CN109991015A - For testing the test macro and method of the control system of at least partly autonomous driving vehicle in virtual environment - Google Patents

Abstract

It provides a kind of for testing the test macro (100) of the control system of at least partly autonomous driving vehicle in virtual environment.The system includes the control module (101) to be tested for controlling at least one movement of the vehicle according at least one sensor signal from sensor associated with the vehicle, it is configurable to generate the programmable device (102) of virtual environment (103), the virtual environment (103) can be interacted by interface module (104) and at least one virtual test scene (105) can be generated in the virtual environment (103), the virtual test scene (105) has at least one virtual test participant object (106) and virtual test vehicle (107).

Description

For testing the control system of at least partly autonomous driving vehicle in virtual environment Test macro and method

Technical field

The present invention relates to a kind of for testing the side of the control system of at least partly autonomous driving vehicle in virtual environment Method and test macro.

Background technique

Entirely autonomous driving vehicle or autonomous vehicle are can wherein to hold in the case where the control of not vehicle driver Row includes the vehicle of the driver behavior of safety-critical function.At least partly independently driving vehicle is partially or completely independently to drive vehicle ?.The autonomous driving vehicle in part provides autonomous driving operation at least for one or more specific operations or traffic condition.Vehicle These can independently to execute the assessment of movement (such as in system for increasing drive safety) based on sensor signal straight Starting is connect, such as by vehicle driver or the user of vehicle for example using long-range control starting, such as executes at least portion Divide the parking manoeuvres of autonomous driving vehicle, which will automatically execute.

However, the becoming increasingly popular in vehicle operating with this automatic technology, the multiplicity for the traffic condition to be considered It property and complexity and is also being constantly increasing for their control program.

Therefore, in the exploitation of suitable control system, the explication of development goal wants excellent therefore, it is considered that extremely important It is also such for selecting the selection of the performance and quantity of the sensor and actuator that use.Other than technical correctly function, User and there may be other road users also should be early in opening to the acceptance of (part) autonomous behavior of driving vehicle The hair stage is considered, it means that carries out in time in authentic testing scene to the control software of implementation and comprehensive test is also Essential task.

However, often lacking in order to make master data necessary to best decision in the process of development, and do not have There are the available suitable test program and/or test environment for developing optimization, wherein design, verifying and the confirmation of control program can To be performed.This means that the solution of problem (the problem of including not yet detecting) cannot be identified, until for surveying The expensive prototype of the vehicle of examination can be used, or even later, such as when executing the user that may be time-consuming and expensive or vehicle is examined When institute, other than the high cost in further development process, delay is also caused.

Therefore, using virtual environment, (wherein fc-specific test FC scene can be in a manner of substantially repeating and be cost-benefit It is created and is integrated into the exploitation and test program of vehicle) represent effective substituted or supplemented technology.

Although in addition virtual environment is commonly used in computer game field, such as first person shooting game or drive simulation Device, but these are also increasingly used in the field of product development and test.

In 8,412,499 B2 of US, a kind of portable driving simulator for vehicle is disclosed, wherein real vehicles Steering operated when vehicle stops by driver, while driver is presented along by the data helmet (i.e. head-mounted display) Give his/her virtual driving route running.At least partly independently the test of driving vehicle is not provided with there.

In 2013/0257904 A1 of US, a kind of system for virtual development is shown, which is designed to lead to The hand for considering user and head position data are crossed to improve the display of the virtual environment of user.

In 2013/0022950 A1 of US, a kind of system for creating the behavioral study of tester is described.? In this case, the user for having on the data helmet or head-mounted display is immersed in virtual environment, and his/her movement and Movement is recorded, so that they can be by with post analysis.

In K.Herbus and P.Ociepka, " in the virtual reality incarnation of the dummy model of Stewart platform and vehicle Integrated (Integration of the virtual model of a Stewart platform with the avatar Of a vehicle in a virtual reality) ", research paper, Materials Science and Engineering, 2016, the 1-6 pages, the It in volume 145, shows in virtual environment, the test platform of virtual machine control can be used for virtually assembling and testing Incarnation thereon, i.e., the virtual representation of vehicle chassis to be tested.With for recording setting for response of the user to vehicle behavior The immersion of the user for the test macro applied, which exists, to be not provided with.

In 2016/0210382 A1 of US, a kind of system is disclosed, within the system, computer installation creates virtual ring Border, in the virtual environment, virtual vehicle can automatically drive and detect and handle using virtual-sensor data, wherein User input selection test parameter can be passed through.However, not providing for including in virtual environment and using by user In the facility of creation test facilities, in test facilities, user or virtual road user can be captured to autonomous driving vehicle Behavior receiving.

2017/0025031 A1 of US describes a kind of for test will be in the device of device used in aircraft.At this In the case of kind, the virtual environment with cockpit scene is created, and user passes through by means of intrinsic nonfunctional placeholder pair The virtual representation of device to be operated is tested as receiving touch feedback.The tester with motion platform is provided for user It stands, which is designed to create the impression to mobile cockpit.When being present in tester station, tester is extremely It is few to be integrated in a manner of preliminary in the virtual environment in test drives cabin, it is moved wherein even if such as tester is actually unable in It is dynamic.Test performance includes the interaction of the virtual representation of integration testing personnel and unit under test.Selected by although this method allows Design it is tested, but the functional test in virtual environment without the practical control software based on sensor signal.Not yet There is facility to be provided for creating test scene by user or can configure for tester to be connected to any user in principle Virtual objects, to participate in testing from the angle of the object.

Summary of the invention

The purpose of the present invention is create a kind of true control for testing at least partly autonomous driving vehicle in a test case System has cost-benefit method, allow to consider test participant to the acceptance of the autonomous control behavior proposed, True prototype without at least one overall vehicle has needed to use under corresponding test case.

According to the present invention, which utilizes according to claim 1 for testing at least partly in virtual environment It independently drives the test macro of the control system of vehicle and utilizes according to claim 20 in virtual environment Test at least partly independently drives the method for the control system of vehicle to realize.Advantageous embodiment of the invention is wanted in appurtenance It is described in asking.

According to an aspect of the present invention, a kind of for testing the control of at least partly autonomous driving vehicle in virtual environment The test macro of system processed includes at least one biography according to sensor associated with vehicle is at least partly independently driven Sensor signal controls control module to be tested of at least one movement of at least partly autonomous driving vehicle, and is configured For the programmable device for generating virtual environment, which can be interacted and in virtual environment by interface module At least one virtual test scene can be generated, which has at least one virtual test participant object and void Quasi- test vehicle.

