Method and system for simulation-assisted determination of echo points, and emulation method and emulation apparatus

Abstract

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.

Claims

1. A method for the simulation-assisted determination of at least one actual echo point of an object, comprising the following procedural steps: S1 calculating, via one or more processing units, a predicted object reference point of the object and a predicted sensor device reference point of a radar-based sensor device on the basis of an actual object reference point and an actual sensor device reference point; S2 determining, via the one or more processing units, a predicted echo point of the object on the basis of an emission characteristic of the radar-based sensor device, the predicted object reference point and the predicted sensor device reference point; S3 calculating, via the one or more processing units, a predicted spatial relative relationship between the predicted echo point and the predicted object reference point; S4 calculating, via the one or more processing units, an updated actual object reference point; S5 determining, via the one or more processing units, a simulated actual echo point of the object on the basis of the predicted spatial relative relationship and the updated actual object reference point; and S6 outputting, via the one or more processing units, the simulated actual echo point.

2. The method according to claim 1, further comprising the following procedural step: S4′ calculating, via the one or more processing units, an updated actual sensor device reference point; wherein the actual echo point is further determined on the basis of the updated actual sensor device reference point of the radar-based sensor device.

3. The method according to claim 1, wherein the procedural steps of the method are periodically repeated and a prediction horizon in procedural step S1 is so far out as is needed to determine the predicted echo point of the object in procedural step S2, in less than one second.

4. The method according to claim 1, wherein the steps of the method are periodically repeated and procedural step S5 is repeated after approximately 10 ms.

5. The method according to claim 1, wherein the determination of the predicted echo point in procedural step S2 further takes into account an arrangement of the object relative to the radar-based sensor device and/or the object dimensions.

6. A method for emulating a detection target comprising the following procedural steps: checking whether a signal emitted by a radar-based sensor device is received; determining and outputting at least one simulated actual echo point according to the method of claim 1 when the signal is received; modulating the received signal on the basis of the at least one simulated actual echo point; and emitting the modulated received signal to the radar-based sensor device.

7. The method according to claim 6, wherein the emitted modulated received signal acts on a receiver of the radar-based sensor device.

8. The method according to claim 1, wherein the one or more processing units includes at least one of a central processing unit (CPU) or a graphics processor (GPU).

9. A system for the simulation-assisted determination of at least one actual echo point of an object, comprising one or more processing units configured to execute the following procedural steps: calculating a predicted object reference point of the object and a predicted sensor device reference point of a radar-based sensor device on the basis of an actual object reference point and an actual sensor device reference point; determining a predicted echo point of the object on the basis of an emission characteristic of the radar-based sensor device, the predicted object reference point, and the predicted sensor device reference point; calculating a predicted spatial relative relationship between the predicted echo point and the predicted object reference point; calculating an updated actual object reference point; determining a simulated actual echo point of the object on the basis of the predicted spatial relative relationship and the updated actual object reference point; and outputting the simulated actual echo point.

10. An emulation apparatus for emulating a detection target, comprising: a receiver module configured to receive a signal emitted by a radar-based sensor device; a processing module incorporating a system according to claim 9; a modulation module configured to modulate the signal received by the receiver module on the basis of at least one simulated actual echo point; a control module configured to generate a control signal for an antenna at least partly on the basis of the at least one simulated actual echo point and/or the modulated signal; and a transmitter module configured to transmit the modulated signal to the radar-based sensor device.

11. The emulation apparatus according to claim 10, wherein the transmitter module is configured to act on a receiver of the radar-based sensor device.

12. The system according to claim 9, wherein the one or more processing units includes at least one of a central processing unit (CPU) or a graphics processor (GPU).

