SYSTEM AND METHOD FOR TESTING A DRIVER ASSISTANCE SYSTEM OF A MOTOR VEHICLE

Abstract

A system for testing a driver assistance system of a motor vehicle is provided, wherein the driver assistance system comprises a control unit configured to process sensor signals of at least one environment sensor of the motor vehicle, wherein the environment sensor is configured to detect environmental information and convert it into sensor signals. The system comprises a vehicle test bench configured to operate at least one drive train of the motor vehicle, with at least one simulation module, wherein the simulation module incorporates at least one environment sensor and comprises a stimulation device allocated to said environment sensor. The environment sensor incorporated by in the simulation module corresponds, for example functionally and/or structurally, to the environment sensor of the motor vehicle or is the environment sensor of the motor vehicle. The simulation module is connected to the vehicle test bench in order to transmit a sensor signal from the simulation module to the control unit of the driver assistance system.

Claims

1. A system for testing a driver assistance system of a motor vehicle, wherein the driver assistance system comprises a control unit for processing sensor signals configured to process sensor signals of at least one environment sensor of the motor vehicle, wherein the at least one environment sensor is configured to detect environmental information and convert it into sensor signals, wherein the system comprises: a vehicle test bench configured such that a drive train of the motor vehicle can be operated; and at least one simulation module, wherein the simulation module incorporates or can incorporate at least one environment sensor and comprises a stimulation device allocated to said environment sensor; wherein the environment sensor incorporated or able to be incorporated by the simulation module corresponds, in particular functionally and/or structurally, to the at least one environment sensor of the motor vehicle or is the at least one environment sensor of the motor vehicle; and wherein the simulation module is connected to the vehicle test bench for signal transmission in order to transmit a sensor signal from the simulation module to the control unit of the driver assistance system.

2. The system according to claim 1, wherein the simulation module is designed to generate sensor signals which depict the environmental information from the perspective of the environment sensor of the motor vehicle.

3. The system according to claim 1, wherein the simulation module is connected to the vehicle test bench, in particular the control unit, solely by means of a connection for signal transmission, preferably by means of a cable, a bus system, in particular a field bus, or by means of a wireless connection.

4. The system according to claim 1, wherein the environment sensor which is or can be incorporated by the simulation module is identical to the environment sensor of the driver assistance system it replaces.

5. The system according to claim 1, wherein the system comprises or can incorporate at least two simulation modules, wherein at least two of said simulation modules differ in the measuring principle applied by their incorporated environment sensors.

6. The system according to claim 1, wherein the at least one simulation module comprises or can incorporate at least two environment sensors, wherein at least two of said environment sensors differ in the measuring principle they apply.

7. The system according to claim 1, wherein the at least one environment sensor is arranged and/or integrated in a component, in particular a component of the motor vehicle, preferably the body of the motor vehicle, and said component is or can be incorporated by the at least one simulation module.

8. The system according to claim 1, wherein the simulation module, particularly the environment sensor which is or can be incorporated by the simulation module and the stimulation device, is/are realized as a structural unit, preferably covered by a housing.

9. The system according to claim 1, wherein the stimulation device is configured to generate a response signal, preferably based on a signal emitted by the at least one environment sensor incorporated by the simulation device, to be received by said environment sensor, wherein the response signal is preferably generated on the basis of a simulated test environment.

10. The system according to claim 1, wherein the system comprises at least one signal converter, in particular a perception chip of a camera of at least one further environment sensor, which is configured to transmit a sensor signal to the control device of the motor vehicle and to generate the sensor signal on the basis of raw sensor data, wherein the raw sensor data is fed into the signal converter and same generates the sensor signal.

11. The system according to claim 1, wherein the system comprises at least one apparatus configured to generate a simulated sensor signal, particularly in the form of object lists and/or object data, and transmit same to the control unit of the driver assistance system.

12. A method for testing a driver assistance system of a motor vehicle on a vehicle test bench, particularly using a system according to one of the preceding claims, comprising the following steps: simulating a test environment via at least one simulation module; generating a sensor signal by means of the at least one simulation module for processing by a control unit of the driver assistance system instead of a sensor signal of at least one environment sensor of the motor vehicle; and operating a drive train of the motor vehicle on the vehicle test bench based on the sensor signal generated via the at least one simulation module using the driver assistance system.

