DE102018200011A1 - Test system and method for testing a control of an at least partially autonomous vehicle in a virtual environment - Google Patents

Abstract

A test system (100) is provided for testing a controller of an at least partially autonomous vehicle in a virtual environment. It comprises a control module (101) to be tested for controlling at least one action of this vehicle in dependence on at least one sensor signal of a sensor associated with this vehicle, a programmable device (102) configured to generate a virtual environment (103) with which can be interacted via an interface module (104) and in which at least one virtual test scenario (105) can be generated which has at least one virtual test participant object (106) and one virtual test vehicle (107).

Description

The present invention relates to a method and a test system for testing a control of an at least partially autonomous vehicle in a virtual environment.

A fully autonomous vehicle or autonomous vehicle is a vehicle in which the driving operation, including the safety-critical functions, can take place without the control of a vehicle driver. An at least partially autonomously driving vehicle is a partially or completely autonomously driving vehicle. A partially autonomously driving vehicle offers the autonomous driving operation at least for one or more specific operating or traffic situations. These autonomous actions of the vehicle, e.g. in a system for increasing driving safety, either directly based on the evaluation of sensor signals or, for example, started by the driver or user of the vehicle, e.g. by means of a remote control, for example, performing an autonomous parking maneuver of an at least partially autonomously driving vehicle.

However, with the increasing spread of such automation techniques in the operation of vehicles, the diversity and complexity of the traffic situations to be taken into account and the control methods used therefor are constantly increasing.

In the development of suitable controls, therefore, the precise definition of the development goal is of great importance, as well as the selection of the properties and number of preferably used sensors and actuators. In addition to the technically correct functionality, the acceptance of the behavior of the (partially) autonomously driving vehicle by the user and possibly also other road users should be taken into account in the development process, which is why the timely and comprehensive testing of implemented control software in realistic test scenarios is an essential task represents.

However, the baseline data that is actually required is often lacking in order to be able to make optimal decisions in the development process, and there is no suitable test procedure and / or test environment optimized for the respective development with which the design, validation and confirmation of the control methods can be carried out. so that solutions to problems, but also until then unrecognized problems are recognized only when a costly prototype of the vehicle for testing is available or even later, for example, when performing a potentially complex and expensive user or vehicle clinic, which in addition to the high cost Delays may arise in the further development process.

Therefore, the inclusion of virtual environments in which certain test scenarios can be created and included in the development and test history of vehicles virtually repeatable and cost-effective, is an efficient alternative or supplement.

While virtual environments are commonly used in computer games, such as first-person shooters or driving simulators, they are increasingly being used in product development and testing.

In the US 8,412,499 B2 a portable driving simulator for a vehicle is shown, in which the steering of a real vehicle is operated by the driver at a standstill while the latter drives away a virtual driving route presented to him via a data helmet, ie a head-mounted display. The testing of an at least partially autonomously driving vehicle is not provided here.

In the US 2013/0257904 A1 there is shown a virtual development system which is intended to enhance the presentation of a virtual environment to the user by considering both his hand and head position data.

In the US 2013/0022950 A1 A system for generating behavioral studies of a subject is described. In the process, a user with a data helmet or head-mounted display enters a virtual environment, and his actions and movements are recorded so that they can be analyzed afterwards.

In K. Herbus and P. Ociepka, "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, pp. 1-6, vol 145 It is shown that in a virtual environment, a virtual computer-controlled test platform can be used to virtually mount and test thereon an avatar, ie a virtual representation, of a vehicle chassis to be tested. An immersive immersion of the user of the test system with the ability to detect reactions of the user to a behavior of the vehicle is not provided.

In the US 2016/0210382 A1 a system is shown in which a computer device generates a virtual environment in which a virtual vehicle can drive autonomously and with virtual sensors receives and processes data about a user input a test parameter is selectable. However, it is not intended to include the user in the virtual environment and to open a test facility in which the acceptance of the behavior of the autonomously driving vehicle by the user or virtual road users can be detected.

In the US 2017/0025031 A1 A device for testing a device to be operated in an aircraft is described. This creates a virtual environment with a cockpit scenario, and the user tests a virtual representation of the device to be served, receiving haptic feedback from a non-functional wildcard object. For the user, a test station is provided with a motion platform, by which the impression of a moving cockpit is to be caused. When staying in the test station, the subject is at least partially incorporated into the virtual environment of the test cockpit, even if, for example, no run around the test person is provided therein. The test procedure consists in the interaction of the involved test person with a virtual representation of the device to be tested. While this approach allows testing the design to be chosen, there is no testing of functionality of real control software depending on sensor signals in the virtual environment. A design of the test scenario by the user and a connection of the test person with a user-configurable, in principle any virtual object to participate from the perspective of the test carried out is not provided.

It is an object of the present invention to provide a cost effective way to test real controllers for at least partially autonomous vehicles in test situations that allow for acceptance of the provided autonomous control behavior by a test participant without already having at least one real prototype of the entire vehicle to have available in the respective test situation.

This object is achieved with a test system for testing a control of an at least partially autonomously driving vehicle in a virtual environment according to claim 1 and a method for testing a control of an at least partially autonomously driving vehicle in a virtual environment according to claim 20. Advantageous developments of the invention are specified in the subclaims.

According to one aspect of the invention, a test system for testing a control of an at least partially autonomously running vehicle in a virtual environment comprises a control module to be tested for controlling at least one action of an at least partially autonomous vehicle in response to at least one sensor signal of the at least partially autonomous driving one Vehicle associated sensor, and a programmable device which is adapted to generate a virtual environment, can be interacted with via an interface module and in the at least one virtual test scenario can be generated, comprising at least a virtual test participant object and a virtual test vehicle.

In this case, the virtual test vehicle is a virtual representation, i. a virtual model of the at least partially autonomously driving vehicle and has at least one virtual sensor which generates a virtual sensor signal and outputs via the interface module as a sensor signal to be evaluated to the control module.

The control module is configured to generate at least one control signal as a function of the sensor signal to be evaluated and output via the interface module to the virtual test vehicle for controlling at least one action of the virtual test vehicle.

The programmable device is set up to generate the virtual test scenario in the virtual environment, at least at the instigation of a user of the test system.

The interface module comprises a user interaction module through which the user may connect to the virtual test participant object such that the test scenario becomes perceptible to the user from a perspective associated with the test participant object, wherein the virtual test participant object is configurable by the user.

The test system makes it possible to test a real control module, which is intended for a real, at least partially autonomously driving vehicle, in variable virtual test scenarios in a virtual test vehicle, wherein the user of the system, via the user interaction module, is connected to the virtual test subscriber object You can observe the test in the virtual environment, but also influence and configure it.