13. A non-transitory computer-readable storage medium having stored thereon on instructions, that when executed by one or more processors cause to be performed a method for the simulation-assisted determination of at least one actual echo point of an object, wherein the method comprises: calculating a predicted object reference point of the object and a predicted sensor device reference point of a radar-based sensor device on the basis of an actual object reference point and an actual sensor device reference point; determining a predicted echo point of the object on the basis of an emission characteristic of the radar-based sensor device, the predicted object reference point, and the predicted sensor device reference point; calculating a predicted spatial, relative relationship between the predicted echo point and the predicted object reference point; calculating, an updated actual object reference point; determining a simulated actual echo point of the object on the basis of the predicted, spatial, relative relationship and the updated actual object reference point; and outputting the simulated actual echo point.

Description

(1) The invention will be described in greater detail below on the basis of non-limiting exemplary embodiments as depicted in the figures. Shown at least to some extent schematically therein:

(2) FIG. 1 an exemplary embodiment of a method according to the invention;

(3) FIG. 2 a first exemplary embodiment of an inventive system;

(4) FIG. 3 a second exemplary embodiment of an inventive system;

(5) FIG. 4A-C various scenarios in the determining of an actual echo point of a simulated object; and

(6) FIG. 5 one exemplary embodiment of an inventive emulation apparatus.

(7) FIG. 1 shows an exemplary embodiment of a method 1 according to the invention.

(8) In a first procedural step S1, the development of, in particular a predefined, traffic situation, is predicted based on coordinates of road users and a sensor device preferentially generated by a traffic simulation, for instance by simulating the various road users and sensor device, in particular their kinematics. A predicted object reference point is thereby calculated for each of the road users. Additionally, a predicted sensor device reference point is also calculated for a sensor device which is to detect signals, particularly reflected electromagnetic waves, from the road users.

(9) In a second procedural step S2, the coordinates are determined from points at which signals emitted by the sensor device, in particular from each road user, would be reflected according to the simulated traffic conditions.

(10) The signals, in particular radar signals, can thereby also be simulated, especially modeled, i.e. virtually replicated, for instance using a ray tracing procedure. In other words, signals emitted by the sensor device for detecting objects in reality are simulated and their propagation in the virtual environment of the simulated traffic situation calculated. This in particular yields the coordinates of each object's reflection points, so-called echo points.

(11) Preferably, however, it is assumed that the sensor device does not move or respectively that the object moves in an inertial system of the sensor device. In this inertial system, the sensor device is at rest and only the relative motion of the object in relation to the sensor device is calculated.

(12) The echo points are thereby contingent on the emission characteristic of the sensor device, the predicted object reference point and the predicted sensor device point; i.e. in particular on the coordinates of the road users and the sensor device. In particular, the echo points can also depend on the arrangements, for instance orientations, of the road users to the sensor device and/or the physical dimensions of the road users, in particular their profiles. Because these coordinates depend on object coordinates predicted in procedural step S1, they are called predicted echo points. Preferably, multiple expected echo points are thereby compiled into a single echo point.

(13) Relative relationships, in particular spatial relative relationships, between the predicted echo points and the predicted object reference points can be calculated from the predicted echo points and the predicted object reference point in a third procedural step S3. A relative relationship is for instance a distance and/or an orientation, preferentially a distance vector, directed toward a predicted echo point from a predicted object reference point.

(14) Updated road user coordinates; i.e. object reference points, can be calculated in a fourth procedural step S4 for the point in time at which calculation of the relative relationship is completed. This calculation is preferentially made at least substantially in real time.

(15) The prediction horizon; i.e. the time period over which the traffic conditions given in the first procedural step S1 further develop, is thereby preferentially selected so as to substantially correspond to the time period needed to determine the predicted echo points.

(16) In an additional fourth procedural step S4′, updated sensor device coordinates continuing to move within the prediction horizon analogously to the road users are calculated.

(17) Simulated actual echo points are determined in a fifth procedural step S5 by associating the updated coordinates of the road users and the updated coordinates of the sensor device with the relative relationships. In other words, predicted object reference points are replaced by current actual object reference points so that the starting points of the distance vectors shift.

(18) The simulated actual echo points are then output in a sixth procedural step S6.

