AV sensors. The sensor calibration system can periodically update the calibration map. For instance, the sensor calibration system receives the scene data at a predetermined frequency and updates the calibration map every time it receives new scene data. The predetermined frequency may be a frequency of the detector completing a full scan of the calibration scene. The sensor calibration system provides a latest version of the calibration map for being used by an AV to calibrate a sensor on the AV 110.

In one embodiment, a method includes providing instructions to broadcast a modulated radar chirp signal from a radar antenna of a vehicle. The modulated radar chirp signal includes data associated with the vehicle. The method includes receiving a first return signal whose waveform substantially matches the modulated chirp signal. The first return signal is the modulated radar chirp signal after reflecting off of an object in an environment surrounding the vehicle. The method includes calculating a location for the object using the first return signal, receiving, from a base station antenna, a second return signal that indicates the modulated chirp signal was received by the base station antenna, and providing instructions to establish a wireless communication session with the base station antenna.

Example embodiments relate to techniques for hardware-in-the-loop testing with continuous integration for radar testing and development. A computing device may receive a target output for radar operation parameters undergoing development tests and determine whether a first output produced by a field programmable gate array (FPGA) based on the radar operation parameters differs from the target output less than a first threshold difference. When the output from the FPGA passes the comparison, the computing device may then cause a radar unit to transmit radar signals toward a target according to the radar operation parameters, which produces a second output that can also be compared to the target output. The FPGA may process signals for the radar unit. In some cases when the second output differs from the target output less than a second threshold difference, the computing device may provide the radar operation parameters as a radar software update to vehicles.

A sensor calibration system periodically receives scene data from a detector in a calibration scene. The calibration scene includes calibration targets. The sensor calibration system generates a calibration map based on the scene data. The calibration map is a virtual representation of the calibration scene and includes features of the calibration targets that can be used as ground truth features for calibrating AV sensors. The sensor calibration system can periodically update the calibration map. For instance, the sensor calibration system receives the scene data at a predetermined frequency and updates the calibration map every time it receives new scene data. The predetermined frequency may be a frequency of the detector completing a full scan of the calibration scene. The sensor calibration system provides a latest version of the calibration map for being used by an AV to calibrate a sensor on the AV 110.

A computing device receives a setup command and signals mobile robots to move sensor targets into positions within a predetermined range of a turntable. Each mobile robot may be coupled to a sensor target. Once the sensor targets are moved into the positions, calibration may be initiated, in which a vehicle is rotated using the turntable, and sensors coupled to the vehicle are calibrated based on detection of the sensor targets. The computing device may signal the mobile robots to adjust the sensor targets as needed, or, after calibration, to move into storage or charging positions