DE102022120334B3 - Vehicle functional test bench for carrying out tests of ADAS of vehicles and method for carrying out tests of ADAS of vehicles - Google Patents

Abstract

The present invention relates to a vehicle function test stand (1) for carrying out ADAS tests on vehicles. The vehicle function test stand (1) has several wheel holders (2, 3, 4, 5). Each wheel of a vehicle to be tested stands on a wheel holder (2, 3, 4, 5) of the vehicle function test bench (1). The wheel mounts (2, 3, 4, 5) of the vehicle function test stand (1) have crown rollers or double rollers. Using the wheel mounts (2, 3, 4, 5), a journey of a vehicle resting on the wheel mounts (2, 3, 4, 5) can be simulated. According to the present invention, the vehicle function test stand (1) is constructed in such a way that this vehicle function test stand (1) has a target arrangement (6). The target arrangement (6) has a first target (7), which is an object that corresponds three-dimensionally to the outer contour of at least the rear of a vehicle. This first target (7) has a surface on which LiDAR LED or laser flashes are visible. In a first embodiment, the vehicle function test bench (7) is further constructed in such a way that the surface of the first target (7) is transparent to radar beams, and the target arrangement (6) has a second target (8), which is a radar target simulator , and that either the target arrangement (6) as a whole or at least the first target (7) of the target arrangement (6) in the vehicle function test bench (1) can be moved relative to the wheel holders (2, 3, 4, 5) of the vehicle function test bench (1). In a second embodiment, the vehicle function test bench (1) is further constructed in such a way that the surface of the first target (7) reflects radar beams, that the target arrangement (6) consists only of the first target (7) and that the target arrangement (6) is in the vehicle function test bench (1) can be moved relative to the wheel holders (2, 3, 4, 5) of the vehicle function test bench (1).

Description

The present invention relates to a vehicle function test bench according to claim 1 and methods for carrying out tests of ADAS (Advanced Driver Assistance Systems) of vehicles according to claims 3 and 4.

Vehicles have integrated ADAS, which record and evaluate the vehicle's surroundings. The evaluation is carried out in such a way that certain scenes in the surrounding area are recognized by evaluating signals from on-board sensors. Certain objects are recognized and classified from the sensor signals. The objects can be “stationary” objects or moving objects, such as other vehicles that are also in motion. An important point in some systems is the recognition of people.

Other driver assistance systems are designed to evaluate the distance to a vehicle in front. Depending on the speed of your own vehicle and the speed of the vehicle in front, an assessment is made as to whether the distance is sufficient. If necessary, a warning signal is issued to the vehicle driver. To the extent that the driver assistance system actively intervenes in vehicle components, the speed of the vehicle is adjusted - possibly also by braking.

This driver assistance system also has a radar sensor and a camera so that obstacles in front of the vehicle can be detected and in particular the distance to a detected obstacle and the relative speed between a detected obstacle and your own vehicle.

So-called lane keeping assistants (LDW-Lane Departure Warning) are also known as driver assistance systems. The lane departure warning system also has cameras as sensors with which the course of a road and a lane is recognized by detecting the lane boundary markings.

It is known that the ADAS have several and different environmental sensors.

In connection with the previously explained driver assistance systems, it has already been mentioned that such an environmental sensor is a radar sensor. Here too, it is possible to provide several radar sensors for observing different directions in front of, behind or to the side of the vehicle. A radar sensor consists of a transmitter that emits radar beams. The sensor also has a receiver with which incoming radar beams reflected from an object are received.

An environmental sensor can also be a LiDAR sensor. A LiDAR sensor sends out LED or laser flashes and measures the time it takes for them to return to the LiDAR sensor's camera after being reflected from an object. One measurement principle is known as “Time of Flight” (ToF).