Virtual test vehicle is the virtual representation that at least one portion independently drives vehicle, i.e. dummy model, and is had At least one virtual-sensor, the virtual-sensor generate virtual sensor signal and are made the signal by interface module Control module is output to for sensor signal to be assessed.

Control module is configured as generating at least one control signal according to sensor signal to be assessed, and by connecing The control signal is output to virtual test vehicle to control at least one movement of virtual test vehicle by mouth mold block.

Programmable device is at least configured as generating virtual survey in virtual environment under the excitation of the user of test macro Examination hall scape.

Interface module has user interactive module, and by the user interactive module, user can connect in this way To virtual test participant's object, i.e. test scene can be experienced by user from angle associated with participant's object, Middle virtual test participant object can be by user configuration.

Test macro permission tests true control module in variable virtual test scene in virtual test vehicle, the mould Block is really at least partly independently to drive vehicle and design, wherein being connected to virtual test participant by user interactive module The user of the system of object can not only observe test in virtual environment, but also can influence and configure it.

The fact that carry out experiencing virtual test scene from the angle of virtual test participant's object itself by user, vehicle row For subjective acceptability can be considered.For this purpose, virtual test participant object can be positioned in for example by virtual test The key position for the movement that vehicle executes, such as at the rear of vehicle in the case where backing maneuvers, and can by user with Mode relevant to test configures, such as changes in terms of size, color or movement velocity.It is participated in furthermore, it is possible to experience test The reaction of person.For example, if virtual test participant's object assumes the possible position of virtual pedestrian, it can be in virtual environment Distance of the actual assessment virtual vehicle before the braking of the front of virtual pedestrian.For example, if distance is too small so that pedestrian is frightened Unbearably, then the distance may be arranged too low, even if being actually enough to execute the movement of vehicle.Therefore, the test of control module is not It only may include the correct function of testing control module, and other road users (such as pedestrian) can be tested to vehicle row For acceptance.

Test macro can be not only used for using control module operation and the therefore autonomous driving vehicle in part it is autonomous The operation of driving performance so as to purpose improved for example during the development phase, and for example may be used to other people (such as Potential customers) vehicle that can undergo in varied situations behavior, such as may not during normal true test ride The behavior of generation.For example, impression experience can increase the understanding of the degree in case of emergency showed to certain security mechanisms, To allow to increase the confidence to the availability at least partly independently driving vehicle.In addition, test macro can also be for example in void It is used during the development process of quasi- mobile clinic or user clinic, or even before the vehicle prototype for having been carried out possible valuableness It uses.

Control module can be especially true control software to be tested, this really controls software and is for example generating virtual ring It is executed on the programmable device in border.In another embodiment, it may be provided that, control module is in the list for being connected to interface module It is executed (on for example, true at least partly processor that independently driving vehicle is specified) on only programmable device.However, at other In embodiment, it can also include the real hardware or hardware in the form of logic circuit for example connected interface module With the combination of software module.The test macro herein proposed provides, and control module is controlled using at least one control signal Virtual test vehicle, the control signal in response at least one sensor signal to be assessed assessment and generate.By control mould It is dummy pilot signal that block, which generates and is then transferred to the control signal of virtual environment by interface module,.

The configuration of the programmable device or computer installation of platform as virtual environment (i.e. virtual reality) especially includes The programming of device, the device include at least one processor and can store suitable program code to create virtual ring The memory in border.

Interface module realizes the friendship of the data between the real world of user and the virtual environment of execution virtual test scene It changes.Interface module not only includes software component, but also includes hardware component.Particularly, user interactive module is including, for example, being used for Such as generation is immersed in user's transmission by display appropriate (such as the data helmet or head-mounted display) as far as possible The data output device of impression in virtual environment, and organoleptic impression's (such as sense of hearing for providing a user virtual environment And/or tactile impression) other data output devices.User interactive module also include the movement for capturing user and by they It is converted into the data input device with the interaction of the object in virtual environment, such as data glove or other motion detection apparatus And/or other devices.Particularly, in order to also realize the movement by virtual environment implemented in a manner of real, such as can be with Use the omnidirectional moving simulator for virtual environment.User interactive module also includes the operation for the hardware of user's interaction Necessary software component, the software component for example execute on the programmable device of creation virtual environment.

The movement of the virtual test vehicle controlled by control module to be tested can be by least partly independently driving vehicle Any movement that can independently execute, for example, it is parallel or become transverse to the parking of road, the auto-steering of vehicle, automated lane Change, to the automatic connection of trailer or the execution of movement relevant with driving safety, such as evacuation or braking maneuver, wherein checkout area The form of scape is suitable for movement to be studied.

Virtual test vehicle is not only to indicate the true threedimensional model at least partly independently driving vehicle.It also have to A few virtual-sensor, the virtual-sensor generate virtual sensor signal, and virtual sensor signal is being transferred to interface mould It is forwarded to control module as sensor signal to be assessed after block, wherein the virtual-sensor of virtual test vehicle generates It is equivalent to and the signal of the true signal at least partly independently driving the associated corresponding actual sensor of vehicle.Sensor is suitable For the sensor of test scene, such as range sensor or velocity sensor, also allow simulated environment in virtual test scene In the embodiment of the configuration of condition, it is also possible to such as temperature sensor or humidity sensor.

Virtual test scene includes at least two virtual objects (virtual test vehicle and virtual test ginseng in virtual environment With person's object) arrangement, but also may include other virtual objects.In addition, virtual test scene may include one or Multiple associated movements for example, being not only the available virtual vehicle in parking stall and virtual test vehicle, and are for void Quasi- test vehicle automatically parks order there.In another embodiment, the execution of this movement is only surveyed by being connected to The user for trying participant's object is for example started using the control of true or virtual long.

Using described test macro, a kind of system is provided, wherein vehicle can be executed in immersive virtual environment The test of behavior, that is, the user of system can not only provide user's input, but also can in a manner of as compellent as possible Give the virtual environment interaction of the form (virtual environment is true and is not in fact illusion) of impression.User can basis Specific expected test configures virtual test scene, at least virtual test participant object, passes through virtual test participant Object, user and scene interactivity.

In one embodiment, virtual test scene includes other multiple objects.This means that having more complicated traffic shape The scene (such as above-mentioned parking manoeuvres) of condition can also carry out virtual test and variation in its structure, such as to be measured to find The limit of the reliability of the control module of examination.