13. A method for testing a driver assistance system of a motor vehicle on a test track, comprising the following steps: simulating a test environment by means of at least one simulation module; generating a sensor signal via the at least one simulation module for processing by a control unit of the driver assistance system instead of a sensor signal of at least one environment sensor of the motor vehicle; and operating the motor vehicle on the test track based on the sensor signal generated by means of the at least one simulation module using the driver assistance system.

14. The method according to claim 12, additionally comprising the steps: mounting at least one environment sensor on or in the at least one simulation module; and allocating a stimulation device to said environment sensor.

15. The method according to claim 12, comprising the step: mounting a component, in particular a component of the motor vehicle, having at least one environment sensor arranged and/or integrated therein, in or on the at least one simulation module.

16. The method according to claim 15, additionally comprising the step: detaching a component of the motor vehicle having at least one environment sensor arranged and/or integrated therein from the motor vehicle in order to enable said component to be mounted in the simulation module.

17. The method according to claim 12, additionally comprising the step: suppressing a signal transmission of the environment sensor of the motor vehicle to the control device.

18. The method according to claim 12, wherein the environment sensor is the environment sensor of the motor vehicle.

19. The method according to claim 12, wherein the simulation module incorporates or can incorporate the environment sensor and a stimulation device and is realized as a structural unit, preferably covered by a housing.

Description

[0040] The invention will be explained in greater detail below on the basis of non-limiting exemplary embodiments as illustrated in the figures. Shown therein at least partly schematically:

[0041] FIG. 1 a preferential exemplary embodiment of a system for testing a driver assistance system of a motor vehicle; and

[0042] FIG. 2 a preferential exemplary embodiment of a method for testing a driver assistance system of a motor vehicle on a vehicle test bench.

[0043] FIG. 1 shows a system 1 for testing a driver assistance system 2 of a motor vehicle 3. The motor vehicle 3 is arranged on a vehicle test bench 4 which is configured to operate at least one drive train 5 of the motor vehicle 3. In particular, the vehicle test bench 4 is configured to operate the motor vehicle 3 or components of the motor vehicle 3 using the driver assistance system 2. The vehicle test bench 4 is preferably a roller dynamometer or a drive train test bench having a wheel emulation device. Such a test bench further comprises a weather simulator having a temperature control device and an airflow emulation device.

[0044] The motor vehicle 3 can be operated under precisely controlled conditions with the vehicle test bench 4. For example, a torque can be applied to the rotatably mounted wheel emulation device, whereby different loads of the motor vehicle 3, different road conditions and/or the like can be simulated. Alternatively or additionally, different weather conditions can be simulated, for instance by the temperature control device providing different temperatures and/or the airflow emulation device providing different wind flows.

[0045] In order to detect the environment, the motor vehicle 3 comprises at least one environment sensor 6d, 6e configured to detect a physical measured variable, in particular a measurement signal, and convert it into a sensor signal. An environment sensor 6a, 6b, 6c, 6d, 6e, in particular of the motor vehicle 3, is preferably designed as an ultrasonic sensor, a radar sensor, a lidar sensor, a camera or as a GPS receiver. In the exemplary embodiment as depicted, for example, the motor vehicle 3 exhibits a camera 6d and a radar sensor 6e.

[0046] Preferably, the environment sensor 6a, 6b, 6c, 6d, 6e is configured to emit a measurement signal, preferably sound waves or electromagnetic waves, for detecting the environment. This measurement signal, e.g. an ultrasonic signal, interacts with the environment and is thereby influenced by the environment. The impacted measurement signal can be received or respectively detected by the at least one environment sensor and a sensor signal generated on the basis thereof which characterizes the environment of the motor vehicle 3. The interaction thereby corresponds to, for example, a reflection, a transmission and/or an at least partial absorption of the measurement signal at or respectively by objects in the vicinity of the motor vehicle 3.

[0047] In FIG. 1, a control unit 7 of the driver assistance system 2 is for example connected to a first environment sensor 6d of the motor vehicle 3 and a second environment sensor 6e of the motor vehicle 3. In order to be able to analyze the driver assistance system 2 in a precisely controlled environment, a first simulation module 8a and a second simulation module 8b are connected to the control unit 7 in order to simulate an environmental scenario for the driver assistance system, in particular a vehicle environment or a driving situation respectively. The first simulation module 8a comprises a first environment sensor 6a and a first stimulation device 9a allocated thereto. The second simulation module 8b comprises a second environment sensor 6b having a second stimulation device 9b allocated thereto and two third environment sensors 6c having two third stimulation devices 9c allocated thereto.