By the user perceiving the virtual test scenario from the perspective of the virtual test participant object itself, the subjective acceptability of the vehicle behavior can be taken into account. For this purpose, the virtual test subscriber object can be positioned, for example, at a critical point for the action to be carried out by the virtual test vehicle, for example behind the Vehicle in a reverse parking maneuver, and can be configured by the user in a manner relevant to the test, for example, be changed in size, color or speed of movement. In addition, the reaction of the test participant can be experienced. If the virtual test subscriber object assumes the possible position of a virtual passer, for example, a distance before the virtual vehicle brakes in front of the virtual passerby can already be assessed in the virtual environment. For example, if the distance is so small that the passer-by is startled, this distance may be too low, even if it were actually sufficient to carry out the action of the vehicle. Thus, testing the control module may include not only testing the correct operation of the control module, but also testing the acceptance of vehicle behavior by other road users, such as passers-by.

The test system can not only be used to control the operation of the control module and thus the autonomous driving characteristics of the at least partially autonomous vehicle for the purpose of improvement, e.g. during the development phase, but also, for example, to be used by other persons, eg. For example, potential customers experience the behavior of the vehicle in different situations, which would probably not occur during a normal real test drive, for example. An impressive experience, for example, can increase the understanding of how certain security mechanisms will behave in an emergency, which may increase confidence in the operational capability of the at least partially autonomous vehicle. In addition, the test system can also be used at a virtual vehicle clinic or user clinic during the development process, for example, even before a potentially expensive prototype of the vehicle has been realized.

In particular, the control module can be real control software to be tested, which is executed, for example, on the programmable device generating the virtual environment. In a further embodiment, it is provided that the control module is executed on a separate programmable device connected to the interface module, for example on a processor intended for the real, at least partially autonomous vehicle. However, in other embodiments, for example, real hardware connected in the form of logic circuits or a combination of hardware and software modules can also be involved via the interface module. The presented test system provides that the control module controls the virtual test vehicle with at least one control signal generated in response to the evaluation of the at least one sensor signal to be evaluated. In this case, the control signal generated by the control module after transfer via the interface module to the virtual environment is a virtual control signal.

Setting up the programmable device or computing device as a platform for a virtual environment, i. In particular, virtual reality includes programming the device that includes at least one processor and memory in which appropriate program code may be stored to create the virtual environment.

The interface module allows data to be exchanged between the user's real world and the virtual environment in which the virtual test scenario is running. The interface module includes software components as well as hardware components. In particular, the user interaction module comprises data output means, for example to give the user the most immersive impression possible of the generated virtual environment, for example by means of suitable displays, e.g. a data helm or head-mounted display, and other data output means to give the user a sensory impression of the virtual environment, such as an acoustic and / or haptic impression. The user interaction module also includes data input means, such as a data glove or other motion detection means and / or other means for detecting actions of the user and translating them into interactions with virtual environment objects. In order, in particular, to be able to realistically implement a movement through the virtual environment, it is also possible, for example, to use an omnidirectional motion simulation device for virtual environments. The user interaction module also includes software components necessary for the operation of the hardware used for user interaction, which are executed, for example, on the programmable device generating the virtual environment.

The action of the virtual test vehicle to be controlled by the control module to be tested may be any autonomously executable action by the at least partially autonomous driving vehicle, such as parked along or across the lane, automatic turning of the vehicle, automatic lane change, automatic trailer coupling or execution driving safety measures such as avoidance or braking maneuvers, whereby the test scenario is adapted to the action under investigation.

The virtual test vehicle is not just a three-dimensional model that represents the at least partially autonomous driving real vehicle. It also has at least one virtual sensor which generates a virtual sensor signal which, after transfer to the interface module, is passed to the control module as a sensor signal to be evaluated, wherein the virtual sensor of the virtual test vehicle generates signals which correspond to those of a corresponding real, correspond to a real, at least partially autonomously moving vehicle associated sensor. In this case, the sensor is a sensor suitable for the test scenario, for example a distance sensor or a speed sensor, in embodiments in which the virtual test scenario also allows the configuration of simulated environmental conditions, for example a temperature sensor or a moisture sensor.

The virtual test scenario comprises at least the arrangement of two virtual objects, the virtual test vehicle and the virtual test subscriber object, in the virtual environment, but may also include additional virtual objects. In addition, the virtual test scenario may include one or more associated actions, e.g. Not only the virtual vehicles, between which a parking space is present, and the virtual test vehicle, but also the command to the virtual test vehicle to park autonomously there. In another embodiment, the execution of such an action is only started by the user connected to the test participant object, for example with a real or virtual remote control.

With the described test system, a system is provided with which a test of vehicle behavior can be performed in an immersive virtual environment, i. The user of the system can not only make a user input, but interact with the virtual environment in a form that gives the impression as convincing as possible that the virtual environment is reality and not an illusion. In this case, he can configure the virtual test scenario, but at least the virtual test subscriber object, via which the user interacts with the scenario, according to the respective intended test.

In one embodiment, the virtual test scenario comprises a plurality of further objects. Thus, even scenarios with more complex traffic situations, for example the parking maneuver mentioned above, can be tested virtually and varied in their construction, for example in order to detect the limits of the reliability of the control module to be tested.

In a preferred embodiment of the test system, the virtual test subscriber object is a virtual representation of a person, for example an avatar of the user, so that the impression for the user to "immerse" immersively in the test scenario is supported. The test system provides that the virtual test participant object can be configured by the user. For example, it can be provided that the user selects a form for the virtual test subscriber object which makes certain demands on the control of the virtual test vehicle, e.g. the shape of a child of small height, a senior with limited speed of movement, a wheelchair user, a person with a dog on a leash, a cyclist or a leader of another vehicle.

In a further embodiment, the virtual test subscriber object can be assigned by the user to one of the further objects. The user may decide that one of the other objects should serve as the virtual test participant object so that the user can change the perspective from which he perceives the test scenario. This may or may not be a person, but may be any of the objects provided in the test scenario, also e.g. Things like a fence or perimeter wall or other vehicle in the test scenario.

In a preferred embodiment, the virtual test vehicle is set up to perform an action, at least at the instigation of the user in the test scenario, controlled by control signals generated by the control module in response to at least the virtual sensor signal. It can be provided that the user starts an action of the virtual test vehicle from outside the virtual environment or triggers the action of the virtual test vehicle via influencing the virtual test subscriber object. For example, standing in the way can cause an evasion or braking action of the virtual test vehicle to be triggered. Additionally or alternatively, the selection may be provided from a list of possible actions.

In a preferred embodiment, the user interaction module is configured to detect at least one movement of the user and to carry out an associated change of the virtual test participant object. This allows the user to interact with the virtual scenario and influence the test during its execution. Depending on the nature and characteristics of the virtual test participant object and the user interaction module, this may be an associated corresponding movement (eg, real arm lifting or real walking motion of the user causing virtual arm lifting or virtual walking movement of the user) virtual test participant object). In particular, if the virtual test participant object is not a humanoid avatar but, for example, any other geometric shape, a tree, fence or the like, other changes may also be assigned, eg changes in size, orientation, color etc.

In one embodiment, the virtual environment includes a test scenario configuration component operable via the user interaction module that is configured to allow the user to configure a plurality of virtual test scenario properties at least during its connection to the test participant object. In this way, the user can configure and modify the virtual test scenario prior to and during its execution while the user remains connected to the test subscriber object in the virtual environment. This gives the user an immediate impression of the effects of their configurations and, for example, can make adjustments or changes depending on the progress of the test.