In the preferred embodiment of test macro, virtual test participant's object is virtual representation (such as the user of people Incarnation), to support impression of user's " immersing " in test scene.Test macro provides, virtual test participant couple As can be by user configuration.For example, can with further provided is that, user selects to propose the control of virtual test vehicle specific It is required that the form for virtual test participant object, for example, the children with small body type, with limited movement velocity The elderly, wheelchair user, the people for leading dog, cyclist or other vehicles driver form.

In another embodiment, virtual test participant object can be distributed to one in other objects by user.With Family can determine that one in other objects will serve as virtual test participant's object, experience so that user can change him/her The angle of test scene.This can be but be not necessarily people, and can be any object also provided in test scene, example Such as, the thing of such as fence or boundary wall etc or other vehicles in test scene.

In a preferred embodiment, virtual test vehicle is configured as executing work under the excitation of user at least in test scene It is the movement of the control signal control at least generated to the response of virtual sensor signal by control module.It may be provided that, The movement of user's starting virtual test vehicle outside virtual environment, or by exerting one's influence to virtual test participant's object To start the movement of virtual test vehicle.It can have the evacuation or system of triggering virtual test vehicle on road for example, standing The effect of movement.Additionally or alternatively, the selection from the list that may be acted can also be provided.

In a preferred embodiment, user interactive module is configured as at least one movement of detection user and executes virtual Test the associated change of participant's object.Therefore, user can influence to test with virtual scene interaction and when executing and testing. According to the property and feature of virtual test participant object and user interactive module, this can be associated corresponding sports (example Such as, the true arm of user, which lifts or really run movement, causes the virtual arm for testing participant's object to lift or virtual operation Movement).Particularly, if the not humanoid incarnation of virtual test participant, for example, any other geometry, tree, grid Column etc. then also can specify the variation of other variations, such as size, direction, color etc..

In one embodiment, virtual environment has test scene arrangement components, which can be used User interactive module operates and is configured such that user can be at least during the connection of he/her and test participant's object Configure multiple attributes of virtual test scene.This allows when user remains connected to test participant's object in virtual environment User configures before and during its execution and changes virtual test scene.This allows user to obtain the effect that his/her is configured Direct impression and adjustment and/or change are for example executed according to the progress for the test implemented.

In one exemplary embodiment, multiple attributes of virtual test scene include virtual test participant object extremely A few attribute, and test scene arrangement components have test participant's configuration module, test participant's configuration module quilt It is configured so that user can configure at least one attribute of virtual test participant's object.This provides the advantage that user can With specifically for testing test case to the influence of the relevant parameter of test participant's object.

In one exemplary embodiment, detectability of the virtual test participant object at least one virtual-sensor By user configuration.Detectability can be used test participant's configuration module and directly configure, or be participated in using virtual test Other one or more attributes of person's object configure indirectly.For example, can provide for changing in the traffic shape of test scene The facility of the size of the people of virtual test participant's object or the color of clothes is served as in condition.

In a further exemplary embodiment, multiple attributes of virtual test scene include at least one of virtual test vehicle Attribute, and test scene arrangement components have test vehicle configuration module, and which is configured such that User can configure at least one attribute of virtual test vehicle.Test vehicle arrangement components can for example be provided for modifying void The parameter of the virtual-sensor of type or size, speed of quasi- test vehicle etc. or test vehicle is (such as in virtual test vehicle Range, frequency range or the position of upper sensor) option.

In yet another exemplary embodiment, test scene arrangement components have object-location, the object-location It is configured such that user can at least change the position of virtual test participant's object in virtual scene.It can also provide It is the position that can modify other possible all objects (especially virtual test vehicle).This provides the advantage that user can To adjust test scene so that specific condition to be tested is configured, and if necessary, can also be changed.In addition, For example, situation catalogue to be tested can be saved in memory, one is therefrom selected, then can be adjusted by user, such as About particular problem collection to be tested.

In one embodiment, virtual environment has analysis component, which can be used user interactive module operation, And it is configured such that at least one positioning indicator can be inserted into virtual test scene and assign them to by user One or more virtual objects of virtual test scene.The virtual objects of virtual test scene are at least virtual test participant couple As with virtual test vehicle and other multiple virtual objects.Positioning indicator can be display or record test scene or Any indicator of the current state of specific virtual objects therein.

In one exemplary embodiment, determine that the decision rule of state to be shown is assigned at least one state and refers to Show device.In this way, for example, certain states or state change can be shown or be recorded.The example of rule is if two right As the distance between be less than threshold value, then this will be shown by warning indicator, for example, virtual objects color variation.

In one exemplary embodiment, at least one positioning indicator includes for detecting between two virtual objects The device of distance.This might mean that the pseudo range between two in positioning indicator calculating test scene in object, and And it shows or records or export it.

In a further exemplary embodiment, Virtual Analysis component has at least one virtual camera shooting as positioning indicator Machine, the video camera can be placed in virtual environment by user at least in some regions can unrestricted choice position, and The image or image sequence of virtual test scene can be recorded from selected position using the video camera.In this way it is possible to The progress that recording and storage is tested from the angle of user's unrestricted choice, can also be from difference wherein recording for later analysis Angle or executed with different cycle tests, to realize the seeing in addition obtained by the comparison of various records or summary Solution.In addition, if the corresponding rule of distribution, may be provided that, such as only activation record in some cases, for example, Lower than in test scene from virtual test vehicle in the case where the minimum range of another virtual objects.In another embodiment In, instead of virtual camera, another virtual record device can also be provided, because can mention for each available virtual signal For the facility for recording and (capturing and store).

In one embodiment, test macro further includes measuring device, which is used to pass through use in user Family interactive module at least temporarily with detects the value of at least one biological parameter of user when being connected to virtual test participant's object. The biological parameter of user can be such as heartbeat, blood pressure.Measuring device for measuring and storing corresponding biological parameter can be with It is any suitable measuring device, especially body-building watch or " wearable device ", data-transformation facility for example allows to connect To programmable device.By by the process of the value of biological parameter compared with the time course of the movement of vehicle or cross reference, can To obtain the conclusion about user with the visual angle of selected test participant's object to the response of the behavior of virtual test vehicle. For example, if distance of the virtual vehicle before the braking of the front of virtual pedestrian is very small so that mistake in virtual environment Passerby is alarmed and shows somatic reaction, then selected distance may be too small.Therefore, the control of virtual test vehicle is controlled The test of module not only may include the correct function of testing control module, and can test other road users (such as Pedestrian) to the acceptance of vehicle behavior.

