DE102014118622A1 - Method for simulatively determining an interaction between a sensor of a motor vehicle and a virtual object in a virtual surrounding area of the motor vehicle and computing device - Google Patents

Abstract

The invention relates to a method for simulatively determining an interaction between a sensor (S) of a motor vehicle (F) and a virtual object (O, O1, O2, O3) in a virtual surrounding area of the motor vehicle (F) by means of a computing device, in which a sensor signal emitted by the sensor (S) and the sensor signal virtually reflected by the object (O, O1, O2, O3) are determined on the virtual surrounding area on the basis of a directional characteristic of the sensor (S), wherein a reference point (B) is generated in the virtual surrounding area is determined, which describes a position of the sensor (S), based on the directional characteristic of the sensor (S) a reference point (B) at least partially surrounding shell (1) is defined on the shell (1) at least one Aufpunkt (P, Pn , Pn + 1, Pn + 2, Pn + 3) for a direction vector (k) which describes the transmitted sensor signal, and is defined by the reference point (B) and the point of view (P, Pn, Pn + 1, Pn + 2 . Pn + 3) the direction vector (k) is determined.

Description

The present invention relates to a method for simulatively determining an interaction between a sensor of a motor vehicle and a virtual object in a virtual surrounding area of the motor vehicle by means of a computing device, in which in the virtual surrounding area based on a directional characteristic of the sensor emitted by the sensor sensor signal and of the object virtually reflected sensor signal can be determined. The invention also relates to a computing device.

In the present case, the interest is directed in particular to sensors for motor vehicles with which objects or obstacles in the surrounding area of the motor vehicle can be detected. Such sensors may be, for example, ultrasonic sensors, laser scanners or radar sensors. The sensors may be part of a driver assistance system that assists the driver in driving the motor vehicle. Such driver assistance systems can be, for example, a parking aid, a blind spot assistant or an adaptive cruise control. It is a particular challenge already during the design and development of driver assistance systems - if only one vehicle model and characteristics of the sensors are available - to determine the measuring properties of the sensors, without the sensors actually having to be installed in a motor vehicle and test drives performed.

In the development of the sensors or the driver assistance systems corresponding simulation programs are used with which, for example, different traffic scenarios can be examined. Here it is known that the maneuver to be driven is simulated. In this case, the motor vehicle can be parameterized accordingly and the sensors, which are arranged on the motor vehicle, can be defined. Further, the position and orientation of other road users, such as vehicles, bicycles, persons, or the like, may be taken into account. The design of the road, such as the width, inclination and / or the presence of a curb, can be simulated according to computer science. Furthermore, currently prevailing environmental conditions, such as day, night, sun, rain or the like, which act on the sensors and the objects to be detected, can be defined within the simulation program used. Furthermore, it is known from the prior art that the simulation programs or vehicle modeling programs are used, for example, with an HIL test stand (HIL - Hardware in the Loop).

A method for determining a detection range of a sensor is, for example, in DE 103 14 129 A1 described. Here, the detection range of a built-in motor vehicle sensor is simulated. In this case, amplitude values of received signals are calculated which an ultrasonic sensor would receive as reflections of radiation on a standard test body when the standard test body is located at different positions in the radiation area of the ultrasonic sensor and would be emitted there by the ultrasonic sensor. It is also determined for which positions of the standard test body relative to the ultrasonic sensor the respective amplitude values of the received signals are above defined threshold values. In this way, the detection range of the ultrasonic sensor is then determined.

In order to be able to investigate reliably and more accurately any objects or obstacles already designed in the development phase of sensors, the DE 10 2011 015 094 A1 in a method for simulatively determining measurement properties of a virtually modeled sensor, dividing a region of a surface of the object by the computing device into a plurality of surface segments. The surface segments are then modeled by a three-dimensional curved surface area of a geometric shape with a known reflection factor. On the basis of each of the surface segments can then be calculated on this surface segment occurring signal component of the transmission signal. For determining the transmission signal, a directional characteristic of the sensor can be used. The received signal is calculated from the sum of signal components reflected at the respective surface areas. It can also be provided that the position of the object is predetermined relative to the motor vehicle, so that the respective received signal can be evaluated for different positions of the object and thus the detection range of the sensor can be determined by simulation technology.

