METHOD AND DEVICE FOR TESTING A DRIVER ASSISTANCE SYSTEM

Abstract

The invention relates to a method and to a device for testing a driver assistance system for a vehicle in a test environment. Traffic scenario descriptions are determined, which each characterize a certain traffic scenario and comprise at least one parameter, by means of which the traffic scenario in question can be adapted to constraints. The traffic scenario descriptions are stored in a traffic scenario file, in which the at least one parameter is stored in a predefined format. At least one traffic scenario description is selected on the basis of an input of a user and/or specified criteria. Furthermore, a test case is produced on the basis of the at least one selected traffic scenario description and at least one specified value for the at least one parameter. The test case corresponds to a specific realization of the traffic scenario characterized by the at least one selected traffic scenario description, with respect to the at least one specified value of the at least one parameter, and is suitable for producing a test environment in which a driver assistance system can be subjected to a test run. A test run can be carried out using the produced test case.

Claims

1. A method for testing a driver assistance system for a vehicle in a test environment comprising the following procedural steps: determining traffic scenario descriptions, each characterizing a specific traffic scenario, particularly a cut-in maneuver or a cut-out maneuver, and comprising at least one parameter by means of which the respective traffic scenario can be adapted to boundary conditions, wherein particularly each of the traffic scenario descriptions are or are to be stored in a traffic scenario file in which the at least one parameter is stored in a predefined, in particular generic, format; selecting at least one traffic scenario description on the basis of a user input and/or predetermined criteria; and producing a test case on the basis of the at least one selected traffic scenario description and at least one predetermined value for the at least one parameter and preferably further traffic scenario descriptions, wherein the test case corresponds to a concrete realization of the traffic scenario characterized by the at least one selected traffic scenario description and preferably further traffic scenarios with respect to the at least one predetermined value of the at least one parameter and is suitable for producing a test environment in which a driver assistance system can be subjected to a test run.

2. The method according to claim 1, further comprising the following procedural step: conducting a test run using the test case as produced.

3. The method according to claim 1, further comprising the following procedural steps: determining at least one dataset which characterizes at least one, in particular real, traffic scenario; and identifying at least one parameter in the at least one determined dataset by means of which the respective traffic scenario can be adapted to boundary conditions, in particular to an initial speed of an ego vehicle to which the traffic scenario relates.

4. The method according to claim 3, wherein the at least one parameter is identified by comparison of a classified vehicle environment in chronologically consecutive scenes of the at least one traffic scenario characterized by the at least one determined dataset.

5. The method according to claim 3, further comprising the following procedural step: generating at least one traffic scenario description the basis of the determined dataset or determined datasets, wherein the traffic scenario description characterizes the specific traffic scenario and wherein the at least one identified parameter is stored in the predefined format.

6. The method according to claim 1, further comprising the following procedural step: storing the generated traffic scenario description, in particular the traffic scenario file, in a traffic scenario database, wherein further traffic scenario files are also stored in the traffic scenario database.

7. The method according to claim 1, further comprising at least one the following procedural steps: determining the predetermined values from a test run database; and/or determining the predetermined values from a user input, in particular via a user interface.

8. A device for testing a driver assistance system for a vehicle in a test environment comprising: means, particularly an interface or sensor device, for determining traffic scenario descriptions, which each characterize a specific traffic scenario, particularly a cut-in maneuver or a cut-out maneuver and comprise at least one parameter by means of which the respective traffic scenario can be adapted to boundary conditions, and preferably for storing particularly each of the traffic scenario descriptions in a traffic scenario file in which the least one parameter is stored in a predetermined, in particular generic, format; means, particularly a first module of a data processing device, for selecting at least one traffic scenario description on the basis of a user input and/or predetermined criteria; and means, particularly a second module of a data processing device, for producing a test case on the basis of the at least one selected traffic scenario description and at least one predetermined value for the at least one parameter and preferably further traffic scenario descriptions, wherein the test case corresponds to a concrete realization of the traffic scenario characterized by the at least one selected traffic scenario description and preferably further traffic scenarios relating to the at least one predetermined value of the at least one parameter and is suitable for producing a test environment in which a driver assistance system can be subjected to a test run.

Description

[0038] Further features, advantages and possible applications of the invention will be evident from the following description in conjunction with the figures, in which the same reference numerals are used throughout for the same or corresponding elements of the invention. Shown at least partially schematically therein are:

[0039] FIG. 1 a preferred embodiment of a device according to the invention;

[0040] FIG. 2 a preferred embodiment of a method according to the invention; and

[0041] FIG. 3 an example of a traffic scenario description.