In one exemplary embodiment, interface module is configured as the record value of at least one biological parameter of user It is transmitted to virtual environment, and virtual environment has the device for showing record value associated with virtual test participant's object. In this way, user can be connected to test participant's object and when participating in virtual test scene by his/her response with Current event process is associated.For example, when using virtual camera, there is also by the information integration in relation to physical responses to remembering A possibility that in record itself.Show that acquired value associated with virtual test participant's object may include, for example, by it Be visualized as the response of virtual test participant's object, can also show this on the virtual monitor for example in virtual scene A little values.

In another embodiment, user interactive module include for rendering in virtual environment available user at least one The device of a communication device.Communication device can be such as phone or smart phone, wherein may be provided that, such as phone exists Control software (such as controller application program (app)) starting or the control on smart phone are worked or are mounted in virtual environment The function of virtual vehicle processed, and therefore realize the true long-range control of the function of virtual vehicle.For this purpose, communication system quilt It is integrated into virtual environment, such as using the true device of enhancing, or the communication device that user interactive module operates can be passed through Virtual representation can be tested in virtual test scene participant's object use.Thus, for example, can not pay attention in pedestrian It is tested under conditions of ground behavior, because they are used their smart phone or unexpectedly divert one's attention simultaneously suddenly And sudden change their behavior, for example, because phone rings.Moreover, for example, can test in this way in autonomous vehicle Movement during by the influence after remote-control intelligent telephone to the variation of the setting of the control module of autonomous vehicle.

In one embodiment, virtual test scene includes moving region, wherein test participant's object can be by user It is mobile.This can prevent test participant's object to be moved to except the region for the virtual test scene that creation generates, for example, for Moving region, the function and visual details rank that the object in virtual scene is necessary to allow for test ginseng person to interact, with Just immersion impression is created for user.Moving region will including, for example, virtual test vehicle and its ambient enviroment, especially with survey Relevant object is tried, such as in the case where autonomous parking manoeuvres, other vehicles define parking stall, road and parking lot.

According to another aspect of the present invention, it is related to according to the method for the present invention a kind of for being tested at least in virtual environment The method of the control system of the autonomous driving vehicle in part.It may be provided that, this method is utilized according to any in above-described embodiment A test macro executes.In this way, the advantages of test macro according to the present invention and specific characteristic can also be with It is embodied as a part of the method for the control system at least partly independently driving vehicle for testing in virtual environment.

The method includes the steps of:

It provides at least one sensor signal according to sensor associated with vehicle is at least partly independently driven To control at least one control module to be tested acted of at least partly autonomous driving vehicle；

Programmable device is configured to generate the virtual environment that can be interacted by interface module；And

At least one virtual test scene is generated in virtual environment, which participates in at least one virtual test Person's object and virtual test vehicle, wherein virtual test vehicle is at least partly independently to drive the virtual representation of vehicle and have At least one virtual-sensor, the virtual-sensor generate virtual sensor signal and are made the signal by interface module It is output to control module for sensor signal to be assessed, which is configured as raw according to sensor signal to be assessed The control signal is output to virtual test vehicle to control virtually at least one control signal and by interface module Test at least one movement of vehicle；And interface module has user interactive module, passes through the user interactive module, Yong Huke To be connected to virtual test participant's object in this way, i.e., test scene can be by user from related to participant's object The angle of connection is to experience, and wherein virtual test participant object can be by user configuration.This method, which further includes, passes through use Family interactive module connects the user to virtual test participant object and by user configuration virtual test participant's object.

In a preferred embodiment, this method also includes that virtual test vehicle is held under the excitation of user at least in test scene Action is made, and the movement as the control signal at least generated by control module to the response of virtual sensor signal by controlling System.

Detailed description of the invention

According to specific embodiment and attached drawing, other advantages of the invention are obvious.Below by following example The description of property embodiment and the present invention is explained in greater detail with reference to the figures.It shows that

Fig. 1 is according to an embodiment of the invention for testing at least partly autonomous driving vehicle in virtual environment Control system test macro the first exemplary schematic diagram；

Fig. 2 is according to another embodiment of the present invention for testing at least partly autonomous driving vehicle in virtual environment Control system test macro the second exemplary schematic diagram；

Fig. 3 is autonomous using the test macro for the control system for testing at least partly autonomous driving vehicle in virtual environment The schematic diagram of the test of the vehicle control system of the parking manoeuvres of implementation；And

Fig. 4 is according to another embodiment of the present invention for testing at least partly autonomous driving vehicle in virtual environment Control system method exemplary schematic diagram.

It should be understood that in the case without departing from the scope of protection of the present invention, can be used other embodiments and It can carry out structure or logic variation.Self-evident, the feature for the various exemplary embodiments being described above and below can be with that This combination, unless otherwise expressly specified.Therefore, the description, and protection of the invention should not be understood with restrictive meaning Range is defined by the following claims.

Specific embodiment

Fig. 1 shows according to an embodiment of the invention for testing at least partly autonomous driving in virtual environment The exemplary schematic diagram of the first of the test macro of the control system of vehicle.Test macro 100 include for according to at least partly At least one sensor signal of the associated sensor of vehicle is independently driven to control at least partly autonomous driving vehicle extremely The control module 101 to be tested of a few movement, and it is configurable to generate the programmable device 102 of virtual environment 103, it is empty Near-ring border 103 can be interacted by interface module 104 and at least one virtual survey can be generated in virtual environment 103 Examination hall scape 105, the virtual test scene 105 have at least one virtual test participant object 106 and virtual test vehicle 107.Virtual test vehicle 107 is the virtual representation at least partly independently driving vehicle, and has at least one virtual sensing Device 108, the virtual-sensor 108 generate virtual sensor signal and by interface module 104 using the signal as to be assessed Sensor signal be output to control module 101.Control module 101 be configured as being generated according to sensor signal to be assessed to A few control signal, and the control signal is output to control void by virtual test vehicle 107 by interface module 104 At least one movement of quasi- test vehicle 107.The quilt at least under the excitation of the user 109 of test macro 100 of programmable device 102 It is configured to generate virtual test scene 105 in virtual environment 103.Interface module 104 has user interactive module 110, passes through The user interactive module 110, user 109 can be connected to virtual test participant object 106, i.e. checkout area in this way Scape 105 can be experienced by user 109 from angle associated with participant's object 106, wherein virtual test participant object 106 can be configured by user 109.