It is an object of the present invention to provide a solution as to how the interaction between a sensor and a virtual object in a virtual surrounding area of the motor vehicle can be determined more accurately and reliably.

This object is achieved by a method and by a computing system having the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

An inventive method is used for simulatively determining an interaction between a sensor of a motor vehicle and a virtual object in a virtual environment of the motor vehicle by means of a computing device. In this case, a sensor signal emitted by the sensor and the sensor signal virtually reflected on the object are determined in the virtual environmental region on the basis of a directional characteristic of the sensor. In addition, in the virtual surrounding area of the motor vehicle, a reference point is determined which describes a position of the sensor, based on the directional characteristic of the sensor, a shell surrounding the reference point at least in regions is defined. Furthermore, at least one reference point for a direction vector which describes the emitted sensor signal is defined on the envelope, and the direction vector is determined on the basis of the reference point and the point of view.

In the present case, the interaction between the sensor of the motor vehicle and a virtual object is to be simulated. The object is in this case in particular virtually modeled. This means that the object is formed by means of the computing device by a simulation fictitious. In the present case, the surroundings of the motor vehicle and / or the motor vehicle itself are also virtually simulated. For example, different spatial arrangements of the sensors to the virtual object can be examined. Furthermore, for example, different distances between the sensor and the virtual object can be simulated. Furthermore, it is conceivable that different driving scenarios are examined. For example, a simulation program available on the market can be used here. For example, the dynamic vehicle modeling program "CarMaker" from IPG can be used.

The sensor serves, in particular, to detect an object in an environmental region of the motor vehicle. The sensor may also be configured to determine a distance between the sensor and the object. Such a sensor may be, for example, an ultrasonic sensor, a laser scanner or a radar sensor. In the present case, the sensor signal which is emitted by the sensor is determined. For determining the emitted sensor signal, the directional characteristic of the sensor is used. The directional characteristic describes in particular with which intensity the sensor signal is radiated as a function of a horizontal angle and / or a vertical angle. The directional characteristic can also describe the intensity of the sensor signal as a function of a solid angle. In particular, the directional characteristic describes a spatial or three-dimensional intensity distribution of the sensor signal. In this case, only a part of the sensor signal emitted by the sensor can be determined. Based on the virtual object, the sensor signal virtually reflected by the virtual object can now be determined. It is conceivable that only a part of the sensor signal virtually reflected by the virtual object is determined. In particular, the virtual object may represent a road user or an obstacle in the virtual surrounding area of the motor vehicle. The object may be, for example, a motor vehicle, a motorcycle, a bicycle, a pedestrian or the like.

In the virtual environment of the motor vehicle, a reference point is defined. This reference point can, for example, describe the position of the sensor or a transmitting device of the sensor which transmits the sensor signal. In addition, based on the directivity of the sensor, a shell is defined, which surrounds the reference point at least partially. In particular, the envelope may describe the spatial extent of the directional characteristic of the sensor. The envelope can thus spatially map the propagation of the sensor signal at a predetermined time. It is also conceivable that the shell images the spatial extent of the propagation of the sensor signal in a simplified manner. For example, the shell may have the shape of a hemisphere. On the shell at least one point of definition is defined. It can be provided that a plurality of Aufpunkte be defined on the surface of the shell. For this purpose, for example, the envelope can be divided with a corresponding network into a plurality of Aufpunkte. Furthermore, a direction vector is defined which extends from the point of view. It can also be provided that a plurality of directional vectors are determined at several points on the envelope. With the at least one direction vector, the emitted sensor signal can now be described. The at least one direction vector can be processed computationally fast and thus, for example, an interaction between the sensor or the emitted sensor signal and the virtual object can be determined within a short computing time.

Preferably, the determined direction vector is assigned a signal level of the transmitted sensor signal. The envelope may describe the directional characteristic of the sensor signal in particular in three dimensions. The envelope describes, for example, a three-dimensional signal level distribution of the transmitted sensor signal. In this case, each of the Aufpunkte can be assigned a signal level. In addition to the direction information of the transmitted signal, the direction vector can also contain information about the signal level of the transmitted signal or the signal component of the transmitted signal Include signals. In this case, the direction vector can be standardized in its length and the direction vector can be associated with a corresponding information which describes the signal level. Furthermore, it is conceivable that the length of the direction vector describes the signal level. Thus, with the direction vector, on the one hand, information relating to the direction of the transmitted sensor signal and, on the other hand, information relating to the signal level can be provided.

