Simulation device for monitoring a motor vehicle

Abstract

The disclosure relates to a simulation device for motor vehicle monitoring, wherein a radar sensor (2) and a camera sensor (3) and a LiDAR light receiving sensor (1) and a computer (4) are present, wherein the radar sensor (2) can be controlled via a radar signal transmitter, and the camera sensor (3) can be controlled via a lens, and the LiDAR light receiving sensor (1) can be controlled via a light transmitter.

Claims

1. Simulation device for motor vehicle monitoring, comprising: a radar sensor (2), a camera sensor (3), a LiDAR light receiving sensor (1) and a computer (4), the radar sensor (2), the camera sensor (3) and the LiDAR light receiving sensor (1) being connected to the computer (4), wherein the radar sensor (2) is controlled via a radar signal transmitter, the camera sensor (3) is controlled via a lens, and the LiDAR light receiving sensor (1) is controlled via a light transmitter (7, 12, 27.1, 27.2, 27.3), wherein the radar signal transmitter, the lens and the light transmitter (7, 12, 27.1, 27.2, 27.3) synchronously control the radar sensor (2), the camera sensor (3) and the light receiving sensor (1) in a time window of less than 50 ms.

2. Simulation device according to claim 1, wherein the radar sensor (2), the camera sensor (3) and the LiDAR light receiving sensor (1) are connected to the computer (4) by a data line or a radio line.

3. Simulation device according to claim 2, wherein the radar signal transmitter (5), the lens (6) and the light transmitter (7, 12, 27.1, 27.2, 27.3) are connected to the computer (4).

4. Simulation device according to claim 1, wherein the radar signal transmitter (5) is activated by the computer (4), the computer (4) being configured to carry out a first setpoint/actual comparison of the reception of the radar sensor (2).

5. Simulation device according to claim 1, wherein the lens (6) is brought into operative connection with the camera sensor (3), the computer (4) carrying out a second setpoint/actual comparison of the focusing of the camera sensor (3).

6. Simulation device according to claim 1, wherein the light transmitter (7, 12, 27.1, 27.2, 27.3) is activated by the computer (4), the computer (4) being configured to carry out a third setpoint/actual comparison of the reception of the LiDAR light receiving sensor (1).

7. Method for simulating a detection environment for a radar sensor (2), a camera sensor (3), a LiDAR light receiving sensor (1), and a light transmitter (7, 12, 27.1, 27.2, 27.3) all connected to a computer (4), comprising the following steps: driving the radar sensor (2) by a radar signal (8) of a radar signal transmitter (5); monitoring, with the computer (4), the radar signal transmitter (5) and the radar sensor (2); carrying out, with the computer (4), a first setpoint/actual comparison; controlling the camera sensor (3) with a lens (6); monitoring, with the computer (4), the lens (6) and the camera sensor (3); carrying out, with the computer (4), a second setpoint/actual comparison; activating the LiDAR light receiving sensor (1) with a light signal from the light transmitter (7, 12, 27.1, 27.2, 27.3); registering the light signal (9) at the LiDAR light receiving sensor (1); and carrying out, with the computer (4), a third setpoint/actual adjustment, whereby the radar signal transmitter, the lens and the light transmitter (7, 12, 27.1, 27.2, 27.3) synchronously control the radar sensor (2), the camera sensor (3) and the light receiving sensor (1) in a time window of less than 50 ms.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further advantages, features and details of the invention result from the following description of preferred execution examples as well as from the drawings; these show in:

(2) FIG. 1 a schematic view of a simulation device according to the invention

(3) FIG. 2 shows a schematic circuit diagram;

(4) FIG. 3 an example of a part of FIG. 1;

(5) FIGS. 4-6 another example of execution;

(6) FIGS. 7 and 8 a third example of execution.

DETAILED DESCRIPTION

(7) FIG. 1 shows a motor vehicle 10 which, for example, has a LiDAR light receiving sensor 1 for autonomous driving. A radar sensor 2 and a camera sensor 3 are also shown schematically.

(8) The LiDAR light receiving sensor 1 is stimulated by a light transmitter 7. This can be done, for example, as described in FIG. 2. However, it is also conceivable that a LiDAR light transmitter 12, for example, is deactivated and an autonomous light transmitter 7 controlled by a computer 4 is activated. The computer 4 determines the time between the beginning of the reception readiness of the LiDAR light receiving sensor 1 and the emission of a light signal 9 by the light transmitter 7 in order to simulate a corresponding proximity or distance of a reflection.