In an exemplary embodiment, the plurality of properties of the virtual test scenario include at least one property of the test subject virtual object, and the test scenario configuration component includes a test participant configuration module configured to allow the user to configure the at least one property of the test subject virtual object. This offers the advantage that the user can test a test situation specifically for the influence of a parameter relating to the test participant object.

In an exemplary embodiment, the virtual test subscriber object is configurable by the user in its detectability by the at least one virtual sensor. The detectability may be configurable either directly via the test subscriber configuration module or indirectly through one or more other properties of the virtual test subscriber object. For example, it may be provided to vary the size or clothing color of a person serving as a virtual test participant object in the traffic situation of the test scenario.

In another example embodiment, the plurality of properties of the virtual test scenario include at least one property of the virtual test vehicle, and the test scenario configuration component includes a test vehicle configuration module that is configured to allow the user to configure the at least one property of the test virtual vehicle. For example, the test vehicle configuration component may provide for ways to change the type or size, speed, etc. of the virtual test vehicle or parameters of the test vehicle's virtual sensors, such as range, frequency range, or position of the sensors on the virtual test vehicle.

In yet another example embodiment, the test scenario configuration component includes an object positioning module configured to allow the user to change a position of at least the virtual test participant object in the virtual scenario. In addition, it can be provided that the positions of further, possibly all, objects, in particular also of the virtual test vehicle, can be changed. This offers the advantage that the user can adapt the test scenario so that a specific situation to be tested can be set up and, if necessary, also varied. In addition, for example, a catalog of situations to be tested can already be provided, from which one is selected, but which can then be adapted by the user, for example, with regard to a specific problem to be tested.

In one embodiment, the virtual environment comprises an analysis component that can be operated via the user interaction module and that is set up such that the user can insert at least one status indicator into the virtual test scenario and associate it with one or more virtual objects of the virtual test scenario. Virtual objects of the virtual test scenario are at least the virtual test participant object and the virtual test vehicle and possibly the plurality of further virtual objects. A state indicator may be any indicator that displays or records a current state of the test scenario or a particular virtual object therein.

In an exemplary embodiment, the at least one status indicator is assigned a decision rule determining a state to be displayed. In this way, for example, certain states or state changes can be displayed or recorded. For example, a rule may be that if a distance between two objects becomes less than a threshold, visualize it by a warning display, e.g. by a color change of a virtual object.

In an exemplary embodiment, the at least one status indicator comprises a means to detect a distance between two virtual objects. This may include the state indicator calculating, displaying, or recording a virtual distance between two of the objects in the test scenario.

In a further exemplary embodiment, the virtual analysis component has at least one virtual camera as a status indicator which can be placed by the user in the virtual environment at an arbitrarily selectable position and with which images or image sequences of the virtual test scenario are recorded from the selected position can. Thus, the course of a test from a user-selected perspective for later evaluation can be recorded and stored, with records from different perspectives or with different test procedures can be performed in order to gain additional insight by comparison or synopsis of different records. If, in addition, a corresponding rule is assigned, it can be provided, for example, to activate the recording only in certain situations, for example when the distance between the virtual test vehicle and another virtual object in the test scenario falls below a distance. In another embodiment, instead of a virtual camera, another virtual recording device can also be provided, since the possibility of recording, ie recording and storing, can be provided for each available virtual signal.

In one embodiment, the test system further comprises a measuring device for acquiring values of at least one biological parameter of the user at least temporarily while the user is connected to the virtual test participant object via the user interaction module. A biological parameter of the user may be, for example, his heartbeat, blood pressure, etc. The measuring device can be any measuring device suitable for measuring and storing the respective biological parameter, in particular also a fitness watch or "wearable", the data transmission functionality of which comprises a connection, e.g. allowed to the programmable device. By comparing the course of the values of the biological parameter with the time course of the action of the vehicle conclusions can be drawn on the reaction of the user with the perspective of the selected test participant object with respect to the behavior of the virtual test vehicle. For example, if the distance before the virtual vehicle brakes in front of the virtual passers-by is so small even in the virtual environment that the passer-by is startled and shows a physical reaction, that distance may be too low. Thus, testing the control module that controls the virtual test vehicle may include not only testing the correct operation of the control module, but also testing the acceptance of vehicle behavior by other road users, such as passers-by.

In an exemplary embodiment, the interface module is configured to pass the captured values of the at least one biological parameter of the user to the virtual environment, and the virtual environment includes means for presenting the detected values associated with the test participant object. In this way, while the user is connected to the test participant object and participates in the virtual test scenario, he may relate his reactions to current events. In addition, when using, for example, a virtual camera, it is possible to integrate the information about the user's physical reactions into the recording. For example, representing the acquired values associated with the virtual test participant object may include visualizing them as reactions of the virtual test participant object, but also, for example, representing the values on a virtual display in the virtual scene.

In a further embodiment, the user interaction module comprises means for making available at least one communication device of the user in the virtual environment. The communication device may be, for example, a telephone or a smartphone, it being provided that e.g. the phone in the virtual environment works or control software installed on the smartphone, e.g. a control app, a function of the virtual vehicle starts or controls and thus realizes a real remote control for a function of the virtual vehicle. For this purpose, the communication device is, for example, integrated into the virtual environment using means of enriched reality or augmented reality, or a virtual representation of the communication device that can be operated via the user interaction module can be used by the test participant object in the virtual test scenario. For example, tests may also be conducted under the condition that passersby are inattentive because they are using their smartphone or are suddenly distracted unexpectedly and abruptly changing their behavior, e.g. the phone rings. Also, for example, effects of setting changes on the control module of the autonomous vehicle after remote control via the smartphone during an action of the autonomous vehicle can be tested.

In one embodiment, the virtual test scenario includes a range of motion in which the test participant object can be moved by the user. This prevents the test participant object from being moved outside of the area for which the generated virtual test scenario was created, such as the objects in that area for the range of motion virtual scenario must have a functional and visual detail that allows the test participant object to interact with it and create an immersive impression for the user. The range of motion will include, for example, the virtual test vehicle and its surroundings, in particular the objects relevant to the test, eg the autonomous parking maneuver, the other vehicles defining a parking space, the road and the parking lot.

According to a further aspect of the invention, a method according to the invention relates to a method for testing a control of an at least partially autonomously driving vehicle in a virtual environment. It is envisaged that the method be carried out with a test system according to one of the embodiments described above. In this way, the advantages and special features of the test system according to the invention are also implemented in the context of a method for testing a control of an at least partially autonomously driving vehicle in a virtual environment.