In a further embodiment, the particular point of view and / or the specific direction vector is entered in an area map which depicts the virtual surrounding area of the motor vehicle. The environment map can map the surrounding area of the motor vehicle in particular to scale. The environment map can map the surrounding area of the motor vehicle two-dimensionally or three-dimensionally. In the environment map, the motor vehicle (ego vehicle) and the sensor, which is arranged on the motor vehicle, be represented. In addition, further sensors of the motor vehicle can be shown in the environment map. In addition, the virtual map is shown in the environment map in particular. With the help of such an environment map, the virtual environment of the motor vehicle can be reliably replicated.

In a further embodiment, the method comprises a plurality of temporally successive simulation steps, wherein the environment map is updated after each of the simulation steps. The method, in which the interaction between the sensor and the virtual object is simulated, can be divided into several temporally successive simulation steps. In this case, in each of the simulation steps, the relative position of the sensor with respect to the object can be examined. Likewise, the propagation of the emitted sensor signal and / or the propagation of the sensor signal virtually reflected by the object can be examined. Thus, even dynamic processes can be modeled simulation-wise, in which the sensor and the object are moved relative to each other. After completing each of the simulation steps, the environment map can be updated. In other words, the results calculated in the respective simulation step are transferred to the environment map. In this way a dynamic simulation of the interaction between the sensor and the virtual object can be made possible with the help of the environment map.

Preferably, after each of the simulation steps, a position of the point of view and / or a direction of the direction vector is updated. By adjusting the position of the point of view and / or adjusting the orientation of the direction vector, it can be modeled in the temporally successive simulation steps that the emitted sensor signal propagates over time. Furthermore, by adjusting the position of the point of view and / or the direction of the direction vector, a movement of the sensor relative to the object can be simulated. Thus, in particular, the propagation of the sensor signal as a function of time can be reproduced simply and reliably by simulation.

Furthermore, it is advantageous if, based on the direction vector and a position of the object in the environment map, an intersection point and / or an intersection angle between the direction vector and the object is determined. In the environment map, the direction vector describing the propagation of the sensor signal and the object are shown. Thus, an intersection between the direction vector and the object can be determined in a simple manner. Furthermore, the intersection angle between the direction vector and the object can be determined, wherein the intersection angle particularly describes the spatial angle between the direction vector and a predetermined surface of the object. It can thus be determined in a simple manner at which point and / or at which angle the emitted sensor signal hits the virtual object.

In a preferred embodiment, a plurality of assignment specifications is specified for the object, which respectively describe an association between the incident transmitted sensor signal and the sensor signal virtually reflected by the object. For this purpose, for example, an outer contour of the object can be determined. This outer contour can be obtained, for example, from a CAD model (CAD - Computer Aided Design). This outer contour thus defines in particular the outer dimensions of the object. Furthermore, an object envelope can be determined which at least partially surrounds the outer contour of the object. This object envelope may in particular have a three-dimensional shape. For example, the object envelope may be cuboid. On the object envelope, a plurality of entry impingement points can be defined which describe possible intersections of the direction vector with the object envelope. An assignment rule can be defined for each entry impact location and the associated angles of incidence. The assignment rule describes the relationship between a directional vector impinging on the envelope at the entrance impact site at an angle of incidence, and a directional vector of the virtually reflected sensor signal exiting the envelope at an exit impingement point at an exit angle. The assignment rule on the one hand describes the spatial arrangement of the object shell to the outer contour of the object. On the other hand, the respective assignment rule can describe the propagation of the emitted sensor signal from the object envelope to the outer contour and / or the reflection of the transmitted signal on the outer contour and / or a propagation of the virtually reflected sensor signal from the outer contour to the envelope. In this case, the reflection properties of the outer contour or contour points of the outer contour can be taken into account. Furthermore, the attenuation, in particular the free-space air damping, of the emitted sensor signal or of the virtually reflected sensor signal within the object envelope can be taken into account. The respective assignment rules can be determined, for example, in a so-called pre-processing before the actual simulation method.