In the example shown, virtual environment 103, which has, to be configured by the test scene that user interactive module 110 operates Component 111, usually software component, user 109 can use the attribute of software component configuration virtual test scene 105.? Shown in example, for this purpose, providing multiple offer subassemblies or module.Testing participant's configuration module 112 allows user One or more attributes of 109 configuration virtual test participant objects 106, such as it is by the detectability of virtual-sensor 108. Test one or more attributes that vehicle configuration module 113 allows user 109 to configure virtual test vehicle 107.Object positioning mould Block 114 allows user 109 to change any other void present in virtual test participant object 106 and virtual test scene 105 The position of quasi- object.In addition, virtual environment 103 has analysis component 115, which can be used user interactive module 110 operations, and user 109 can use the analysis component 115 and at least one positioning indicator be inserted into virtual test field In scape 105 and assign them to one or more virtual objects 106,107 of virtual test scene 105.For example, this can be use In the distance between test object device but it is also possible to be such as virtual camera.In the exemplary test system shown in, also Measuring device 116, such as " wearable device " or body-building recording device are provided, when user 109 is connected by user interactive module 110 When being connected to virtual test participant's object 106, the measuring device 116, the value of one or more biological parameters of user 109 are utilized (such as heartbeat, pulse, blood pressure etc.) can be detected.In addition, user interactive module have for rendering can be in virtual environment 103 Used in communication device 117 (such as phone or smart phone or even can be by the remote of the vehicle functions that control module 101 controls Process control) device 110.Finally, may be provided that, virtual test scene 105 includes moving region 118, in the motor area In domain 118, test participant's object 106 can be moved by user 109.

In order to which the design of test macro according to the present invention is described in more detail, Fig. 2 shows according to the present invention another The second of the test macro of the control system for testing at least partly autonomous driving vehicle in virtual environment of embodiment is shown The schematic diagram of example.Test macro 200 shown in Fig. 2 can be used by user 201 (therefore being true people), and at other In embodiment, it can also be used simultaneously by multiple users.System permission user 201 is immersed in be given birth to by programmable device 202 At virtual environment in and interact.For this purpose, test macro 200 has user interactive module 203.This may include VR platform (VR: virtual reality), it includes hardware and software components, and wherein related software is for example being connected to compiling for generation virtual environment It is executed on the individual programmable device of range device 202.It can also provide and be held on the programmable device 202 for generating virtual environment Capable all software components.VR platform may include for example, at least a pair of of data goggles or head-mounted display and user's control The system of device and tactile interface and the movement for detection and tracking user.

Furthermore it is possible to provide, during being tested using test macro, the measuring device of the biological parameter of user 204 collect and record biometric data, such as stress level, pulse, heart rate and/or the blood pressure of user 201.Measuring device 204 can be such as smartwatch or other health measurement devices but it is also possible to be the electrocardiogram for example for recording user ECG device.In the example shown, communication device 205 is also provided, can be such as smart phone, and in augmented reality Be visible in virtual environment with the help of resource with it is available.Programmable device 202 is to generate virtual environment and wherein Execute the computer platform of virtual test scene.

Virtual test scene includes virtual test vehicle 206, the virtual test vehicle 206 be in virtual test scene just In the virtual representation of the vehicle of test, i.e. dummy model, (it can be with the control for vehicle functions control module 207 The software module of software processed) by the behavior of virtual test vehicle 206, (its use designs for real vehicles in a test system The control signal of control module 207 controls) it is testing.Virtual test vehicle 206 is at least by object model 208 and sensor Model 209 defines.Object model 208 determines the three dimensional representation of vehicle, including its shape and size.Sensor model 209 connects To object model 208 and indicate one or more virtual vehicle sensors, these vehicle sensors simulate the phase of real vehicles The behavior of inductive sensing device.In one embodiment, object model 208 also includes the physical control systems or control path of vehicle All or part of model may include controller appropriate and control variable.

Control module 207 is connected in the virtual environment generated by programmable device 202 by interface module (not shown) Virtual scene in virtual test vehicle 206.Control module 207 includes at least partly independently to drive vehicle extremely for controlling The control software 210 to be tested of a few function, and computer platform 211 or programmable device with proper environment (for example, the PC with emulation).

The virtual environment 212 that is created by programmable device 202 provides virtual scene 213 and is loaded into wherein and can be by The frame of user configuration.Virtual scene 213 (i.e. virtual scene) is 3-D graphic environment representation, and user 201 can pass through user Interactive module 203 enters with immersing, and wherein the test of the control system of virtual test vehicle 206 by control module 209 (true) control software 210 executes.In addition at least one virtual test vehicle 206 and at least one virtual test participant's object Except 215 (i.e. the Virtual User of virtual environment), virtual test scene 213 can also include for example with parked vehicle The threedimensional model of road.Additionally, it is provided moving region 214 or the accessible area of virtual test participant object 215.This be There is the region of one or more objects, these regions can be explored by testing participant's object 215, should in virtual test scene Test participant's object 215 is can be by the incarnation of the user 201 of the object control.

Virtual test participant object 215 has test participant's interactive module 216 or test participant's configuration module, benefit The virtual objects of virtual test participant's object can be configured with the module.In principle, 3D shape can be with any desired Mode (people, geometry, fence, vehicle etc.) configuration.Furthermore, it is possible to other attributes of virtual test participant's object are configured, Especially to the detectability of the virtual-sensor of virtual test vehicle 206.In addition, test participant's interactive module 216 or survey Examination participant's configuration module allows to configure the interaction facility of user 201 and virtual test participant object 215, and especially it is provided Which record of the part of user or user's body be defined on virtual test participant object 215 and indicate in which way The ability of movement, so as to the relative motion or variation by the virtual test participant object 215 in virtual scene come again The movement at current family.In addition, test participant's interactive module 216 or test participant's configuration module include locating module 217, until Less for virtual test participant object 215, which enables real user 201 by virtual test participant couple Any desired position being located in as 215 in virtual scene.Additionally, it is provided test vehicle interactive module 218, vehicle interaction mould Block 218 allow user at least virtual test vehicle 206 interacts in virtual scene.It includes at least following functions: it includes can To select remote control function and the selected interactive object of the interactive object in virtual test scene (especially virtual to survey Test run) the additional remote control function that can star of movement, wherein selection can be acted from the list of predetermined action, example Such as, start the parking manoeuvres independently executed, test vehicle is located in specific position, unlatching car light etc..