• - Bereitstellen eines zu testenden Steuermoduls zum Steuern zumindest einer Aktion eines zumindest teilweise autonom fahrenden Fahrzeugs in Abhängigkeit von zumindest einem Sensorsignal eines mit dem zumindest teilweise autonom fahrenden Fahrzeug assoziierten Sensors;
• - Einrichten einer programmierbaren Vorrichtung, eine virtuelle Umgebung zu generieren, mit der über ein Schnittstellenmodul interagiert werden kann; und
• - Erzeugen zumindest eines virtuellen Testszenarios in der virtuellen Umgebung, das zumindest ein virtuelles Testteilnehmerobjekt und ein virtuelles Testfahrzeug aufweist, wobei das virtuelle Testfahrzeug eine virtuelle Repräsentation des zumindest teilweise autonom fahrenden Fahrzeugs ist und mindestens einen virtuellen Sensor aufweist, der ein virtuelles Sensorsignal generiert und über das Schnittstellenmodul als auszuwertendes Sensorsignal an das Steuermodul ausgibt, das Steuermodul dazu eingerichtet ist, in Abhängigkeit von dem auszuwertenden Sensorsignal mindestens ein Steuersignal zu generieren und über das Schnittstellenmodul an das virtuelle Testfahrzeug zum Steuern zumindest einer Aktion des virtuellen Testfahrzeugs auszugeben; und das Schnittstellenmodul ein Benutzer-Interaktionsmodul aufweist, über das sich der Benutzer mit dem virtuellen Testteilnehmerobjekt derart verbinden kann, dass das virtuelle Testszenario für den Benutzer aus einer dem Testteilnehmerobjekt zugeordneten Perspektive wahrnehmbar wird, und wobei das virtuelle Testteilnehmerobjekt von dem Benutzer konfigurierbar ist. Außerdem umfasst das Verfahren ein Verbinden des Benutzers mit dem virtuellen Testteilnehmerobjekt über das Benutzer-Interaktionsmodul und ein Konfigurieren des virtuellen Testteilnehmerobjekts durch den Benutzer.

The method comprises at least the following steps:

• Providing a control module to be tested for controlling at least one action of an at least partially autonomously driving vehicle as a function of at least one sensor signal of a sensor associated with the at least partially autonomously driving vehicle;
• Establishing a programmable device to generate a virtual environment that can be interacted with via an interface module; and
• Generating at least one virtual test scenario in the virtual environment comprising at least one virtual test participant object and a virtual test vehicle, the virtual test vehicle being a virtual representation of the at least partially autonomously driving vehicle and having at least one virtual sensor generating and transmitting a virtual sensor signal outputs the interface module as a sensor signal to be evaluated to the control module, the control module is configured to generate at least one control signal depending on the sensor signal to be evaluated and output via the interface module to the virtual test vehicle for controlling at least one action of the virtual test vehicle; and the interface module comprises a user interaction module through which the user may connect to the virtual test participant object such that the virtual test scenario becomes perceptible to the user from a perspective associated with the test subject object, and wherein the virtual test subject object is configurable by the user. In addition, the method includes connecting the user to the virtual test subscriber object via the user interaction module and configuring the virtual test subscriber object by the user.

In a preferred embodiment, the method further comprises executing an action controlled by the control module in response to at least the virtual sensor signal from the control module controlled action by the virtual test vehicle, at least at the instigation of the user in the test scenario.

• 1 eine schematische Darstellung eines ersten Beispiels eines Testsystems zum Testen einer Steuerung eines zumindest teilweise autonom fahrenden Fahrzeugs in einer virtuellen Umgebung gemäß einer Ausführungsform der Erfindung;
• 2 eine schematische Darstellung eines zweiten Beispiels eines Testsystems zum Testen einer Steuerung eines zumindest teilweise autonom fahrenden Fahrzeugs in einer virtuellen Umgebung gemäß einer weiteren Ausführungsform der Erfindung;
• 3 eine schematische Darstellung eines Tests einer Fahrzeugsteuerung eines autonom durchgeführten Einparkmanövers mit einem Testsystem zum Testen einer Steuerung eines zumindest teilweise autonom fahrenden Fahrzeugs in einer virtuellen Umgebung; und
• 4 eine schematische Darstellung eines Beispiels eines Verfahrens zum Testen einer Steuerung eines zumindest teilweise autonom fahrenden Fahrzeugs in einer virtuellen Umgebung gemäß einer weiteren Ausführungsform der Erfindung.

Further advantages of the present invention will become apparent from the detailed description and the drawings. The invention will be explained in more detail below in conjunction with the following description of embodiments with reference to the accompanying drawings. Show it:

• 1 a schematic representation of a first example of a test system for testing a control of an at least partially autonomously driving vehicle in a virtual environment according to an embodiment of the invention;
• 2 a schematic representation of a second example of a test system for testing a control of an at least partially autonomously driving vehicle in a virtual environment according to another embodiment of the invention;
• 3 a schematic representation of a test of a vehicle control of an autonomous parking maneuver with a test system for testing a control of an at least partially autonomously driving vehicle in a virtual environment; and
• 4 a schematic representation of an example of a method for testing a control of an at least partially autonomously driving vehicle in a virtual environment according to another embodiment of the invention.

It should be understood that other embodiments may be utilized and structural or logical changes may be made without departing from the scope of the present invention. It should be understood that the features of the various exemplary embodiments described above and below may be combined with each other unless specifically stated otherwise. The description is Therefore, it should not be construed in a limiting sense, and the scope of the present invention is defined by the appended claims.

1 shows a schematic representation of a first example of a test system for testing a control of an at least partially autonomous driving vehicle in a virtual environment according to an embodiment of the invention. The test system 100 includes a control module to be tested 101 for controlling at least one action of an at least partially autonomously driving vehicle as a function of at least one sensor signal of a sensor associated with the at least partially autonomously driving vehicle, and a programmable device 102 that is set up to be a virtual environment 103 to generate with the via an interface module 104 can be interacted with and in the at least one virtual test scenario 105 can be generated, the at least one virtual test participant object 106 and a virtual test vehicle 107 having. Here is the virtual test vehicle 107 a virtual representation of the at least partially autonomously driving vehicle and has at least one virtual sensor 108 which generates a virtual sensor signal and via the interface module 104 as to be evaluated sensor signal to the control module 101 outputs. The control module 101 is configured to generate at least one control signal as a function of the sensor signal to be evaluated and via the interface module 104 to the virtual test vehicle 107 for controlling at least one action of the virtual test vehicle 107 issue. The programmable device 102 is set up, at least at the instigation of a user 109 of the test system 100 the virtual test scenario 105 in the virtual environment 103 to create. The interface module 104 has a user interaction module 110 on, about which the user is 109 with the virtual test participant object 106 such that the virtual test scenario 105 for the user 109 from a virtual test participant object 106 associated with the perspective, wherein the virtual test subscriber object 106 from the user 109 is configurable.