[0048] The control unit 7 is configured to process the sensor signals of at least one environment sensor 6a, 6b, 6c, 6d, 6e. A signal transmission connection between the control unit 7 and the environment sensors 6a, 6b, 6c, 6d, 6e can be of wireless or wired design. Preferentially, the at least one environment sensor 6a, 6b, 6c, 6d, 6e is connected to the control unit 7 by means of a bus system, further preferentially by means of a field bus. The stimulation device 9a, 9b, 9c is configured to stimulate the environment sensor 6a, 6b, 6c such that the sensor signal it generates simulates interactions of the motor vehicle 3 with its surroundings and/or influences of the surroundings on the motor vehicle 3. To that end, the stimulation device 9a, 9b, 9c can influence a measurement signal, in particular one emitted by the environment sensor 6a, 6b, 6c, or provide a measurement signal to be detected by said environment sensor 6a, 6b, 6c. The sensor signal of the environment sensor 6a, 6b, 6c of the simulation module 8a, 8b preferably replaces the sensor signal of the environment sensor 6d, 6e of the motor vehicle 3 for processing by the control unit 7. The simulation module 8a, 8b is arranged and able to be operated independently, in particular at a distance, particularly in a different room, from the motor vehicle 3 and/or the vehicle test bench 4. In a further preferential exemplary embodiment, the vehicle test bench 4 is arranged in a test cell and the simulation module(s) 8a, 8b arranged outside of said test cell. In particular, components and/or simulation modules of the system can be entirely separate geographically as part of a so-called networked test bench, e.g. even arranged in different countries.

[0049] Preferably, the simulation module 8a, 8b is exclusively connected to the control unit 7 via a data connection. In particular, the simulation module 8a, 8b is arranged relative to the motor vehicle 3 and/or the vehicle test bench such that motion and/or forces arising when the motor vehicle 3 is operated by the vehicle test bench 4 are not transmitted to the simulation module 8a, 8b. This thereby protects the environment sensor 6a, 6b, 6c and associated, particularly highly sensitive stimulation device 9a, 9b, 9c of the simulation module 8a, 9a from physical interference due to forces and motions of the motor vehicle 3 or the vehicle test bench 4.

[0050] Preferably, the simulation module 8a, 8b fully incorporates the at least one environment sensor 6a, 6b, 6c and the at least one associated stimulation device 9a, 9b, 9c or has a housing in which the at least one environment sensor 6a, 6b, 6c and the at least one associated stimulation device 9a, 9b, 9c are arranged. This thereby protects the simulation module 8a, 8b, particularly the sensitive stimulation device 9a, 9b, 9c, from dirt and moisture. Preferably, the simulation module 8a, 8b exhibits an absorber, in particular in the form of a signal-absorbing coating, which is designed to absorb measurement signals and/or insulate the components of the simulation module 8a, 8b.

[0051] In the exemplary embodiment as shown, the first environment sensor 6d of the motor vehicle 3 is designed as a camera. In order to depict an environmental simulation based on sensor signals and replace the sensor signals of the motor vehicle 3 camera 6d for the control unit 7, the first environment sensor 6a of the first simulation module 8a is likewise designed as a camera, particularly an identical camera. The first stimulation device 9a is allocated to said camera 6a, preferably in such a manner as to maintain a necessary minimum distance for camera stimulation. The stimulation device 9a is thereby configured to provide the camera 6a with a simulated image of the environment, particularly for detection by the optics of the camera 6a. The camera 6a is configured to record the environmental image and convert it into a sensor signal. This sensor signal can then be processed by the control device 7 instead of the sensor signal of the motor vehicle 3 camera 6d.

[0052] In a further preferential exemplary embodiment, the environment sensor 6d of the motor vehicle 3 is designed as a stereo camera having two lenses. Preferentially, a similar, in particular identical, stereo camera 6a, 6b, 6c is arranged in a simulation module 8a, 8b, whereby one respective stimulation device 9a, 9b, 9c is allocated to each of the two lenses of the stereo camera. By providing the stereo camera in a simulation module 8a, 8b, the stimulation devices 9a, 9b, 9c can be suitably allocated to both lenses of the stereo camera without needing to take into account the installation circumstances on the motor vehicle 3. The second simulation module 8b comprises a component 10, a bumper in the present exemplary embodiment, mounted in the simulation module 8b. Three environment sensors 6b, 6c are arranged in the bumper 10, each of which is allocated an applicative stimulation device 9b, 9c. For example, the two outer environment sensors 6c are designed as environment sensors according to a first measuring principle, in particular as radar sensors, the inner environment sensor 6b being designed as an environment sensor according to a second measuring principle, in particular as a lidar sensor.