In addition, test participant's interactive module 216 or test participant's configuration module include test participant's control unit 219.This is the user interface for allowing the attribute of the test of user 201 and configuration virtual test participant object 215.Analysis component 220 are also available a kind of " tool box ", are somebody's turn to do " tool box " as user and provide resource, for example, in virtual test scene or survey In examination progress or the measured value of view is measured and/or is recorded.Particularly, analysis component allow virtual objects to be measured it Between distance and using can place in the scene virtual recorder (such as virtual camera) record data or image or Image sequence.In addition, analysis component provides the inquiry of use state indicator and display Obj State and by allocation rule to show The information of off status variation is shown with (for example, ongoing driving or parking manoeuvres or the current state of colored display, if right As touching another object with certain strength, etc.) facility.

In the illustrated example shown in fig. 2, test configurations module 221 is also provided, which allows to test environment (all objects being included in also use the test scene of described other configurations module) is configured and tests It is performed.For example, the configuration for executing test macro is as follows:

Virtual environment 212 is configured, the motion range 214 including virtual test scene 213 and offer,

Selection and configuration user interactive module 203 and VR platform, including registering the biometric data for measuring user Measuring device 204 with network function and the one or more intelligent apparatus or communication device with network function of registration 205 (such as smart phones), so as to them are used in the virtual test scene of simulation,

Control module 207 to be tested is configured, including being loaded into control software 210 to be tested based on executing The programmable device 202 of creation virtual environment is calculated on machine platform 211 and is connected to,

Selection and configuration virtual test vehicle 206 are suitable for the three-dimensional vehicle model 208 and sensing of test including configuring Device model 209,

It is participated in using test participant's interactive module 216 or the selection of test participant's configuration module and configuration virtual test Person's object 215, so that test participant's object includes the threedimensional model as the incarnation of real user in virtual environment, to move The a part for employing family or body is reproduced as change to virtual test participant's object, configures virtual test participant object To the detectability of the virtual-sensor of virtual test vehicle (for example, by setting by the transmission signal discovery of virtual-sensor Probability), and

It is configured to the virtual control system of virtual test participant's object, including defines virtual test participant object 215 may interact in its operation with which of virtual test scene, such as be moved in moving region 214, in mobile context Object, such as the repositioning of vehicle, the modification of image parameter (especially size and shape), the ginseng for testing participant's object Several modifications, such as change shape, size or detectability, and select the operation mode of control module to be tested, such as Additional function is enabled,

It is selected in Allocation Analysis component 220, including virtual data, image or video recorder and virtual test scene The analytic function and positioning indicator of the object or data selected, and for capturing or measuring certain variables (such as between object Distance) device.

Although the configuration operation mode of test macro can be provided for configuration given above, in test mode of operation It is operated below middle execution:

All configured elements are loaded into virtual environment,

Start virtual test scene and test module,

User 201 is connected to virtual test participant object 215 by user interactive module 203, and in virtual test It " is immersed " in virtual test scene at the position of participant's object,

Make user and virtual test scene interactivity, wherein the fortune of the movement reflection user 201 of test participant's object 215 It moves and monitors moving region 214 and be not rejected,

Programmable device by executing virtual environment continuously monitors and explains the virtual dynamic of virtual test participant's object Make, especially change in location and the interaction with virtual test vehicle or control module, and

Programmable device by executing virtual environment continuously monitors and explains virtual test participant object (in other words Say, the avatar of user 201) use to analysis component, especially new rule and virtual record device.

Fig. 3 shows the test for utilizing the control system for testing at least partly autonomous driving vehicle in virtual environment The schematic diagram of the test of the vehicle control system for the parking manoeuvres that system is independently implemented.User wants test equipped with independently or certainly The control system of the vehicle of dynamic parking assistance system.In such a system, it may be provided that, user is stopping vehicle parking Near parking stall, possibly off automobile and pass through the key ring (key of application program or car key on their smart phone Button) on function key, send a command to vehicle to execute shut-down operation.During manipulation, user can be used application program or Key chain pause and recovery manipulation.In order to execute manipulation, vehicle stops equipped with parking sensor, the parking sensor for monitoring Parking stall.Thus, for example, if pedestrian enters parking stall, should by system detection to and start braking maneuver, to make vehicle Stop leaving parking stall until pedestrian.

The test macro is adapted to allow user 301 to check vehicle in the case where no pedestrian's risk or vehicle damage Control system for example enters the feelings on parking stall in the pedestrian of different sizes, the clothes wearing different colours or being made from a different material The degree responded under condition, the degree that each pedestrian for example responds in the case where vehicle executes emergent stopping, or vehicle is grasped Indulge the degree in especially small parking stall.The test macro applies also for the view of the autonomous manipulative characteristic of creation demonstration vehicle Frequently.

For setup test, test macro is prepared using following steps:

Firstly, starting virtual environment 312 and configuring virtual test scene 313.User 301 prepares to have to be parked by two The virtual test scene 313 on parking stall that defines of vehicle, which is located in the example shown rises to curb level Road area edge on, wherein the region on parking stall is defined as virtual test participant's object in test scene 313 315 moving region 314.

Then the hardware of user interactive module is connected to the programmable device for generating virtual environment 312, so that a logarithm Control unit and measuring device 304 according to goggles and as user interactive module 303 or VR platform are used together to survey with this Measure the pulse frequency of user 301.

Then, it is soft to be connected to control to be tested on programmable device 312 and wherein to control module 307 to be tested The virtual environment run on part 310, and select and configure the computer installation 311 for executing control software.

In further preparation process, virtual test vehicle is configured for virtual environment 312.In this process, user 301 Creating three-dimensional vehicle model and distribute such as four virtual ultrasound wave sensors to it and pass through interface module (not shown) will Virtual test vehicle 306 is connected to control module 307.

Then, virtual test participant object 315 is configured for virtual environment.For this purpose, being participated in using interactive module or test Person's configuration module, for example, selecting the model of children as incarnation, the real motion (head, leg, arm) of user is mapped to In the incarnation.In addition, being set by the detectability of the good level of the incarnation of virtual-sensor, for example, if virtual sensing The virtual ultrasound signal detection of device is to incarnation, then detection probability is 100%.Then, user configuration virtual test vehicle 306 and general It is added in the interactive object list that can for example interact, and adds possible interactive list, and especially starting is autonomous Parking manoeuvres, the autonomous parking manoeuvres of pause and the autonomous parking manoeuvres of recovery.Change dduring test furthermore it is possible to be provided for user The position of virtual test vehicle 306 or the facility of shape.