Because a radar sensor measures the relative distance and the relative speed of an object to the radar sensor (and thus to the vehicle to which the radar sensor is attached), it is known to use so-called radar target simulators to simulate objects in front. Such a radar target simulator is designed in such a way that it receives radar beams emitted by the vehicle and sends them back to the vehicle's radar sensor in a defined modified manner. The radar target simulator thus has a receiving and a transmitting unit. In addition, depending on the radar beams received, modified radar beams can be emitted, with which a reflection of the received radar beams on another object is simulated. The simulation can be carried out in such a way that the other (simulated) object is stationary or in motion relative to the vehicle.

By Publisher Taylor & Francis Group appeared in the magazine “Vehicle System Dynamics” (issue 44 from July 7, 2006, pages 569-690) a contribution by the authors Olaf Gietelink, Jeroen Ploeg, Bart de Schutter and Michael Verhaegen with the title “Development of advanced driver assistance systems with vehicle hardware-in-theloop simulations”. The ISSN is given as: ISSN 0042-3114 print / ISSN 1744-5159 online.

The paper describes an environment for carrying out simulations of models, software and individual control devices.

This article also describes how the systems of a vehicle are tested as a group by subjecting the vehicle as a whole to a test. It is described that a “conversion” of the absolute speed in the real world is carried out to “relative speeds” that are related to the vehicle to be tested; It is described that a target is moved with the corresponding relative speeds. The technical scope of functions of the vehicle is described, as well as the fact that this target can be provided with a “shell” that then corresponds to the contour of a vehicle. It is shown that the driving equipment for carrying out driving simulations is available in a vehicle test bench. Each wheel of the vehicle stands on a wheel holder on the test bench. These wheel mounts are designed in such a way that these wheel mounts each have a double roller arrangement, so that the wheels of the vehicle sink between the two rollers of a double roller arrangement of a wheel mount.

It is described that the relative movement of the target in the vehicle test bench not only simulates a real environment for the optical sensors of the vehicle to be tested, but also to the radar sensors of the vehicle to be tested.

In the article the further state of the art is: US 2003 0 183 023 A called. In the publication of the PCT application of this patent family ( WO 2002 001 177 A1 ) also describes that a vehicle is subjected to a corresponding test of the systems in a driving simulation test bench.

It will continue to be on the DE 10 2014 002 526 A1 referred. A collision test is carried out by causing a collision between the vehicle to be tested and a collision body in a collision test. The vehicle is also in a vehicle test bench.

From the US 2021 0 406 562 A1 It is known to completely simulate the environmental data of a vehicle to be tested. It is described that signals emitted by both a LiDAR sensor of the vehicle and a radar sensor of the vehicle are absorbed. There are active components in the test environment that, in accordance with the environmental conditions to be simulated, emit signals that correspond to the signals that would be emitted in a real world by objects in the environment under the environmental conditions to be simulated.

The present invention is based on the task of testing ADAS of vehicles.

This object is achieved according to the present invention according to claim 1 by a vehicle functional test stand for carrying out tests of ADAS of vehicles.

This vehicle function test bench has several wheel mounts. Each wheel of a vehicle to be tested stands on a wheel holder on the vehicle function test bench. The wheel mounts of the vehicle function test bench have crown rollers or double rollers. Using the wheel mounts, a journey of a vehicle resting on the wheel mounts can be simulated.

If the wheel mounts have double rollers, at least one of these double rollers can be driven.

If the wheel mounts have crown rollers, the crown roller can be driven.

In this sense, being driven also means that the corresponding role can be braked.

The vehicle function test bench can be designed in such a way that steering movements of the steered wheels of the vehicle can also be recorded via the wheel mounts. The corresponding wheel mounts can be rotated for this purpose.

Because the wheel mounts can be rotated, the vehicle can also be positioned in such a way that the vehicle stands up in the middle on the rollers of the wheel mounts in a lateral direction. By rotating the wheel mounts (and thus also the respective rollers), forces can be applied to the wheels of the vehicle in a lateral direction, so that the aforementioned positioning is possible.

The vehicle functional test bench is constructed in such a way that this vehicle functional test bench has a target arrangement.

The targets of the target arrangement are positioned or can be positioned in such a way that they are in the detection range of associated sensors of the vehicle.