[0053] The bumper 10 which is mounted in the second simulation module is preferably a bumper for the motor vehicle 3 on the vehicle test bench 4, in particular equipped with structurally and/or functionally similar, preferably identical, environment sensors 6b, 6c as the bumper of the motor vehicle 3.

[0054] Alternatively or additionally, it can also be provided for the detaching of the bumper 10 and/or another component 10 of the motor vehicle 3 located on the vehicle test bench 4, in particular together with the environment sensors 6e provided therein, and the mounting of said component 10 in or on the second sensor module 8b, in particular together with the environment sensors 6b, 6c provided therein.

[0055] The use of installed environment sensors 6a, 6b, 6c, 6d, 6e, in particular in the relevant component 10 such as in the motor vehicle 3, particularly enables a realistic analysis of interactions between individual environment sensors 6a, 6b, 6c, 6d, 6e or sensor systems of multiple environment sensors 6a, 6b, 6c, 6d, 6e respectively.

[0056] In a further exemplary embodiment, the system can comprise a plurality of simulation modules 8b equipped with the same components 10, in particular a plurality of environment sensors 6b, 6c. Consequently, this for example enables only environment sensors 6b according to a first measuring principle to be provided and/or operated in a first simulation module 6b and only environment sensors 6c according to a second measuring principle to be provided and/or operated in a second simulation module 8b. This can thereby in particular prevent interactions of the environment sensors 6b, 6c, particularly within one stimulation device 9b, and thus simulation errors.

[0057] In principle, combinations of any number of in particular differently designed simulation modules 8a, 8b are conceivable in further exemplary embodiments of a system 1 according to the invention in order to enable comprehensive testing of the driver assistance system 2.

[0058] In a further exemplary embodiment, the simulation module 8a, 8b is not used on the vehicle test bench but rather on a test track. In this case, the simulation module 8a, 8b can preferably be arranged in the interior of the motor vehicle 3, particularly in the trunk.

[0059] FIG. 2 shows a preferential exemplary embodiment of a method 100 according to the invention for testing a driver assistance system 2 of a motor vehicle 3.

[0060] In an optional method step S1, at least one component 10 of the motor vehicle 3 comprising at least one environment sensor 6d, 6e arranged and/or integrated therein is detached from the motor vehicle 3 in order to enable said component 10 to be mounted in the simulation module 8a, 8b. This step S1 can be dispensed with if no component 10 or a component 10 not from the motor vehicle 3 is to be mounted in the simulation module 8. Alternatively or additionally able to be provided for is the detaching of an environment sensor 6d, 6e of the motor vehicle 3.

[0061] In a method step S2, a component 10, preferentially a component 10 of the motor vehicle 3, particularly preferentially the component 10 which was detached from the motor vehicle 3 in method step S1, is mounted in or on the at least one simulation module 8a, 8b. The component 10 thereby comprises at least one environment sensor 6a, 6b, 6c, 6d, 6e arranged and/or integrated therein.

[0062] Alternatively or additionally, at least one environment sensor 6a, 6b, 6c, 6d, 6e which is not integrated into a component 10 is mounted on or in the at least one simulation module 8a, 8b. In particular, each of the environment sensors 6a, 6b, 6c mounted in the simulation module 8a, 8b is or is to be connected to the control unit 7 for the transmission of sensor signals.