(9) The LiDAR light receiving sensor 1 is connected to the computer 4 via a data line or a radio line in the same way as the light transmitter 7. This connection transmits the data obtained by the LiDAR—not the receiving sensor 1—to computer 4.

(10) FIG. 1 also shows a lens 6. The lens 6 should show the camera sensor 3 a test pattern 11 at a defined distance, whereby the test pattern 11 is always arranged at an actual distance which does not correspond to a distance defined closer, because the lens 6 gives the camera sensor 3 the impression that the test pattern, for example, is further away than is actually the case.

(11) The camera sensor 3 and the lens 6 are also connected to computer 4 via the data line or radio line. The selection of the lens 6 is determined in particular by the computer. By selecting lens 6, computer 4 defines the distance to be checked, which is to be recorded by camera sensor 3 and also automatically displayed, for example. This automatic focusing can be simulated by selecting lens 6 at a distance of x-meters. If another lens is selected, a simulation for automatic focusing can be tested for x+10 meters, for example.

(12) In addition, the radar sensor 2 is shown, which is to be stimulated by a radar signal transmitter 5. The radar signal generator 5 simulates a radar signal 8, which is perceived as an echo in the Doppler effect by the radar sensor 2.

(13) The radar sensor 2 and the radar signal transmitter 5 are also connected to computer 4 via the data line or radio line and in this way transmit the data obtained, for example, by radar sensor 2 to computer 4. In such a case, computer 4 also determines whether and when radar signal transmitter 5 should transmit a radar signal 8.

(14) FIG. 2 shows a schematic circuit diagram for the execution example, showing that not only a LiDAR light receiving sensor 1 of a LiDAR light measuring system 13 is used, but also a LiDAR light signal transmitter 12.

(15) In such a case, the emitted LiDAR light signal from the LiDAR light signal transmitter 12 is first routed to a photodetector 14. Photodetector 14, for example, is an optical detector, optoelectronic sensor or other electronic component that converts light into an electrical signal using the photoelectric effect or shows an electrical resistance dependent on the incident radiation. However, the term also refers to applications that have integrated such a radiation-measuring component.

(16) The signal picked up by the photodetector 14 is then transmitted to an amplifier 15, which upgrades the signal and amplifies it for further processing.

(17) The signal is then passed on to a comparator 16. A computer 4 monitors the comperator 16 and the transmission of the signal to a delay element 17, which transmits the transmission of the signal to an LED driver 18 in a defined form and influenced by computer 4 with different time delays.

(18) The LED driver 18 in turn causes an LED 19 (Light Emitting Diode) or a laser diode to emit the signal in an optical system 20 to light up. After the signal has been converted into a light signal by the LED 19 or the laser diode in the optical system 20, the LiDAR light receiving sensor 1 receives the light signal of the optical system 20.

(19) In the inventive method of simulating a detection environment for the optical system, the computer controls the radar sensor 2 and the camera sensor 3 and the LiDAR light receiving sensor 1 on one side and the radar signal transmitter 5, the selection of the lens 6 and the light transmitter 7 on the other side.

(20) Computer 4 performs an initial target/actual comparison to check radar sensor 2. Computer 4 checks whether the radar signals 8 sent by the radar signal transmitter 5 also meet the requirements, i.e. the actual values, by radar sensor 2.

(21) Computer 4 also carries out a second target/actual comparison to check the camera sensor 3. Computer 4 compares whether the camera sensor 3 automatically focuses or focuses in a certain time depending on the selection of lens 6. The computer 4 can also use a different lens, which simulates a further distance, for example, whereby the camera sensor 3 then automatically has to focus the test image 11 again at a further distance in a certain time, depending on the specification of the technical requirements.

(22) A third target/actual comparison is also carried out to check the LiDAR light receiving sensor 1. Either the LiDAR light signal of the LiDAR light transmitter 12 or the light signal of an autonomous light transmitter 7 is used for this purpose. Computer 4 checks whether the time delay between the activation of the LiDAR light receiving sensor 1, the delayed transmission of the light signal and the reception of the light signal by the LiDAR light receiving sensor 1 corresponds to the values stored in computer 4.