The target arrangement has a first target, which is an object that corresponds three-dimensionally to the outer contour of at least the rear of a vehicle. This first target has a surface on which projected flashes of light are visible.

Such a target is suitable for interacting with a LiDAR sensor.

In addition to this “basic equipment” of the vehicle test bench, the vehicle function test bench is further structured as follows:

The surface of the first target is transparent to radar beams.

The target arrangement has a second target which carries at least the antenna and the transmitter of a radar target simulator.

Radar beams also penetrate optically non-transparent materials such as paper or plastics. Radar beams, on the other hand, are strongly reflected by water and especially by electrically conductive materials.

The first target can be made of cardboard or plastic, for example, so that this target is transparent to the radar beams. This first target is positioned between the second target and the vehicle to be tested in the vehicle functional test bench. In the vehicle function test stand, the first target is positioned between the second target and the wheel mounts of the vehicle function test stand.

This causes the LiDAR sensor to “recognize” the structure of the first target.

The antenna of the radar target simulator as part of the second target of the target arrangement can interact with the radar sensor of the vehicle in that the radar beams emitted by the radar sensor of the vehicle are received by this antenna. The transmitter of the radar target simulator emits radar beams which - depending on the conditions to be simulated - represent an object at a certain distance from the vehicle and at a certain relative speed (relative to the vehicle). In a manner known per se, the radar target simulator has an absorption layer, by means of which the receiver of the vehicle's radar sensor only receives the radar waves that are emitted by the transmitter of the radar target simulator (and no radar waves that pass through Reflections of the radar waves on the base plate arise, which are emitted by the transmitter of the vehicle's radar sensor. This function and mode of operation of the second target are not affected by the first target.

The vehicle function test bench has a control unit with a drive unit. This control unit (with the drive unit) is designed such that either the target arrangement as a whole or at least the first target of the target arrangement in the vehicle functional test bench can be moved relative to the wheel mounts of the vehicle functional test bench while ADAS tests of the vehicle are being carried out. As long as only the first target is movable and the radar target simulator is stationary as the second target, it proves to be advantageous that the masses to be moved during the tests are reduced. This makes it possible to achieve greater dynamics in the relative movement of the vehicle in front of the vehicle being tested.

The target arrangement can also be movable overall in the vehicle function test bench relative to the wheel mounts of the vehicle function test bench. In this alternative, the second target is moved with the target arrangement in the vehicle function test bench. The radar beams to be emitted by the second target are determined taking into account the fact that in this alternative the second target is moved in the vehicle function test bench.

Alternatively, at least the first target of the target arrangement in the vehicle function test stand can be moved relative to the wheel mounts of the vehicle function test stand. In this alternative, the second target is stationary in the vehicle function test bench. The radar beams to be emitted by the second target are determined taking into account the fact that the second target is stationary in this alternative.

The movement of the first target or the target arrangement as a whole can take place in the x, y and z directions.

Due to the mobility of the first target, a relative speed and different distances between the first target and the vehicle can be simulated in the vehicle function test bench. The first target is recognized by the vehicle's LiDAR sensor as a vehicle in front. By means of a relative speed at which the vehicle to be tested approaches the first target, an ADAS can be tested, for example, which checks and, if necessary, regulates the safety distance to the vehicle in front. The vehicle stands stationary in the vehicle function test bench on the wheel mounts, which are used to simulate the vehicle's journey. An approach - both in terms of distance and relative speed - between the vehicle and the first target is simulated by the movement of the first target in the vehicle functional test bench. It can then be checked whether the vehicle's reactions correspond to the simulated environmental situation (automatic reduction of the (simulated) speed of the vehicle in the vehicle function test bench (possibly also through intervention in the brakes) or, if necessary, just an acoustic, haptic or visual indication for the driver).

In addition, the second target acts on a radar sensor of the vehicle.

The vehicle function test bench can advantageously be operated via the control unit in such a way that the position and movement of the first target conforms to the surrounding situation that is being simulated overall.