Furthermore, it is advantageous if, depending on the specific intersection point and / or intersection angle between the direction vector and the object, an assignment rule is selected from the plurality of assignment rules and determined in the direction vector of the virtually reflected sensor signal on the basis of the selected assignment rule. If the point of intersection and / or the intersection angle between the direction vector and the object or the object envelope is known, that assignment rule can be selected from the plurality of assignment rules which are assigned to this entry point and the angle of incidence. Based on the assignment rule then the reflected sensor signal and in particular a direction vector of the reflected sensor signal can be determined. Since the assignment rules only have to be selected, the reflected sensor signal or the direction vector of the reflected sensor signal can be determined within a short computing time, for example one millisecond. Thus, the virtually reflected sensor signal can be determined in particular in real time.

In a further refinement, an intersection and / or a cutting angle between the direction vector of the virtually reflected sensor signal and the sensor is determined. Thus, it can be examined whether the sensor signal virtually reflected by the object hits the sensor again and can be detected by it if necessary. It can also be investigated whether the virtually reflected sensor signal initially strikes a road surface and is reflected by it in turn. In this way, multiple reflections of the sensor signal can be taken into account in the simulation. If, for example, several sensors arranged on the motor vehicle are examined, it can be checked which of the sensors receives a reflected sensor signal or which of the sensors first receives the reflected sensor signal.

In a further embodiment of the Aufpunkt from the map is deleted if a distance between the Aufpunkt and the object falls below a predetermined minimum distance. In the environment map several Aufpunkte can be entered, which describes the position of the point at different times or after performing different simulation steps. If the distance between the point of view and the object falls below a minimum distance, this point can be deleted from the area map. In this case, parameters which are assigned to this deleted Aufpunkt be further processed. It can also be provided that a reference point is deleted from the environment map, if a distance between the receptor point and the sensor falls below a predetermined minimum distance. This is particularly suitable if the sensor signal virtually reflected by the object or the direction vector of the virtually reflected sensor signal is examined.

In one embodiment, the method is carried out with a virtual sensor, wherein additionally an interaction of the virtually reflected sensor signal with the virtual sensor is determined simulatively. In this case, not only the object, but also the sensor simulation model is simulated. In addition, based on the virtually reflected sensor, an interaction between the virtually reflected sensor signal and the virtual sensor can be determined. In particular, it can be determined simulatively whether and how the reflected sensor signal impinges on the virtual sensor. In this case, the angle of incidence and / or the energy of the reflected sensor signal can be determined when hitting the virtual sensor.

In a further embodiment, the method is carried out with a real sensor, wherein a signal generator is driven in response to the virtually reflected sensor signal for outputting a real reflected sensor signal for the real sensor. In this case, therefore, a real sensor is used, which may have mechanical and / or electrical components. With the real sensor, a real sensor signal can be sent out. This real sensor signal can be used as a trigger for the signal generator. Furthermore, a corresponding signal generator is used with which a reflected sensor signal can be simulated. Based on the virtually reflected sensor signal, it can be determined which reflected sensor signal the real sensor would receive in the presence of a real object. Furthermore, it can be determined at what time after the transmission of the real sensor signal real sensor would receive a real reflected sensor signal. This real reflected sensor signal can now be simulated with the signal generator. For example, if the real sensor is an ultrasonic sensor, the transducer may be a corresponding ultrasonic source capable of producing the reflected ultrasonic signal. Thus, the method can be incorporated, for example, in a so-called hardware-in-the-loop test bench.

A computing device according to the invention is designed to carry out a method according to the invention. The computing device may be, for example, a computer. The computing device can also be a control device of the motor vehicle.

The invention also relates to a computer program product, preferably stored on a storage medium, which is designed to carry out a method according to the invention when it is executed on a computing device, in particular a computer.

The preferred embodiments presented with reference to the method according to the invention and their advantages apply correspondingly to the computing device according to the invention and to the computer program product according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. All features and combinations of features mentioned above in the description and the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively indicated combination but also in other combinations or alone, without the scope of the invention to leave. Thus, embodiments of the invention are to be regarded as encompassed and disclosed, which are not explicitly shown and explained in the figures, however, emerge and can be produced by separated combinations of features from the embodiments explained. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim.

The invention will now be described with reference to a preferred embodiment and with reference to the accompanying drawings.