In the example shown, the virtual environment has 103 via a via the user interaction module 110 operable test scenario configuration component 111 , usually a software component that the user uses 109 Properties of the virtual test scenario 105 can configure. For this purpose, several subcomponents or modules are provided in the example shown. With the test participant configuration module 112 can the user 109 one or more properties of the virtual test participant object 106 configure, for example, its detectability by the virtual sensor 108 , With the test vehicle configuration module 113 can the user 109 one or more properties of the virtual test vehicle 107 configure. With the object positioning module 114 can the user 109 a position of the virtual test participant object 106 and possibly other existing virtual objects in the virtual test scenario 105 change. Additionally, the virtual environment points 103 one via the user interaction module 110 operable analysis component 115 on, with which the user 109 at least one status indicator in the virtual test scenario 105 insert and one or more virtual objects 106 . 107 the virtual test scenario 105 can assign. This may be, for example, means for detecting distances between objects, but also, for example, a virtual camera. In the exemplary test system shown is also a measuring device 116 provided, for example, a "wearable" or fitness recording device, with the values of one or more biological parameters, such as heart rate, pulse rate, blood pressure, etc. of the user 109 be captured while the user 109 via the user interaction module 110 with the virtual test participant object 106 connected is. In addition, the user interaction module has 110 Means up to a communication device 117 For example, a phone or smartphone or a remote control for a by the control module 101 controllable vehicle function, in the virtual environment 103 to make usable. Finally, it is envisaged that the virtual test scenario 105 a range of motion 118 contains in which the test participant object 106 by the user 109 can be moved.

In order to further clarify the structure of a test system according to the invention, is in 2 a schematic representation of a second example of a test system for testing a control of an at least partially autonomously driving vehicle in a virtual environment according to another embodiment of the invention shown. This in 2 shown test system 200 is from a user 201 , that is, a real person, in other embodiments also by several users simultaneously usable. The system allows the user 201 immersive in one of a programmable device 202 to dive into and interact with the generated virtual environment. For this purpose, the test system 200 a user interaction module 203 on. This may include a VR platform (VR: virtual reality) that includes hardware and software components, the associated software being executed, for example, on a separate programmable device associated with the programmable device 202 that generates the virtual environment. It can also be provided, all software components on the programmable device 202 to carry out the created virtual environment. For example, the VR platform may include at least one of data glasses or a head-mounted display and a user controller, as well as a haptic interface and a system for detecting and tracking user movements.

In addition, it is provided that a measuring device 204 for biological parameters of the user during the performance of tests with the test system biometric data, such as stress level, heart rate, pulse and / or blood pressure of the user 201 recorded and recorded. The measuring device 204 may be, for example, a smart watch or other fitness meter, but also eg an ECG device for recording an electrocardiogram of the user. In the example shown is also a communication device 205 is provided, which may be, for example, a smartphone, and which is visible and usable by means of augmented reality means in the virtual environment. The programmable device 202 is the computer platform that creates the virtual environment and runs a virtual test scenario in it.

The virtual test scenario includes a virtual test vehicle 206 , which is a virtual representation, ie a virtual model, of a vehicle, its control module 207 , which may be a software module with control software for a vehicle function, is tested in the test system by the behavior of the virtual test vehicle 206 with control signals of the control module intended for the real vehicle 207 is tested in virtual test scenarios. The virtual test vehicle 206 is thereby at least by an object model 208 and a sensor model 209 Are defined. The object model 208 determines the three-dimensional representation of the vehicle, including its shape and size. The sensor model 209 is with the object model 208 connected and represents one or more virtual vehicle sensors that simulate the behavior of the corresponding sensors of the real vehicle. In an embodiment, the object model comprises 208 Also a model of or part of the physical control system or the controlled system of the vehicle, possibly including appropriate controller and manipulated variables.

The control module 207 is via an interface module (not shown) with the virtual test vehicle 206 in the virtual scenario in the programmable device 202 connected virtual environment. It includes a control software to be tested 210 for controlling at least one function of an at least partially autonomous vehicle and a computer platform 211 or programmable device with appropriate environment (for example, a PC with Simulink).

The programmable device 202 generated virtual environment 212 provides the framework into which a virtual scenario 213 is loaded and can be configured by the user. The virtual scenario 213 , ie the virtual scene, is a three-dimensional graphical environment representation in which the user 201 using the user interaction module 203 immersive immersion and in the testing of the control of the virtual test vehicle 206 through the (real) control software 210 of the control module 209 is carried out. The virtual test scenario 213 besides the at least one virtual test vehicle 206 and at least one virtual test participant object 215 that is, a virtual user of the virtual environment, for example, a three-dimensional model of a street with parked vehicles include. Next to it is a range of motion 214 or walk-in area for the virtual test participant object 215 intended. This is an area with one or more objects in the virtual test scenario, that of the test participant object 215 which is one of the user's controllable avatar 201 trades, can be explored.

The virtual test participant object 215 has a test participant interaction module 216 or test participant configuration module with which the virtual object of the virtual test participant object can be configured. In principle, the three-dimensional shape can be configured as desired (a person, a geometric shape, a fence, a vehicle, etc.). In addition, further properties of the virtual test participant object can be configured, in particular its detectability by the virtual sensors of the virtual test vehicle 206 , In addition, the test participant interaction module allows 216 or test participant configuration module configuring the interaction possibilities of the user 201 with the virtual test participant object 215 , In particular, provides the ability to specify which detected movements of the user or body parts of the user as on the virtual test participant object 215 be imaged, allowing movements of the user through associated movements or changes of the virtual test taker object 215 in the virtual scenario. In addition, the test participant interaction module includes 216 or test participant configuration module, a positioning module 217 at least for the virtual test participant object 215 It's the real user 201 allows the virtual test participant object 215 anywhere in the virtual scenario. There is also a test vehicle interaction module 218 provided that it the Allows users to connect to the at least one virtual test vehicle 206 to interact in the virtual scenario. It comprises at least the following functionalities: It includes a remote control function with which an interactive object can be selected in the virtual test scenario, and a further remote control function with which an action of the selected interactive object, in particular of the virtual test vehicle, can be started Action can be selected from a list of predefined actions, such as starting an autonomous parking maneuver, positioning the test vehicle at a specific position, switching on the lighting, etc.

In addition, the test participant interaction module includes 216 or test subscriber configuration module, a test subscriber control unit 219 , It is a user interface used by the user 201 the properties of the virtual test participant object 215 control and configure. There is also an analysis component 220 a kind of "toolbox" that provides the user with the means to, for example, make measurements and / or record measurements within or views of the virtual test scenario or test history. In particular, the analysis component allows distances between virtual objects to be measured and to record data or images or image sequences with a virtual recorder, for example a virtual camera, that can be placed in the scenario. In addition, the analysis component offers the option of using status indicators to query and display the status of objects and to display information about status changes by assigning rules (for example, the current status of an ongoing driving or parking maneuver or a color display if one object has another status) touched a certain force, etc.).