[0063] If only environment sensors 6a, 6b, 6c which are not those of the motor vehicle 3 are mounted in the simulation module 8a, 8b, the corresponding environment sensors 6d, 6e of the motor vehicle 3 can then be disabled. In other words, those environment sensors 6d, 6e with sensor signals replaced via the simulation module 8a, 8b can be disconnected from the control unit 7 or said sensor signals can be muted in terms of the control unit 7 processing. This thereby enables minimizing interference of the environment sensors 6d, 6e of the motor vehicle 3 on the control unit 7 and thus on the driver assistance system 2. In a method step S3, the at least one environment sensor 6a, 6b, 6c mounted in the simulation module 8a, 8b is allocated a stimulation device 9a, 9b, 9c. Preferably, each environment sensor 6a, 6b, 6c in the simulation module 8a, 8b is allocated a stimulation device 9a, 9b, 9c. Alternatively, one stimulation device 9a, 9b can be allocated to multiple environment sensors 6a, 6b, 6c, particularly environment sensors 6a, 6b, 6c based on the same measuring principle, in order to stimulate same. Functionally allocating the stimulation device 9a, 9b, 9c to the environment sensor 6a, 6b, 6c is simplified due to the environment sensor 6a, 6b, 6c being arranged in the simulation module 8a, 8b in freely accessible manner, in particular not being obscured when integrated into the motor vehicle 3. A precise alignment of environment sensor 6a, 6b, 6c and stimulation device 9a, 9b, 9c is thus possible.

[0064] Preferably, the at least one environment sensor 6a, 6b, 6c and/or stimulation device 9a, 9b, 9c is/are calibrated in an optional further step. Calibration within the meaning of the invention means comparing a measured value displayed by an environment sensor 6a, 6b, 6c to a preset reference value. The calibration in particular includes a documentation of measurement deviation and a calculation of measurement uncertainty and preferably ensues under predetermined reference conditions. Preferably, no technical interventions relative the environment sensor 6a, 6b, 6c and/or the stimulation device 9a, 9b, 9c are thereby required. Further preferentially, in order to achieve an optimal operating position, the at least one stimulation device 9a, 9b, 9c is spatially adjusted/aligned relative to the at least one environment sensor 6a, 6b, 6c, or vice versa, in an optional further step.

[0065] In a method step S4, a test environment is simulated via at least one simulation module 8a, 8b. The at least one environment sensor 6a, 6b, 6c of the at least one simulation module 8a, 8b is stimulated on the basis of a simulated environmental scenario. To that end, the stimulation device 9a, 9b, 9c preferably modulates a measurement signal emitted by the environment sensor 6a, 6b, 6c and provides it to the environment sensor(s) 6a, 6b, 6c for detection. Alternatively, the stimulation device 9a, 9b, 9c can provide a measurement signal as a measurement signal for simulating an environmental scenario, for example in the form of GPS data or a simulated image. In particular, the stimulation device 9a, 9b, 9c is configured to stimulate the environment sensor(s) 6a, 6b, 6c in such a way as to depict the surroundings thereof from the perspective of the environment sensor 6d, 6e of the motor vehicle 3.

[0066] In a further method step S5, a sensor signal for processing by a control unit 7 of the driver assistance system 2 is generated. This sensor signal is generated by means of the at least one simulation module 8a, 8b and processed by the control unit 7 instead of a sensor signal from at least one environment sensor 6d, 6e of the motor vehicle 3. The at least one simulation module 8a, 8b can thus generate sensor signals which characterize the simulated environmental scenario.

[0067] In a further method step S6, at least one drive train 5 of the motor vehicle 3 is operated on the vehicle test bench 4 on the basis of the at least one sensor signal of the at least one sensor module 8a, 8b using the driver assistance system 2. Alternatively, the motor vehicle 3 is operated on a test track on the basis of the at least one sensor signal of the at least one sensor module 8a, 8b using the driver assistance system 2. In both cases, additional further sensor signals can be generated by actual and/or simulated sensors and used for processing by the control unit 7 and preferably for operating the driver assistance system 2 and/or drive train 5 and/or motor vehicle 3.

[0068] Additionally to be noted is that the exemplary embodiments are only examples that are not intended to limit the scope of protection, the applications and configuration in any way. Rather, the foregoing description is to provide the person skilled in the art with a guideline for implementing at least one exemplary embodiment, whereby various modifications can be made, particularly as regards the function and arrangement of the described components, without departing from the scope of protection resulting from the claims and such equivalent combinations of features.

LIST OF REFERENCE NUMERALS

[0069] 1 system [0070] 2 driver assistance system [0071] 3 motor vehicle [0072] 4 vehicle test bench [0073] 5 drive train [0074] 6a, 6b, 6c,6d, 6e environment sensor [0075] 7 control unit [0076] 8a, 8b simulation module [0077] 9a, 9b, 9c stimulation device [0078] 10 component [0079] S1 component detaching [0080] S2 environment sensor mounting [0081] S3 stimulation device allocation [0082] S4 test environment simulation [0083] S5 sensor signal generation [0084] S6 drive train operation