Showing:

1 a schematic flow diagram of a method for determining an interaction between a sensor and a virtual object according to the prior art;

2 a virtual model of a sensor of a motor vehicle, wherein a directional characteristic of a transmitted sensor signal is described using a shell and a direction vector.

3 a schematic representation of a test bench of the sensor;

4 Environment maps representing the virtual environment of the motor vehicle in successive steps;

5 the area map showing the motor vehicle and three objects in the virtual surrounding area of the motor vehicle; and

6 the environment map showing a sensor signal reflected from the object.

In the present case, the interaction between a sensor S and a virtual object O in a virtual surrounding area of a motor vehicle F is to be determined simulatively. Such a sensor S can be arranged, for example, on the motor vehicle F. The sensor S is in particular designed to detect the object O in the surrounding area of the motor vehicle F. Such a sensor S may be, for example, an ultrasonic sensor, a radar sensor or a laser scanner. In the present case, therefore, the sensor signal emitted by the sensor S and the sensor signal virtually reflected by the virtual object O are determined in a simulation method.

1 shows a schematic flow diagram of a method for determining an interaction between the sensor S and the object O according to the prior art. Such a method can be used for example in a hardware-in-the-loop test bench. In a step S1, the method is started. In particular, a simulation cycle is started. In a step S2, the output signals of hardware components are read. In addition, the output signals are compared with the output signals determined in a previous simulation cycle. In a step S3, driver and vehicle state variables are calculated. The driver state variables in particular describe the state variables that are specified by a driver of the motor vehicle F. The driver and vehicle state quantities are determined from the output signals determined for the previous simulation cycle. Based on the results determined in step S3, outputs are determined based on the user-created model for the sensor in step S4. Subsequently, in a step S5, the entries for the hardware components are set. The hardware components, which may in particular comprise the real sensors and a control device or a control unit of the motor vehicle, act on the input signals and set the corresponding output signals for the next simulation step (step S6). In the event that the hardware-in-the-loop test bench is not used, steps S2 and S5 are not performed. Finally, the process is ended in a step S7.

In vehicle simulation programs according to the prior art, a check takes place in each simulation step as to whether the object O is detected by the sensor S. It is assumed that during a simulation step, the sensor signal is both transmitted and a virtually reflected sensor signal is received. In real applications of the sensor S, however, multiple reflections of the emitted sensor signal or of the reflected sensor signal usually occur. This is for example the case when the sensor S is designed as an ultrasonic sensor and is used for parking space measurement. In order to be able to simulate such situations or multiple reflections by simulation, a method is needed that takes into account the wave propagation with the multiple reflections on objects O. Such a method is presented below.

2 shows a model of the sensor S, which may be, for example, an ultrasonic sensor. In the present embodiment, the directivity of the sensor S by a sheath 1 described. The case 1 is presently formed hemispherical. In the present case, a reference point B is defined, which in the present case is the center of the hemispherical shell 1 describes. The reference point B can for example describe the position of the sensor S or a transmitting device of the sensor S. In addition, the shell 1 with the help of a corresponding grid in corresponding cells 2 divided. Here is each of the cells 2 assigned a sound level or sound pressure level. The focus of each cell 2 forms a reference point P for a direction vector k, which describes the transmitted signal from the sensor S or a part thereof. The direction vector k runs along the extended connecting line between the reference point B and the point P.

3 shows a schematic representation of a test bench 3 , in particular a hardware-in-the-loop test bench. The test bench 3 has the blocks I to VIII, which may be formed by individual computing devices. The blocks I to VIII can also be formed by a single computing device. The test bench 3 has a first block I containing several list entries 4 having. Each of the list entries 4 describes the parameters for a sensor S. In the present case, for example, a motor vehicle F can be simulated, which has four sensors S. Each of the list entries 4 represents a parameter record consisting of a consecutive numbering. Furthermore, in the parameter data set, the point P is stored for each sensor S. Furthermore, the directional vector k, in particular a normalized direction vector, is stored for each sensor S in the parameter data set. In this case, the parameter data set a number of maximum calculation steps, the geometric dimensions of the shell 1 , in particular a radius of the shell 1 , a maximum length of the direction vectors k and corresponding parameters describing the sound pressure level include. Furthermore, the parameter data set comprises the path traveled by the transmitted sensor signal or the propagation of the direction vector k during a simulation step.