• - Konfigurieren einer virtuellen Umgebung 212, einschließlich eines virtuellen Testszenarios 213 und eines vorgesehenen Bewegungsbereichs 214,
• - Auswählen und Konfigurieren des Benutzer-Interaktionsmoduls 203 mit der VR-Plattform, einschließlich Registrieren von vernetzbaren Messgeräten 204 zum Messen von biometrischen Daten des Benutzers und Registrieren eines oder mehrer vernetzbarer intelligenter Geräte bzw. Kommunikationseinrichtungen 205, beispielsweise Smartphones, um sie innerhalb des simulierten virtuellen Testszenarios verwenden zu können,
• - Konfigurieren des zu testenden Steuermoduls 207, einschließlich Ladens der zu testenden Steuersoftware 210 auf die zur Ausführung verwendete Computerplattform 211 und Verbinden mit der programmierbaren Vorrichtung 202, die die virtuelle Umgebung erzeugt,
• - Auswählen und Konfigurieren des virtuellen Testfahrzeugs 206, einschließlich Konfigurieren des dreidimensionalen Fahrzeugmodells 208 und des für den Test geeigneten Sensormodells 209,
• - Auswählen und Konfigurieren des virtuellen Testteilnehmerobjekts 215 unter Verwendung des Testteilnehmer-Interaktionsmoduls 216 bzw. Testteilnehmer-Konfigurationsmoduls, so dass das Testteilnehmerobjekt ein dreidimensionales Modell als Avatar des realen Benutzers in der virtuellen Umgebung umfasst, Einrichten, so dass Bewegungen des Benutzers bzw. von Körperteilen als Änderungen am virtuellen Testteilnehmerobjekt wiedergegeben werden, Konfigurieren einer Detektierbarkeit des virtuellen Testteilnehmerobjekts durch die virtuellen Sensoren des virtuellen Testfahrzeugs (beispielsweise über eine Einstellung einer Wahrscheinlichkeit, von Sendesignalen der virtuellen Sensoren entdeckt zu werden), und
• - Konfigurieren einer virtuellen Steuerung für das virtuelle Testteilnehmerobjekt, einschließlich Definieren, welche Interaktionen des virtuellen Testteilnehmerobjekts 215 mit dem virtuellen Testszenario möglich sind, während es ausgeführt wird, beispielsweise Bewegen in dem Bewegungsbereich 214, Bewegen von Objekten in dem Szenario, z.B. Re-Positionieren eines Fahrzeugs, Modifizieren von Objektparametern, insbesondere Größe und Form, Modifizieren von Parametern des Testteilnehmerobjekts, beispielsweise Änderung der Form, der Göße oder der Detektierbarkeit, sowie Auswählen von Betriebsmodi des zu testenden Steuermoduls, beispielsweise Aktivieren eines zusätzlichen Features,
• -Konfigurieren der Analysekomponente 220, einschließlich virtueller Daten-, Bild- oder Videorekorder sowie Analysefunktionen und Zustandsindikatoren für ausgewählte Objekte oder Daten in dem virtuellen Testszenario und Mittel zum Erfassen bzw. Messen bestimmter Größen, beispielsweise Abständen zwischen Objekten.

In the in 2 The example shown is also a test configuration module 221 provided, which allows the test environment, so the test scenario including all objects contained, also using the other configuration modules described, set up and perform a test. The test system is configured as follows, for example:

• - Configure a virtual environment 212 including a virtual test scenario 213 and a designated range of motion 214 .
• - Select and configure the user interaction module 203 with the VR platform, including registration of networked meters 204 for measuring biometric data of the user and registering one or more networkable intelligent devices or communication devices 205 such as smartphones, to use within the simulated virtual test scenario,
• - Configure the control module to be tested 207 including loading of the control software to be tested 210 on the computer platform used for execution 211 and connecting to the programmable device 202 that creates the virtual environment,
• - Select and configure the virtual test vehicle 206 including configuring the three-dimensional vehicle model 208 and the sensor model suitable for the test 209 .
• - Select and configure the virtual test participant object 215 using the test participant interaction module 216 or test participant configuration module such that the test participant object comprises a three-dimensional model as the avatar of the real user in the virtual environment, setting up so that movements of the user or body parts are reflected as changes to the virtual test participant object, configuring a detectability of the virtual test participant object the virtual sensors of the virtual test vehicle (for example via an adjustment of a probability to be detected by transmission signals of the virtual sensors), and
• - Configure a virtual controller for the virtual test subscriber object, including defining which interactions of the virtual test subscriber object 215 with the virtual test scenario while it is running, such as moving in the motion area 214 Moving objects in the scenario, eg re-positioning a vehicle, modifying object parameters, in particular size and shape, modifying parameters of the test participant object, for example changing the shape, size or detectability, and selecting operating modes of the control module to be tested, for example, activating an additional feature,
• -Configuring the analysis component 220 , including virtual data, video or video recorders as well as analysis functions and status indicators for selected objects or data in the virtual test scenario and means for acquiring or measuring specific quantities, for example distances between objects.

• - Laden aller konfigurierten Elemente in die virtuelle Umgebung,
• - Starten des virtuellen Testszenarios und des Testmoduls,
• - Verbinden des Benutzers 201 über das Benutzer-Interaktionsmodul 203 mit dem virtuellen Testteilnehmerobjekt 215 und „Eintauchen“ in das virtuelle Testszenario an der Position des virtuellen Testteilnehmerobjekts,
• - Interagieren des Benutzers mit dem virtuellen Testszenario, wobei Bewegungen des Testteilnehmerobjekts 215 Bewegungen des Benutzers 201 reflektieren und überwacht wird, dass der Bewegungsbereich 214 nicht verlassen wird,
• - kontinuierliches Überwachen und Interpretieren der virtuellen Aktionen des virtuellen Testteilnehmerobjekts, insbesondere Positionsänderungen und Interaktionen mit dem virtuellen Testfahrzeug oder dem Steuermodul, durch die programmierbare Vorrichtung, die die virtuelle Umgebung ausführt, und
• - kontinuierliches Überwachen und Interpretieren der Verwendung der Analysekomponente durch das virtuelle Testteilnehmerobjekt, also den virtuellen Avatar des Benutzers 201, insbesondere von neuen Regeln und virtuellen Aufzeichnungsgeräten, durch die programmierbare Vorrichtung, die die virtuelle Umgebung ausführt.

While for the above configurations, a configuration operating mode of the Test system, the following operations are performed in a test mode of operation:

• - loading all configured elements into the virtual environment,
• - start the virtual test scenario and the test module,
• - Connecting the user 201 via the user interaction module 203 with the virtual test participant object 215 and "immersing" in the virtual test scenario at the position of the virtual test participant object,
• Interacting the user with the virtual test scenario, with movements of the test participant object 215 Movements of the user 201 reflect and monitor that the range of motion 214 will not leave,
• continuously monitoring and interpreting the virtual actions of the virtual test participant object, in particular position changes and interactions with the virtual test vehicle or the control module, by the programmable device that executes the virtual environment, and
• - Continuously monitoring and interpreting the use of the analysis component by the virtual test subscriber object, ie the virtual avatar of the user 201 in particular new rules and virtual recorders, by the programmable device executing the virtual environment.

3 shows a schematic representation of a test of a vehicle control of an autonomous parking maneuver with a test system for testing a control of an at least partially autonomously driving vehicle in a virtual environment. A user would like to test the control of a vehicle that is equipped with an autonomous or automatic parking assistance system. In such systems, it is provided that the user turns off the vehicle near a parking space, possibly leaves the vehicle and sends an instruction to the vehicle via an app on his smartphone or a function key on the key fob (key FOB) of the vehicle key to perform the parking maneuver , During the maneuver, the user can interrupt the maneuver via the app or the key FOB and continue running. The vehicle is equipped with parking sensors to perform the maneuver, with which it monitors the parking space. Therefore, for example, when a pedestrian enters the parking space, the system should recognize this and initiate a braking action to stop the vehicle until the pedestrian has left the parking space.