(19) FIG. 2 shows a first exemplary embodiment of an inventive systems 2 for the simulation-assisted determination of at least one actual echo point which comprises a traffic simulation 3, a ray tracing unit 4 and a processing unit 5.

(20) The traffic simulation 3 comprises an input 6 via which the traffic simulation 3 can be controlled. A traffic situation to be simulated can in particular be fed in via input 6 as can a prediction horizon indicating the time period over which the traffic situation is to progress. The traffic situation is in particular characterized by actual object reference points and actual sensor device reference points.

(21) The traffic simulation 3 outputs a predicted object reference point and a predicted sensor device reference point to the ray tracing unit 4 in procedural step S1. The predicted reference points correspond for instance to road user and sensor device coordinates in the predicted future.

(22) The predicted road user and sensor device reference point is processed in the ray tracing unit 4 to determine a predicted road user echo point and output it to the processing unit 5. This process is implied by procedural step S2.

(23) The paths of the signals, e.g. electromagnetic waves, emitted by the sensor device, in particular their transmission or respectively refraction and/or reflection on simulated road user surfaces, are thereby simulated, for instance calculated.

(24) The processing unit 5 is to that end configured to calculate a predicted relative relationship, in particular spatial relative relationship, between the predicted echo point and the predicted object reference point from the predicted echo point and the predicted object reference point calculated in procedural step S1. The position, in particular the distance and/or the orientation, of the predicted echo point relative to the predicted object reference point is thereby known.

(25) When the determination of the predicted echo point and/or the predicted relative relationship is substantially completed, the traffic simulation 3 calculates an updated actual object reference point. In addition, the traffic simulation 3 can thereby also calculate an updated actual sensor device reference point. The updated reference points are output to the processing unit 5. This is implied by procedural steps S4, S4′.

(26) The processing unit 5 is also configured to determine a simulated actual echo point of the simulated road user on the basis of the predicted relative relationship, the updated actual object reference point and the updated actual sensor device reference point, which can be output in procedural step S6.

(27) FIG. 3 shows a second exemplary embodiment of an inventive system 2 comprising a traffic simulation 3, a ray tracing unit 4, a processing unit 5 and a prediction unit 7.

(28) The traffic simulation 3 outputs the calculated actual object reference point and the actual sensor device reference point to the prediction unit 7 which is configured to calculate a predicted object reference point and a predicted sensor device reference point on the basis of the actual object reference point and the actual sensor device reference point. To that end, the prediction unit 7 models the development of the actual reference points, for instance the coordinates of road users and sensors. The prediction unit 7 can in particular be configured as a processing unit which performs a Kalman filtering and/or determines the coordi-nates by means of recursive least squares prediction or model-based RLSQ.

(29) The prediction unit 7 then subsequently outputs the predicted object reference point and the predicted sensor device reference point to the ray tracing unit 4.

(30) The present exemplary embodiment otherwise corresponds to the exemplary embodiment depicted in FIG. 2, in particular as regards its potential advantages.

(31) FIGS. 4A-C show various scenarios in the determining of an actual echo point 8 of a simulated object 9.

(32) In an initial position shown in FIG. 4A, a sensor device 10 is located at an actual sensor reference point 11 and a simulated object 9 at an actual object reference point 12. A prediction unit (see FIG. 3) predicts an object reference point 13 past a predetermined prediction horizon; i.e. after a predetermined period of time has elapsed.

(33) A predicted echo point 15 of object 9 is determined on the basis of an emission characteristic 14 for a signal, for instance electromagnetic waves, emitted by the sensor device 10, the predicted object reference point 13 and a predicted sensor device reference point (which in the present example corresponds to the actual sensor device reference point for reasons of clarity) which reflects at least in an idealized way how and/or at which coordinates the object 9 reflects a signal emitted by the sensor device 10.

(34) The predicted echo point 15 is thereby located on a side of the object 9 facing the sensor device 10.