In this case, the normalized direction vector k is described in a sensor coordinate system. This parameter data record is imported at the start of a simulation in a vehicle simulation program, for example in the program "CarMaker" from the company IPG. In a block II of the test bench 3 For each of the simulation steps, the direction vectors k are transformed into an optionally local vehicle coordinate system. In block III, the sensor signal from the sensor S is emitted. This is a level on a signal line 8th at. When applying the level to the signal line 8th a trigger is provided for block IV.

In the block IV of the test stand, the points of view P and the direction vectors k become an environment map 11 entered. The environment map 11 describes a virtual surrounding area of the motor vehicle F, wherein in the area map 11 additionally the position of the motor vehicle F and the position of at least one object O is registered. 4 shows four environment maps 11 for temporally consecutive steps. For a time t _n is in a first environment map 11 the motor vehicle F and arranged on the motor vehicle sensor S shown. Furthermore, the point of view P _n and the direction vector k are shown. At a further time t _{n + 1} is in a second environment map 11 In addition, the Aufpunkt P _{n + 1} registered. The third area map 11 also shows the point P _{n + 2} at the time t _{n + 2} . The fourth area map 11 shows the point of view P _{n + 3} at the time t _{n + 3} . The individual times t _n to t _{n + 3} show in particular results of individual simulation steps. Thus, the propagation of the sensor signal sent by the sensor S can be represented by the points P _n to P _{n + 3} and the direction vector k as a function of time.

5 shows the map of the area 11 in a further embodiment. Here are located in the virtual environment of the motor vehicle F three objects O ₁ , O ₂ and O ₃ . In the present case, it can be seen that the direction vector k intersects with the first object O ₁ in an intersection point T ₁ and with the second object O ₂ in an intersection point T ₂ . In this case, the respective intersection of the direction vector k with the objects O ₁ and O ₂ and the respective intersection angle between the direction vector k and the objects O ₁ and O ₂ can be determined. Furthermore, a distance d ₁ between the point P _{n + 1} and the first object O ₁ and a distance d ₂ between this point P _{n + 1} and the second object O _{2 are} determined. Here it is examined whether the minimum of the distances d ₁ and d _{2 is} smaller than a predetermined minimum distance ε.

6 shows the map of the area 11 in a further embodiment. Here is located in the area of the motor vehicle F an object O. In the present case, the emitted sensor signal from the object O was reflected. In the area map 11 In addition, a direction vector r of the reflected sensor signal is shown. In this case, it is checked whether the direction vector r of the reflected sensor signal intersects with the circle A at an intersection point T ₃ , which surrounds the sensor S arranged on the motor vehicle F. If a three-dimensional map of the area 11 is used, instead of the circle A may be provided a ball.

In the block V of the test bench is now in a sub-block 5 checks if in an arrangement according to 5 the minimum of the distance d ₁ and the distance d _{2 is} less than or equal to the predetermined minimum distance ε. Further, in a sub-block 6 Check if an arrangement of 6 a distance d ₃ between the sensor S and the point P _{n + 1 is} less than or equal to the minimum distance ε.

In a block VI is in the embodiment according to 5 the point P _{n + 1} from the map 11 The beam number, the number of the obstacle, the intersection point T ₁ , T ₂ and the intersection angle with the objects O ₁ and O ₂ as well as the maximum beam length and internal parameters are transferred. In addition, the reflection at the object O _{1 is} calculated in the block VI on the basis of reflection attenuation taking into account material properties, the free-space air damping and further attenuation values. Here, for each of the deleted viewpoints P from the block VI to the block IV, the ray number, a time interval up to which a new point P is updated into the environment map 11 is an updated Aufpunkt P, the updated direction vector k and information about whether the current Aufpunkt P from the area map 11 can be deleted, transferred.