[0042] FIG. 1 shows a preferred embodiment of an inventive device 100 for testing a driver assistance system for a vehicle in a test environment. The device 100 comprises a traffic scenario database 2 having traffic scenario descriptions stored therein, each characterizing a specific traffic scenario, an input device 3 for selecting at least one of the traffic scenario descriptions stored in the traffic scenario database 2, a data processing device 4 for creating a test case corresponding to a concrete realization of the traffic scenario characterized by the at least one selected traffic scenario description on the basis of said at least one selected traffic scenario description, and a simulation device 5 for performing a test run using the generated test case, in particular a test environment produced on the basis of the test case.

[0043] Each of the traffic scenario descriptions preferably generically characterize a specific traffic scenario, for example a cut-in maneuver or a cut-out maneuver. In other words, each traffic scenario description is preferably an abstract representation of a traffic scenario, in particular at least one concrete driving maneuver of a vehicle taking part in the traffic scenario.

[0044] The traffic scenario descriptions are preferably stored in the traffic scenario database 2 in the form of traffic scenario files. Due to the preferred generic character of the traffic scenario descriptions, the traffic scenario files can be stored in a predefined, in particular generic, format independently of the respectively characterized (specific) traffic scenario. This thereby enables or at least simplifies e.g. an identification and/or a parameterization of the traffic scenario characterized by the respective traffic scenario description.

[0045] The traffic scenario descriptions stored in the traffic scenario database 2 can to that end comprise for example at least one parameter, for instance speeds and/or positions of the road users included in the traffic scenario, with which the respective traffic scenario can be adapted to boundary conditions. Preferentially, the at least one respective parameter is contained in the traffic scenario files. In particular, the predetermined format of the traffic scenario files can correspond to the predetermined format of the at least one parameter with which the at least one parameter is stored in the traffic scenario file. In other words, the predetermined format of the traffic scenario files can be predetermined or respectively formed by the structure with which the at least one parameter is stored in the traffic scenario database 2. This thereby enables the parameterization of the traffic scenarios.

[0046] At least one traffic scenario description can also be selected via the at least one parameter contained in each of the traffic scenario files. For example, via the input device 3, a user can enter or respectively specify at least one parameter to be factored in when creating test cases. It is in particular conceivable for the user to input at least one value or range of values for the at least one parameter via the input device 3 so that those traffic scenario descriptions exhibiting the corresponding parameter, or where the corresponding parameter is respectively capable of assuming the entered value or value range, can be selected in the database.

[0047] To that end, the input device 3 can for example comprise a graphical user interface in which the user can provide information on the selection of the at least one traffic scenario description, particularly with respect to the at least one parameter. The input device 3 is thus preferentially used as a user interface.

[0048] The data processing device 4 is preferably configured to factor in at least one predetermined value for the at least one parameter for producing the test case on the basis of the at least one selected traffic scenario description, wherein the at least one predetermined value can be provided by e.g. the input device 3. By specifying at least one value for the at least one parameter, the traffic scenario characterized by the selected, preferably generic or respectively abstract, traffic scenario description can be concretized so that the test case preferentially corresponds to a specific realization of the traffic scenario.

[0049] Based on the test case produced by the data processing device 4, the simulation device 5 can preferentially produce a test environment in which a driver assistance system can be subjected to a test run. For example, the simulation device 5 can simulate a virtual, in particular dynamic, vehicle environment on the basis of the generated test case in which the reaction of the driver assistance system is tested in the traffic scenario concretized by the test case. The parameterization of the traffic scenarios, which are each characterized by a traffic scenario description, accordingly allows the testing of the driver assistance system under different conditions, e.g. in different weather conditions, on different segments of road, at different vehicle speeds, with or without a trailer and/or the like.

[0050] FIG. 2 shows a preferred embodiment of an inventive method 1 for testing a driver assistance system for a vehicle in a test environment 6. A sensor data stream 7 preferably generated by means of a sensor device when detecting a real vehicle environment is thereby processed In method step S1. The sensor data stream 7 can in particular be processed such that parameterizable datasets, each characterizing at least one traffic scenario, are generated and can be stored in a database 2 as traffic scenario descriptions, in particular generic traffic scenario descriptions. These traffic scenario descriptions serve in the following as the basis for producing at least one test case with which the test environment 6 can be produced for testing the driver assistance system.