Finally, Allocation Analysis component, which includes the video camera for recording and storage parking manoeuvres, Yi Jiduo A analysis rule.According to the first rule, the color of first vehicle on neighbouring parking stall contacts its feelings in virtual test vehicle 306 Change under condition.According to Second Rule, the color of second vehicle on neighbouring parking stall is the case where virtual test vehicle 306 contacts it Lower change.According to third rule, generated simultaneously in the case where virtual test vehicle 306 contacts virtual test participant object 315 Export earcon.

In order to illustrate the iteration of test program or test program chain, test macro is for example operated by following steps:

In order to execute test, all components previously configured are loaded into virtual environment 312 by user 301.User 301 is logical Crossing user interactive module 303 and being connected to immersing includes virtual test ginseng in virtual environment 312 in virtual test scene With person's object 315, his/her avatar, and therefore virtual ground bit in the front on parking stall.(exist in analysis component In " virtual tool case ") configuration all resources be available for user use.Then, user indicates that virtual test vehicle or control are surveyed The control module of test run starts autonomous parking manoeuvres.Virtual test vehicle starts parking manoeuvres and user is simultaneously by him/her Incarnation (i.e. virtual test participant object 315) be moved in parking stall.Virtual-sensor inspection in virtual test vehicle 306 Measure the emergent stopping of the object in parking stall and control module triggering virtual test vehicle 315.Even if there is no reality Collision, user can also feel the rear braking of vehicle that some are alarmed.Alarmed degree is used by healthy watch paper, the watch paper The pulse frequency at family.Then, the incarnation of user leaves parking stall, and thus virtual test vehicle continues parking manoeuvres.Dduring test not It collides.After test, user can carry out reconstruction of scenes from the angle of virtual camera (not shown), the virtual camera position Different location in virtual test scene.

Fig. 4 shows according to another embodiment of the present invention for testing at least partly autonomous driving vehicle in virtual environment Control system method exemplary schematic diagram.This method includes according to associated at least partly autonomous driving vehicle To provide 401, for controlling, at least partly independently at least one of driving vehicle acts at least one sensor signal of sensor Control module to be tested the step of, configuration 402 is for generate can be by the virtual environment that interface module interacts The step of programmable device, and in virtual environment the step of 403 at least one virtual test scene of generation, which has At least one virtual test participant object and virtual test vehicle, wherein virtual test vehicle is at least partly independently to drive vehicle Virtual representation and there is at least one virtual-sensor, which generates virtual sensor signal and by connecing The signal is output to control module by mouth mold block, and control module is configured as according to be evaluated The sensor signal estimated generates at least one control signal, and the control signal is output to virtual test by interface module Vehicle with control virtual test vehicle at least one movement；And interface module has user interactive module, passes through the user Interactive module, user can be connected to virtual test participant's object in this way, i.e., test scene can by user from Angle associated with participant's object is to experience, and wherein virtual test participant object can be by user configuration.This method The step of user's connection 404 is arrived by virtual test participant object by user interactive module is further included, and by user The step of configuring 405 virtual test participant's object.

In the preferred embodiment shown, this method also includes the virtual test under the excitation of user at least in test scene Vehicle executes the step of 406 movement, and the movement is by as at least being generated the response of virtual sensor signal by control module Control signal control.

Attached drawing be in each details not necessarily it is accurate or be not necessarily it is true drawn to scale, and can be with Display is zoomed in or out in order to provide better general view.Therefore, function detail disclosed herein is understood not to restricted , and the description of guidance is provided using the present invention in various ways as just for those skilled in the art in the art Property basis.

Self-evident, although being described according to certain ordered sequence, method and step can be partly to be different from Sequence described herein executes.It is self-evident, it may be performed simultaneously certain steps, other steps can be added, or can save Certain steps slightly described herein.In other words: these descriptions are provided to illustrate the purpose of specific embodiment, without answering It is interpreted the limitation to published subject.

As it is used herein, term "and/or" is listed for meaning when a series of two or more elements Each item can be used alone or institute's column element in two or more any combination can be used.For example, describing In the case where combination comprising component A, B and/or C, which may include individual A；Individual B；Individual C；A's and B Combination；The combination of A and C；The combination of B and C；Or A, B and C in combination.

Although being described in more detail and describing the present invention by exemplary embodiment, the present invention is not public by institute The exemplary limitation opened, and under the premise of not departing from protection scope of the present invention, those skilled in the art can therefrom obtain To other modifications.

Reference signs list

100 test macros

101 control modules

102 programmable devices

103 virtual environments

104 interface modules

105 virtual test scenes

106 virtual test participant's objects

107 virtual test vehicles

108 virtual-sensors

109 users

110 user interactive modules

111 test scene arrangement components

112 test participant's configuration modules

113 test vehicle configuration modules

114 object-locations

115 analysis components

116 measuring devices

117 communication devices

118 moving regions

200 test macros

201 users

202 programmable devices

203 user interactive modules

204 measuring devices

205 communication devices

206 virtual test vehicles

207 control modules

208 object models

209 sensor models

210 control softwares

211 computer platforms

212 virtual environments

213 virtual scenes

214 moving regions

215 virtual test participant's objects

216 test participant's interactive modules

217 locating modules

218 test vehicle interactive modules

219 test participant's control units

220 analysis components

221 test configurations modules

301 users

303 user interactive modules

304 measuring devices

306 virtual test vehicles

307 control modules

310 control softwares

311 computer installations

312 virtual environments

313 virtual test scenes

314 moving regions

315 virtual test participant's objects

401 provide control module to be tested

402 configuration programmable devices

403 creation virtual test scenes

404 connect the user to virtual test participant's object

405 configuration virtual test participant objects

406 execute the movement controlled by control module

Claims (21)

1. it is a kind of for testing the test macro (100) of the control system of at least partly autonomous driving vehicle in virtual environment, Include

Control module (101) to be tested, the control module (101) are used for basis and at least partly autonomous driving vehicle At least one sensor signal of associated sensor come control at least partly autonomous driving vehicle at least one movement；

Programmable device (102), the programmable device (102) are configurable to generate virtual environment (103), pass through interface module (104) it can be interacted with the virtual environment (103) and at least one can be generated in the virtual environment (103) virtually Test scene (105), the virtual test scene (105) is at least one virtual test participant object (106) and virtually It tests vehicle (107), wherein

The virtual test vehicle (107) is the virtual representation of at least partly autonomous driving vehicle and has at least one A virtual-sensor (108), the virtual-sensor (108) generate virtual sensor signal and pass through the interface module (104) control module (101) are output to using the signal as sensor signal to be assessed；

The control module (101) is configured as generating at least one control signal according to the sensor signal to be assessed, And the control signal is output to the virtual test vehicle (107) by the interface module (104) with described in controlling At least one movement of virtual test vehicle (107)；

The programmable device (102) is at least configured as under the excitation of the user of the test macro (100) (109) The virtual test scene (105) is generated in the virtual environment (103)；And

The interface module (104) has user interactive module (110), passes through the user interactive module (110), the use Family (109) can be connected to the virtual test participant object (106) in this way, i.e., the described test scene (105) It can be experienced by the user (109) from angle associated with participant's object (106), wherein

The virtual test participant object can be by the user configuration.