In blocks VII and VIII, in the case of 6 the point P _{n + 1} from the map 11 away. The beam numbers, the number of the object O, the distance traveled by the sensor S, the total distance covered, the point of intersection T ₃ and the intersection angle with the sensor S and internal parameters are transferred to the block VII. Block VII calculates a replicated reflected sensor signal associated with a signal generator 7 is sent out. The signal generator 7 is over a line 9 connected to a power supply. In addition, the signal generator 7 over a line 10 connected to a ground connection. With this simulated reflected sensor signal, a real sensor can be acted upon. In addition, in block VII, the times at which the reflected echo from a signal generator 7 is to be sent out, determined. From the block VIII the time for emitting the simulated signal as well as the amplitude and the phase of the simulated signal are transmitted to the sensor. With the Bock VIII can thus the signal generator 7 over the signal line 8th be controlled. Thus, with the signal generator 7 the replicated reflected sensor signal is output.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10314129 A1 [0004]
• DE 102011015094 A1 [0005]

Claims (13)

Method for simulatively determining an interaction between a sensor (S) of a motor vehicle (F) and a virtual object (O, O ₁ , O ₂ , O ₃ ) in a virtual surrounding area of the motor vehicle (F) by means of a computing device, in which Virtual environment region on the basis of a directional characteristic of the sensor (S) from the sensor (S) emitted sensor signal and the object (O, O ₁ , O ₂ , O ₃ ) virtually reflected sensor signal are determined, characterized in that in the virtual environment a reference point (B) is determined, which describes a position of the sensor (S), based on the directional characteristic of the sensor (S) at least partially surrounding the reference point (B) envelope ( 1 ) is defined on the envelope ( 1 ) is defined at least one reference point (P, P _n , P _{n + 1} , P _{n + 2} , P _{n + 3} ) for a direction vector (k) which describes the emitted sensor signal, and from the reference point (B) and the point of view (P, P _n , P _{n + 1} , P _{n + 2} , P _{n + 3} ) the direction vector (k) is determined. A method according to claim 1, characterized in that the particular directional vector (k) is assigned a signal level of the transmitted sensor signal. Method according to claim 1 or 2, characterized in that the defined point of definition (P, P _n , P _{n + 1} , P _{n + 2} , P _{n + 3} ) and / or the determined direction vector (k) in an environment map ( 11 ) is entered, which depicts the virtual environment of the motor vehicle (F). Method according to claim 3, characterized in that the method comprises a plurality of temporally successive simulation steps and the environment map ( 11 ) is updated after each of the simulation steps. A method according to claim 4, characterized in that after each of the simulation steps, a position of the point (P, P _n , P _{n + 1} , P _{n + 2} , P _{n + 3} ) and / or a direction of the direction vector (k) is updated , Method according to one of claims 3 to 5, characterized in that based on the direction vector (k) and a position of the object (O, O ₁ , O ₂ , O ₃ ) in the area map ( 11 ) an intersection and / or intersection angle between the direction vector (k) and the object (O, O ₁ , O ₂ , O ₃ ) is determined. Method according to one of the preceding claims, characterized in that for the object (O) a plurality of assignment rules is specified, which in each case an assignment between the transmitted to the object (O, O ₁ , O ₂ , O ₃ ) emitted sensor signal and the describe sensor signal virtually reflected by the object (O, O ₁ , O ₂ , O ₃ ). Method according to claim 6 or 7, characterized in that a function of the determined intersection (T ₁ , T ₂ ) and / or intersection angle between the direction vector (k) and the object (O, O ₁ , O ₂ , O ₃ ) Assignment rule is selected from the plurality of assignment rules and a direction vector (r) of the virtually reflected sensor signal is determined based on the selected assignment rule. A method according to claim 8, characterized in that an intersection (T ₁ , T ₂ ) and / or an intersection angle between the direction vector (r) of the virtually reflected sensor signal and the sensor (S) is determined. Method according to one of claims 3 to 9, characterized in that the Aufpunktpunkt (P, P _n , P _{n + 1} , P _{n + 2} , P _{n + 3} ) from the map of the environment ( 11 ) is cleared if a distance (d ₁ , d ₂ ) between the reference point (P, P _n , P _{n + 1} , P _{n + 2} , P _{n + 3} ) and the object (O, O ₁ , O ₂ , O ₃ ) falls below a predetermined minimum distance (ε). Method according to one of the preceding claims, characterized in that the method is carried out with a virtual sensor, wherein additionally an interaction of the virtually reflected sensor signal with the virtual sensor is determined simulatively. Method according to one of claims 1 to 10, characterized in that the method is carried out with a real sensor, a signal transmitter ( 7 ) is driven in response to the virtually reflected sensor signal to output a replica of a real reflected sensor signal.  Computing device, which is designed for carrying out a method according to one of the preceding claims.

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