The test system is suitable for the user 301 without risk to pedestrians or damage to the vehicle, for example, how the vehicle's control system reacts when, for example, pedestrians of various sizes, wearing clothes of different colors or materials, enter the parking space as the respective pedestrian reacts, for example performs full braking or how the vehicle is maneuvered into particularly small parking spaces. The test system also lends itself to creating a video demonstrating the autonomous maneuverability of the vehicle.

To prepare the tests, the test system is prepared with the following steps:

First, a virtual environment 312 started and a virtual test scenario 313 set up. It prepares a user 301 a virtual test scenario 313 with one of two parked vehicles limited parking space before, in the example shown on a raised curb height roadway edge area, where in the test scenario 313 the area of the parking space as a range of motion 314 for the virtual test participant object 315 is defined.

Then the hardware of the user interaction module is connected to the programmable device, which is the virtual environment 312 generated, so that with this a data glasses and a control unit as a user interaction module 303 or VR platform and a measuring device 304 for measuring the pulse rate of the user 301 can be used.

Now becomes a control module to be tested 307 with the virtual environment running on the programmable device 312 connected and the thereby to be tested control software 310 and the computer device 311 that runs, selects, and sets up the control software.

In a further preparation step, a virtual test vehicle for the virtual environment 312 set up. The user generates this 301 a three-dimensional vehicle model and assigns this, for example, four virtual ultrasonic sensors and connects the virtual test vehicle 306 via an interface module (not shown) with the control module 307 ,

Then, the virtual environment becomes a virtual test attendee object 315 configured. In this case, for example, a model of a child is selected as an avatar via an interaction module or test participant configuration module, to which the real one Movements of the user (head, legs, arms) are mapped. In addition, a good detectability of the avatar is set by the virtual sensors, for example a detection probability of 100%, when the virtual ultrasound signal of a virtual sensor detects the avatar. Then the user configures the virtual test vehicle 306 and for example, add it to a list of interactive objects that can be interacted with, and add a list of possible interactions, particularly starting an autonomous park maneuver, pausing the autonomous park maneuver, and resuming the autonomous park maneuver. In addition, the possibility may be provided of the position or shape of the virtual test vehicle 306 to be changed by the user during the test.

Finally, an analysis component is set up which has a video camera for recording and storing the parking maneuver as well as a plurality of analysis rules. After a first rule, the color of the first parking space bounding vehicle changes when the virtual test vehicle 306 this touches. After a second rule, the color of the second parking space limiting vehicle changes as the virtual test vehicle 306 this touches. According to a third rule, a sound signal is generated and output when the virtual test vehicle 306 the virtual test participant object 315 touched.

To illustrate a test procedure or an iteration of a chain of test sequences, the test system is operated, for example, with the following steps:

The user loads for test execution 301 all previously configured components in the virtual environment 312 , The user 301 connects through the user interaction module 303 immersive with the one in the virtual test scenario in the virtual environment 312 contained virtual test participant object 315 , his virtual avatar and is thus virtually in front of the parking space. The user has access to all means configured in the analysis component, ie the "virtual toolbox". Now the user causes the virtual test vehicle, or the control module controlling the test vehicle, to start the autonomous parking maneuver. The virtual test vehicle starts with the parking maneuver and the user moves his avatar, ie the virtual test participant object 315 meanwhile in the parking space. The virtual sensors of the virtual test vehicle 306 detect the object in the parking space and the control module triggers emergency braking of the virtual test vehicle 315 out. The user is a little frightened by the late braking of the vehicle, even if no collision has occurred. The degree of fright is detected by a fitness watch recording the user's pulse rate. Now the avatar of the user leaves the parking space, whereupon the virtual test vehicle continues the parking maneuver. There is no collision during the test. After the test, the user can replay the scenario from the perspective of a virtual camera (not shown) placed elsewhere in the virtual test scenario.

4 shows a schematic representation of an example of a method for testing a control of an at least partially autonomously running vehicle in a virtual environment according to another embodiment of the invention. The method comprises a step of providing 401 a control module to be tested for controlling at least one action of an at least partially autonomously driving vehicle as a function of at least one sensor signal of a sensor associated with the at least partially autonomous driving vehicle, a step of setting up 402 a programmable device, to generate a virtual environment, with which can be interacted via an interface module, and a step of generating 403 at least one virtual test scenario in the virtual environment comprising at least one virtual test participant object and a virtual test vehicle, wherein the virtual test vehicle is a virtual representation of the at least partially autonomously driving vehicle and has at least one virtual sensor generating a virtual sensor signal and the interface module outputs as sensor signal to be evaluated to the control module, the control module is adapted to generate depending on the sensor signal to be evaluated at least one control signal and output via the interface module to the virtual test vehicle for controlling at least one action of the virtual test vehicle; and the interface module comprises a user interaction module through which the user may connect to the virtual test participant object such that the test scenario becomes perceptible to the user from a perspective associated with the test subject object, and wherein the virtual test participant object is configurable by the user. In addition, the method includes a step of connecting 404 the user with the virtual test subscriber object via the user interaction module and a configuring step 405 of the virtual test subscriber object by the user.

In the preferred embodiment shown, the method further comprises a step of execution 406 a controlled by in response at least to the virtual sensor signal generated by the control module control signals controlled by the action virtual test vehicle at least at the instigation of the user in the test scenario.

The figures are not necessarily true to detail and to scale and may be enlarged or reduced in size to provide a better overview. Therefore, functional details disclosed herein are not intended to be limiting, but merely illustrative, which provides guidance to those skilled in the art to variously employ the present invention.

It should be understood that method steps, although described in accordance with a certain order of order, may be performed in part in a different order than that described herein. It is further understood that certain steps could be performed concurrently, that other steps could be added, or that certain steps described herein could be omitted. In other words, the present descriptions are provided for the purpose of illustrating particular embodiments, and should not be construed as limiting the disclosed subject matter.

As used herein, the term "and / or" when used in a series of two or more elements means that each of the listed elements may be used alone, or any combination of two or more of the listed elements may be used. For example, when describing a composition containing components A, B and / or C, composition A may be alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C are included in combination.