(23) FIG. 3 shows a part of FIG. 1 as part of an execution example. The LiDAR light receiving sensor 1 is held statically during the simulation. A simulation device is shown, which is arranged on a common underground 21. The LiDAR light receiving sensor 1 is arranged at a certain distance to the background 21. In addition a holder 22 is shown, which serves for the admission of several light transmitters 23, 24. In addition, a large number of other light transmitters can be mounted, which are shown in FIG. 3 but are not further named.

(24) The light transmitter 23 and the other light transmitter 24 are held in the same plane by the holder. In this example, this means an equal distance to the background 20. They are arranged next to each other. This in turn means that the light transmitter 23 and the further light transmitter 24 are arranged in a graduated circle with centric alignment to the LiDAR light receiving sensor 1.

(25) In FIGS. 4 to 6, a part of FIG. 1 is shown as part of another execution example. The LiDAR light receiving sensor 1 is rotated 360° during the simulation.

(26) FIG. 4 shows a rotation head 23 in which the LiDAR light receiving sensor 1 is rotated. In addition an axis 24 is shown, on which the rotation head 23 rests.

(27) In addition, the two rotation arrows 26 show the direction of rotation in this example.

(28) FIG. 5 shows a light emitter strip 25. In the side of the light emitter bar 25 normally facing the rotation head 23, it is easy to see how a first light emitter 27.1 is arranged and how additional other first light emitters 27.2, 27.3 are arranged below and above the central first light emitter 27.1.

(29) FIG. 6 shows a top view of a simulation device according to the invention. There the rotation head 23 is shown in the center of a light cylinder 28, which rotates in the direction of the rotation arrow 26.

(30) The light guide cylinder 28 consists of the light emitter bar 25 and the further light emitter bar 29 and further light emitter bars not described but shown in FIG. 6, which together close the circle around the rotation head 23 in order to simulate a 360° environment.

(31) In FIGS. 7 and 8 a third axe is shown. FIG. 7 shows the view from above and FIG. 8 the cut side view. In the two figures the rotation head 23 is shown again, which is also rotated by 360°.

(32) The rotation head 23 is surrounded by a light ring 30 in FIG. 7. The light ring 30 can be made of plastic in a 3D printing process. The light ring 30 consists of a multitude of superimposed rings 31.1-31.9, which are light-tightly shielded from each other.

(33) FIG. 7 also shows a zero degree adjustment 32. When passing through the light receiving sensor 1 at zero degree adjustment 32, the computer is informed of the signal of passing through the zero degree adjustment 32, so that the exact position of the light receiving sensor 1 can always be determined on the basis of the rotational speed of the rotation head 23 and the time of passing through the zero degree adjustment 32. Consequently, the position of the light receiving sensor 1 can be determined as a function of the time elapsed since passing the zero degree adjustment 32 and the rotation speed. This is especially possible if a transmitter 33 emits a transmitter light here in the form of the transmitter light arrow 35, whereby the transmitter light propagates in the entire light ring 30 and is visible to the light receiving sensor 1. At the respective position of the light receiving sensor 1, a receiver return signal 36 is again transmitted, which is detected by a receiver 34.

(34) In this way a detection of the position and the functionality of the light receiving sensor 1 can be determined.

(35) Although only one or more preferred examples of the invention have been described and presented, it is obvious that the expert can add numerous modifications without leaving the essence and scope of the invention.

REFERENCE CHARACTER LIST

(36) 1—LiDAR light receiving sensor 2—Radar sensor 3—Camera sensor 4—computers 5—Radar signal transmitter 6—Lens 7—Light transmitter 8—Radar signal 9—Light signal 10—Motor vehicle 11—Test pattern 12—LiDAR—Light transmitter 13—LiDAR—Light measuring system 14—Photodetector 15—Amplifier 16—Comperator 17—Delay element 18—LED—Driver 19—LED 20—Optical system 21—Substrate 22—Mounting 23—Rotary head 24—Axle 25—Light emitter strip 26—Rotation arrow 27—Light transmitter 28—Light guide cylinder 29—Further light emitter strip 30—Light ring 31—Ring 32—Zero degree adjustment 33—transmitter 34—Recipients 35—Transmitter light arrow 36—Receiver return signal