(35) A predicted relative relationship 16 between the predicted echo point 15 and the predicted object reference point 13 can be calculated on the basis of the pre-dicted echo point 15 and the predicted object reference point 13. In the present example, the predicted relative relationship 16 is depicted as a vector pointing from the predicted object reference point 13 to the predicted echo point 15.

(36) When an updated object reference point of the simulated object 9 past the prediction horizon; i.e. after the predicted echo point and/or the predicted relative relationship is determined, corresponds to the predicted object reference point 13, the predicted echo point 15 is the actual echo point of the object.

(37) FIG. 4B depicts a first situation after the prediction horizon; i.e. after the predicted echo point and/or the predicted relative relationship having been determined.

(38) The simulated object 9 has thereby moved toward the sensor device 10, in parti-cular its reference point 11, whereby its updated actual object reference point 12′ does not coincide with the predicted object reference point 13. The original position of the simulated object 9 is thereby indicated by dashed/dotted line.

(39) Since the actual echo point 15′ is determined on the basis of the predicted relative relationship 16 and the updated actual object reference point 12′, the actual echo point 15′ reflects the actual position of the echo point of the simulated object 9, although there is a discrepancy between the updated object reference point 12′ and predicted object reference point 13.

(40) FIG. 4C depicts a second situation after the prediction horizon; i.e. after the predicted echo point and/or the predicted relative relationship having been determined.

(41) The simulated object 9 has thereby changed its direction of motion; i.e. taken a curved path. Since the position of an actual echo point 15″ depends on the shape and/or orientation of the object 9 to the sensor device 10, the actual echo point 15″ in this example shifts into the corner of the object 9 facing the sensor device. The predicted relative relationship 16 used to determine the actual echo point 15′ therefore does not point to the actual echo point 15″ of the object 9.

(42) Preferably, the actual echo point 15′ can be corrected on the basis of the deviation of the object 9 orientation at the predicted object reference point 13 and the updated actual object reference point 12′, for instance by a correction factor being calculated for the deviation and incorporated into the determination of the actual echo point 15′.

(43) FIG. 5 shows an exemplary embodiment of an inventive emulation apparatus 8 for emulating a detection target which comprises a receiver module 17, a system 2 for simulation-assisted determination of at least one actual echo point, a modulation module 18, a control module 19 and a transmitter module 20.

(44) The receiver module 17, e.g. an antenna, receives the actual signal 14′ emitted by a sensor device 10, in particular electromagnetic waves, for instance a radar signal.

(45) By means of the simulating of a traffic situation in which for instance a driver assistance system of a vehicle comprising the sensor device (10) is to be tested and the virtual ray tracing of the signals 14′ received by the receiver module 17, actual echo points are determined by the system 2 and output to the modulation module 18.

(46) The modulation module 18 modulates the signal 14′ received by the receiver module 17 in accordance with the actual echo points, in particular so that a modulated signal 14″ is characterized by the traffic conditions simulated by the system 2, and outputs it to the control module 19. The latter controls a transmitter module 20, for instance an antenna, in particular by means of a control signal, such that the transmitter module 20 can transmit the modulated signal 14″ which is ultimately received by the sensor device 10.

LIST OF REFERENCE NUMERALS

(47) 1 method

(48) 2 system

(49) 3 traffic simulation

(50) 4 ray tracing unit

(51) 5 processing unit

(52) 6 input

(53) 7 prediction unit

(54) 8 emulation apparatus

(55) 9 object

(56) 10 sensor device

(57) 11 sensor device reference point

(58) 12 actual object reference point

(59) 12′ updated actual object reference point

(60) 13 predicted object reference point

(61) 15 emission characteristic

(62) 14′ signal

(63) 14″ modulated signal

(64) 15 predicted echo point

(65) 15′ actual echo point

(66) 15″ true echo point

(67) 16 predicted relative relationship

(68) 17 receiver module

(69) 18 modulation module

(70) 19 control module

(71) 20 transmitter module

(72) S1-S6 first to sixth method step

(73) S4′ additional fourth method step