Although the invention has been further illustrated and described by the embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

LIST OF REFERENCE NUMBERS

100

test system

101

control module

102

programmable device

103

virtual environment

104

Interface Module

105

virtual test scenario

106

virtual test participant object

107

virtual test vehicle

108

virtual sensor

109

user

110

User interaction module

111

Test scenario configuration component

112

Test takers configuration module

113

Test vehicle configuration module

114

Object positioning module

115

analysis component

116

measuring device

117

communicator

118

range of motion

200

test system

201

user

202

programmable device

203

User interaction module

204

measuring device

205

communication device

206

virtual test vehicle

207

control module

208

object model

209

sensor model

210

control software

211

computer platform

212

virtual environment

213

virtual scenario

214

range of motion

215

virtual test participant object

216

Test subscriber interaction module

217

positioning module

218

Test vehicle interaction module

219

Test subscriber control unit

220

analysis component

221

Test configuration module

301

user

303

User interaction module

304

measuring device

306

virtual test vehicle

307

control module

310

control software

311

computer device

312

virtual environment

313

virtual test scenario

314

range of motion

315

virtual test participant object

401

Providing a control module to be tested

402

Set up a programmable device

403

Create a virtual test scenario

404

Connecting the user to the virtual test participant object

405

Configure the virtual test participant object

406

Execute an action controlled by the control module

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

• US 8412499 B2 [0008]
• US 2013/0257904 A1 [0009]
• US 2013/0022950 A1 [0010]
• US 2016/0210382 A1 [0012]
• US 2017/0025031 A1 [0013]

Cited non-patent literature

• K. Herbus and P. Ociepka, "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, pp. 1-6, vol 145 [0011 ]

Claims (21)

A test system (100) for testing a controller of an at least partially autonomous vehicle in a virtual environment, comprising a control module (101) to be tested for controlling at least one action of an at least partially autonomously driving vehicle as a function of at least one sensor signal of a sensor associated with the at least partially autonomously running vehicle; a programmable device (102) which is configured to generate a virtual environment (103), with which it can interact via an interface module (104) and in which at least one virtual test scenario (105) can be generated, which is at least one virtual test Test participant object (106) and a virtual test vehicle (107), wherein the virtual test vehicle (107) is a virtual representation of the at least partially autonomously driving vehicle and has at least one virtual sensor (108) which generates a virtual sensor signal and outputs it via the interface module (104) to the control module (101) as the sensor signal to be evaluated; - The control module (101) is adapted to generate depending on the sensor signal to be evaluated at least one control signal and output via the interface module (104) to the virtual test vehicle (107) for controlling at least one action of the virtual test vehicle (107); - The programmable device (102) is adapted to generate, at least at the instigation of a user (109) of the test system (100), the virtual test scenario (105) in the virtual environment (103); and - The interface module (104) comprises a user interaction module (110) via which the user (109) can connect to the virtual test subscriber object (106) such that the test scenario (105) for the user (109) from a test subscriber object (106) associated with the perceptible perspective, wherein the virtual test subscriber object is configurable by the user. Test system after Claim 1 wherein the virtual test scenario (105) comprises a plurality of further objects. Test system after Claim 1 or Claim 2 wherein the virtual test subscriber object (106) is a virtual representation of a person. Test system after Claim 2 wherein the virtual test subscriber object (106) is assignable by the user (109) to one of the further objects. Test system according to one of the preceding claims, wherein the virtual test vehicle (107) is arranged, at least at the instigation of the user (109) in the test scenario (105) controlled by in response to at least the virtual sensor signal from the control module (101) generated control signals an action perform. Test system according to one of the preceding claims, wherein the user interaction module (110) is adapted to detect at least one movement of the user (109) and make an associated change of the virtual test participant object (106). Test system according to one of the preceding claims, wherein the virtual environment (103) has a test scenario configuration component (111) which can be operated via the user interaction module (110) and is arranged such that the user (109) at least during its connection with the test participant object (106) may configure a plurality of properties of the virtual test scenario (105). Test system after Claim 7 wherein the plurality of properties of the virtual test scenario (105) comprises at least one property of the virtual test taker object (106); and the test scenario configuration component (111) comprises a test participant configuration module (112) arranged to allow the user (109) which can configure at least one property of the virtual test subscriber object (106). Test system after Claim 8 wherein the virtual test subscriber object (106) is configurable by the user (109) in its detectability by the at least one virtual sensor (108). Test system according to one of Claims 7 to 9 wherein the plurality of properties of the virtual test scenario (105) comprises at least one property of the virtual test vehicle (107); and the test scenario configuration component (111) comprises a test vehicle configuration module (113) configured to allow the user (109) which can configure at least one property of the virtual test vehicle (107). Test system according to one of Claims 7 to 10 wherein the test scenario configuration component (111) comprises an object positioning module (114) that is adapted to in that the user (109) can change a position of at least the virtual test subscriber object (106) in the virtual test scenario (105). Test system according to one of the preceding claims, wherein the virtual environment (103) has an analysis component (115) which can be operated via the user interaction module (110) and is arranged such that the user (109) inserts at least one status indicator into the virtual test scenario (105 ) and assign it to one or more virtual objects of the virtual test scenario (105). Test system after Claim 12 wherein the at least one status indicator is associated with a decision rule determining a state to be displayed. Test system after Claim 12 or Claim 13 wherein the at least one status indicator comprises means for detecting a distance between two virtual objects. Test system after Claim 12 or Claim 13 in which the virtual analysis component (115) has at least one virtual camera as a status indicator that can be placed by the user (109) in the virtual environment (103) at an arbitrarily selectable position and with the images or image sequences of the virtual test scenario of the selected position can be recorded from. Test system according to one of the preceding claims, further comprising a measuring device (116) for capturing values of at least one biological parameter of the user (109) at least temporarily during the user (109) via the user interaction module (110) with the virtual test participant object (106). connected is. Test system after Claim 16 wherein the interface module (104) is adapted to transfer the captured values of the at least one biological parameter of the user (109) to the virtual environment (103) and the virtual environment (103) comprises means that associate detected values with the virtual one Test participant object (106). Test system according to one of the preceding claims, wherein the user interaction module (110) may comprise means for making available at least one communication device (117) of the user (109) in the virtual environment (103). The test system of any one of the preceding claims, wherein the virtual test scenario (105) includes a range of motion (118) in which the virtual test participant object (106) can be moved by the user (109). Method for testing a control of an at least partially autonomously driving vehicle in a virtual environment with a test system according to one of the preceding claims, comprising Providing (401) a control module to be tested for controlling at least one action of an at least partially autonomously driving vehicle as a function of at least one sensor signal of a sensor associated with the at least partially autonomously running vehicle; Establishing (402) a programmable device to generate a virtual environment that can be interacted with via an interface module; Generating (403) at least one virtual test scenario in the virtual environment comprising at least one virtual test participant object and a virtual test vehicle, wherein the virtual test vehicle is a virtual representation of the at least partially autonomously driving vehicle and has at least one virtual sensor which generates a virtual sensor signal and outputs it to the control module via the interface module as the sensor signal to be evaluated; - The control module is adapted to generate depending on the sensor signal to be evaluated at least one control signal and output via the interface module to the virtual test vehicle for controlling at least one action of the virtual test vehicle; and - The interface module has a user interaction module through which the user can connect to the virtual test subscriber object such that the test scenario for the user from a test participant object associated perspective is perceived, wherein the virtual test subscriber object is configurable by the user; and wherein the method also includes Connecting (404) the user to the virtual test subscriber object via the user interaction module; and a Configuring (405) the virtual test subscriber object by the user. Method according to Claim 20 , further comprising executing (406) an action controlled by the control module in response to at least the virtual sensor signal from the control module controlled action by the virtual test vehicle at least at the instigation of the user in the test scenario.

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