2. test macro as described in claim 1,

Wherein the virtual test scene (105) has other multiple objects.

3. test macro as claimed in claim 1 or 2,

Wherein the virtual test participant object (106) is the virtual representation of people.

4. test macro as claimed in claim 2,

Wherein the virtual test participant object (106) can be distributed to by the user (109) in other described objects One.

5. test macro as described in any one of the preceding claims,

Wherein quilt under the virtual test vehicle (107) at least excitation of user (109) described in the test scene (105) It is configured to execute the control by being generated as the response at least to the virtual sensor signal by the control module (101) The movement of signal control.

6. test macro as described in any one of the preceding claims,

Wherein the user interactive module (110) is configured as detecting at least one movement of the user (109) and execute The associated change of the virtual test participant object (106).

7. test macro as described in any one of the preceding claims,

Wherein the virtual environment (103) has test scene arrangement components (111), the test scene arrangement components (111) Can be used the user interactive module (110) operate and be configured such that the user (109) can at least he/her with Multiple attributes of the virtual test scene (105) are configured during the connection of test participant's object (106).

8. test macro as claimed in claim 7,

Wherein the multiple attribute of the virtual test scene (105) includes the virtual test participant object (106) At least one attribute, and the test scene arrangement components (111) have test participant's configuration module (112), the survey Examination participant's configuration module (112) is configured such that the user (109) can configure the virtual test participant object (106) at least one described attribute.

9. test macro as claimed in claim 8,

Wherein detectability energy of the virtual test participant object (106) at least one virtual-sensor (108) It is enough to be configured by the user (109).

10. the test macro as described in any one of claim 7 to 9,

Wherein the multiple attribute of the virtual test scene (105) includes at least the one of the virtual test vehicle (107) A attribute, and the test scene arrangement components (111) have test vehicle configuration module (113), and the test vehicle is matched It sets module (113) and is configured such that the user (109) can configure described at least the one of the virtual test vehicle (107) A attribute.

11. the test macro as described in any one of claim 7 to 10,

Wherein the test scene arrangement components (111) have object-location (114), the object-location (114) It is configured such that the user (109) can change at least described virtual test ginseng in the virtual test scene (105) With the position of person's object (106).

12. test macro as described in any one of the preceding claims,

Wherein the virtual environment (103) has analysis component (115), and the user can be used to hand over for the analysis component (115) Mutual module (110) operates and is configured such that at least one positioning indicator can be inserted into institute by the user (109) State in virtual test scene (105) and assign them to one or more virtual objects of the virtual test scene (105).

13. test macro as claimed in claim 12,

Wherein determine that the decision rule of state to be shown is assigned at least one described positioning indicator.

14. test macro as described in claim 12 or 13,

Wherein at least one described positioning indicator includes the device for detecting the distance between two virtual objects.

15. test macro as described in claim 12 or 13,

Wherein the Virtual Analysis component (115) has at least one virtual camera as positioning indicator, camera shooting function It is enough by the user (109) be placed in the virtual environment (103) at least some regions can unrestricted choice position, and And the image or image sequence of the virtual test scene can be recorded using the video camera according to selected position.

16. test macro as described in any one of the preceding claims,

It further includes measuring device (116), the measuring device (116) is used to pass through the user in the user (109) Interactive module (110) temporarily, at least detects the user's (109) when being connected to virtual test participant object (106) The value of at least one biological parameter.

17. test macro as claimed in claim 16, wherein the interface module (104) is configured as the user (109) record value of at least one biological parameter is transmitted to the virtual environment (103), and the virtual environment (103) there is the device for showing the record value associated with virtual test participant object (106).

18. test macro as described in any one of the preceding claims,

Wherein the user interactive module (110) can be comprising for rendering can the institute used in the virtual environment (103) State the device of at least one communication device (117) of user (109).

19. test macro as described in any one of the preceding claims,

Wherein the virtual test scene (105) includes moving region (118), described virtual in the moving region (118) Testing participant's object (106) can be mobile by the user (109).

20. a kind of for testing at least portion in virtual environment using test macro as described in any one of the preceding claims Divide the method for independently driving the control system of vehicle, includes

(401) are provided and are used at least one sensor according to sensor associated at least partly autonomous driving vehicle Signal come control at least partly autonomous driving vehicle at least one movement control module to be tested；

Configuration (402) can be by the programmable device for the virtual environment that interface module interacts for generating；

(403) at least one virtual test scene is generated in the virtual environment, the scene has at least one virtual survey Participant's object and virtual test vehicle are tried, wherein

The virtual test vehicle is the virtual representation of at least partly autonomous driving vehicle and has at least one virtual Sensor, the virtual-sensor generate virtual sensor signal and by the interface module using the signal as to be evaluated The sensor signal estimated is output to the control module；

The control module is configured as generating at least one control signal according to the sensor signal to be assessed, and The control signal is output to the virtual test vehicle to control the virtual test vehicle by the interface module At least one movement；And

The interface module has user interactive module, and by the user interactive module, the user can be with such side Formula is connected to the virtual test participant object, i.e., the described test scene can be by user from related to participant's object The angle of connection is experienced, wherein

The virtual test participant object can be by the user configuration；And wherein the method further includes:

The user is connected into (404) to the virtual test participant object by the user interactive module；And

By the user configuration (405) the virtual test participant object.

21. method as claimed in claim 20, further includes

At least under the excitation of the user described in the test scene, the virtual test vehicle executes (406) movement, described dynamic Make the control signal by being generated as the response at least to the virtual sensor signal by the control module to control.