[0051] Preferably, the sensor data stream 7 is processed in step S1, in particular analyzed, e.g. by classifying the vehicle environment mapped by the sensor data stream 7. Elements of the vehicle environment can for example thereby be recognized and labeled in individual snapshots of the vehicle environment which correspond to the individual scenes of a real (specific) traffic scenario obtained via sensor data fusion. So-called meta-information is thus generated which goes beyond the purely physical information resulting from the sensor-based recording of the vehicle's environment. Able to be generated in this context are, for example, object lists of objects recognized in the vehicle environment, for instance other road users or traffic signs. Such processing of the sensor data stream 7 can be implemented for example using a rule-based approach in which predetermined events are recognized and labeled.

[0052] In other words, preferably produced on the basis of the sensor data stream 7 is an environment model which represents e.g. the objects around the ego vehicle equipped with the sensor device.

[0053] In a further method step S2a, based on the sensor data stream 7 thusly processed, in particular from the meta-information thereby generated such as for instance an object list, at least one dataset characterizing the at least one traffic scenario recorded by the sensor device can be determined. For example, processed sensor data corresponding to individual traffic scenarios identified for instance via recognized predetermined events can then be selectively extracted from the sensor data stream 7. This can also be referred to as scenario mining.

[0054] In a further method step S2b, at least one parameter is preferably identified for the at least one determined dataset, by means of which the at least one traffic scenario characterized by the at least one determined dataset can be adapted to boundary conditions, for instance a weather condition, a speed of the ego vehicle and/or the like. In other words, the at least one traffic scenario characterized by the at least one determined dataset can be parameterized.

[0055] The at least one parameter can for example be identified by determining the states of the vehicle environment's elements from the classified vehicle environment; i.e. the at least one dataset, for instance recognized objects such as other road users, and comparing them to one another in successive scenes of the traffic scenario characterized by the at least one dataset. This thereby enables defining a vehicle environment's element state, for example through physical variables such as speed, position, configuration and/or the like. At least one parameter is preferentially identified particularly upon a change in an element's state in the chronologically consecutive scenes of the traffic scenario, e.g. a change in speed or position.

[0056] Since the traffic scenario description is preferentially defined by the dataset determined in method step S2a and the at least one parameter identified in method step S2b, method steps S2a and S2b can also be understood as a determining of traffic scenario descriptions and method step S2c as a summarizing. Alternatively or additionally, however, such traffic scenario descriptions can also be otherwise determined, for instance from other databases such as NCAP, DVP and/or accident databases (not shown).

[0057] In a further method step S3, the at least one dataset with the at least one thusly parameterized traffic scenario is stored in a traffic scenario file as an in particular generic traffic scenario description and saved to the traffic scenario database 2. The at least one identified parameter in particular can thereby be stored in a predetermined, in particular generic, format in the traffic scenario file.

[0058] In a further method step S4, at least one of the traffic scenario descriptions as determined and stored in the traffic scenario database 2 can then be selected by user input, for instance via an input device 3. For example, the user can specify at least one parameter with which the traffic scenarios characterized by the traffic scenario descriptions can be adapted to boundary conditions.

[0059] The at least one traffic scenario description relevant to or respectively selected in respect of the user input is provided to a data processing device which produces at least one test case in a further method step S6 on the basis of said traffic scenario description and at least one value for the at least one parameter, in particular predetermined by user input, which corresponds to a concrete realization of the traffic scenario characterized by the at least one selected traffic scenario description. The at least one produced test case can be used to generate a test environment for testing the driver assistance system.

[0060] The user can thereby influence, in particular configure, the test of the driver assistance system via his input, for example by specifying boundary conditions for the traffic scenario characterized by the at least one traffic scenario description, in particular the course of the traffic scenario, e.g. the resolution of a traffic situation. For example, the user can to that end select appropriate parameters on the basis of which the at least one test case is created. It is in particular conceivable for the user to directly select relevant traffic scenario descriptions via input and modify at least one value or value range of a respective parameter, e.g. through specification.

[0061] Such modified traffic scenario descriptions can be stored in the traffic scenario database in a further method step S5, potentially along with generated test cases, where they can be selected at a later point in time for in particular faster test case production.

[0062] In a further method step S7, a test environment 6 for testing a driver assistance system, for example a virtual vehicle environment, is generated from the at least one test case produced by means of a simulation device 5. The simulation device 5 can exhibit a simulation environment such as MATLAB/Simulink, IPG CarMaker, PreScan, SUMO SCANer or Virtual Test Drive (VTD) to that end. The test environment 6 can thereby be produced independently of the simulation environment employed since the traffic scenario descriptions are stored in the traffic scenario database 2 as traffic scenario files in a predetermined, particularly generic, format and the test cases can correspondingly also be produced in a standardized format, e.g. the OpenSCENARIO format.

[0063] It is pointed out that the exemplary embodiments are merely examples which are in no way to be limiting of protective scope, application and configuration. Rather, the preceding description affords one skilled in the art a guideline for the implementation of at least one exemplary embodiment, whereby various modifications can be made, in particular with regard to the function and arrangement of the described components, without departing from the protective scope as results from the claims and equivalent combinations of features.

[0064] FIG. 3 shows an example of a traffic scenario description 12 [PP1] in a schematic depiction. Preferentially, the depicted traffic scenario description 12 corresponds to a general description of a specific traffic scenario, particularly a driving maneuver such as a cut-in maneuver (merging in maneuver) in the shown example, in which an ego vehicle 8, to which the traffic scenario relates, merges from a first lane 9a into a second adjacent lane 9b behind a vehicle 10 in front, as indicated by the arrow. A driver assistance system, e.g. an adaptive cruise control (ACC), can for example be tested for its reaction during and/or after the merging on the basis of a corresponding traffic scenario description 12.

[0065] Such a traffic scenario description 12 characterizing a traffic scenario can be determined in different ways. For example, traffic scenario descriptions can be loaded from NCAP, DVP and/or accident databases. Alternatively or additionally, sensor data characterizing the traffic scenario can be collected, for instance by performing appropriate simulations or by the ego vehicle 8 equipped with a sensor device for recording the vehicle environment completing a test drive and a section corresponding to the traffic scenario being extracted as sensor data from a sensor data stream produced by the sensor device.

[0066] With respect to the cut-in maneuver, the sensor data stream is for example characterized by the vehicle 10 in front suddenly being recorded at the center of a detection range 11 of a sensor unit of the sensor device, for instance a lidar sensor, upon the change in lanes 9a, 9b. This event can therefore be considered as a trigger for the cut-in maneuver and, preferably together with further suitable triggers, used to extract the sensor data from the sensor data stream.

[0067] On the basis of the thusly extracted sensor data, parameters are preferably thereafter identified which define the boundary conditions of the traffic scenario, for example the speed of the ego vehicle 8 and the vehicle 10 in front, the distance of the ego vehicle 8 from the vehicle 10 in front at the start and/or end of the cut-in maneuver, the respective lanes 9a, 9b used by the vehicles 8, 10 and/or the like. The parameters thusly identified preferentially define how the cut-in maneuver ensues.

[0068] The parameters can thereby in particular be identified by comparing, in particular subtracting from one another, different states of the two vehicles 8, 10 as defined by the parameters and occurring during the course of the traffic scenario, particularly at the start and end of the traffic scenario.

[0069] The thusly identified parameters are preferentially stored at least as part of the traffic scenario description 12 in a traffic scenario file, which together with other traffic scenario files, e.g. from NCAP, DVP and/or accident databases, forms a traffic scenario database. Preferably, the traffic scenario file is provided with a tag which identifies the traffic scenario description 12 stored in the traffic scenario as corresponding to a cut-in maneuver.

[0070] To produce a test case based on which a test environment can be generated in which the driver assistance system of the ego vehicle 8 (hereinafter referred to as test vehicle as it is equipped with the driver assistance system to be tested) can be tested, the traffic scenario description 12 of the cut-in maneuver, having been determined as described above, can be selected, e.g. by input of a user, via which all identified traffic scenario descriptions 12 with the respective tag are retrieved. Values for the parameters of the selected traffic scenario description 12 can be predetermined, e.g. likewise by user input or by retrieving from a parameter database. The cut-in maneuver characterized by the selected traffic scenario description 12 is thereupon preferentially adapted to boundary conditions defined by the parameters and/or other criteria, e.g. predetermined via user input.

[0071] For example, a value can be predetermined for in particular the lateral speed of the test vehicle 8 which is lower than when capturing the actual cut-in maneuver. Accordingly, the realization of the cut-in maneuver characterized by the test case proceeds more slowly or respectively takes longer. In so doing, at least one value or range of values can also be predetermined for other parameters in order to produce one or more realizations of the cut-in maneuver. Correspondingly, a plurality of different test cases can be readily produced without great effort on the basis of the one traffic scenario description 12.

LIST OF REFERENCE NUMERALS

[0072] 1 method [0073] S1-S7 method steps [0074] 2 traffic scenario database [0075] 3 input device [0076] 4 data processing device [0077] 5 simulation device [0078] 6 test environment [0079] 7 sensor data stream [0080] 8 ego vehicle/test vehicle [0081] 9a, 9b lane [0082] 10 other vehicle [0083] 11 detection range [0084] 12 traffic scenario description [0085] 100 device