For example, if the signal from the LiDAR sensor detects that your own vehicle is approaching a vehicle in front, the radar carrier simulator must play exactly this situation into the vehicle's radar sensor.

For the signals that are to be output by the radar target simulator, it is taken into account whether the radar target simulator is stationary in the vehicle function test bench (i.e.: only the first target of the target arrangement is movable) or with the target arrangement (i.e.: the target arrangement is movable as a whole) is moved.

To the extent that the target arrangement as a whole is movable in the vehicle functional test bench, the first target and the second target can be structurally combined in such a way that they are attached to a common support that is movable in the vehicle functional test bench.

For example, systems can be tested in which the vehicle is driven automatically in traffic jams and correspondingly low speeds. The orientation is based on the vehicle in front in such a way that one's own vehicle follows this vehicle. When a certain speed is reached or exceeded, this automated driving is deactivated. This function of automated driving (Level 3) in traffic jams up to the deactivation of automated driving when certain speeds are reached or exceeded can be simulated in the vehicle function test bench according to the present invention and checked for correct function.

With the present invention it is advantageously possible to carry out tests of ADAS as a whole. These are effectiveness tests that concern the function and interaction of the sensors, the evaluation of the sensor signals in the control units and the control of the control elements of the vehicle on which the ADAS acts. The individual sensors, actuators and control devices are not just checked individually. Rather, it is checked whether the ADAS as a whole, with the interaction of all components, shows the desired behavior in certain situations as part of an effectiveness test.

It proves to be advantageous to be able to carry out these tests due to the design of the target arrangement according to the present invention when the vehicle to be tested stands on the wheel mounts of the vehicle function test stand. Defined environmental situations can be simulated in a targeted and defined manner by controlling the targets involved. What is particularly advantageous is that these environmental situations can also be reproduced.

Particularly in the case of ADAS, through which - depending on the detected environmental situations - an intervention is made in the vehicle's actuating elements (particularly brakes or steering), it proves to be advantageous for the vehicle to stand on the wheel mounts of a vehicle function test stand.

Through interventions in the vehicle's actuating elements, forces are exerted on the rollers of the wheel mounts during simulated driving, which can be measured. This makes it advantageously possible to quantitatively evaluate interventions carried out by ADAS in actuating elements of the vehicle (brakes, steering).

This is a significant advantage over the approach of carrying out driving tests (test drives) in a real environment to test the ADAS. With this approach, the surrounding situations can only be reproduced to a limited extent. Although the vehicle can always be driven over the same test route, the lighting conditions are different on different journeys. This also applies to the appearance of foreign objects or people outside the vehicle in this environment while driving.

Interventions in the vehicle's actuating elements by ADAS can only be recorded in these test drives with reasonable measurement effort to the extent that the vehicle driver perceives these interventions. This is at best possible qualitatively, but not quantitatively. This applies in any case if the vehicles are not test vehicles that are equipped with extensive measurement technology, but rather, for example, vehicles in everyday use for private or commercial use that have to undergo regular general inspections in order to check and certify their road safety . These vehicles do not have appropriate on-board measurement technology, so measuring on the rollers of the wheel mounts on the vehicle function test stand is particularly advantageous for the quantitative evaluation of these vehicles.

In the design of the vehicle functional test bench according to claim 2, the vehicle functional test bench has an environmental simulation unit. The target arrangement is part of the environment simulation unit. The environment simulation unit also has one or more screens that can be positioned in the field of view of the cameras of a camera arrangement of a vehicle to be tested. The environment simulation unit has a control unit for controlling the screens to display a defined environmental situation on the screens and for controlling a drive unit for moving the first target or the target arrangement relative to the wheel mounts of the vehicle function test bench.

In this embodiment, it proves to be advantageous that an (identical) environmental situation is recognized by the various sensors of the vehicle if the various targets in the vehicle function test bench are controlled in a coordinated manner in such a way that the targets represent identical environmental situations in real time (i.e.: at the same time).

If, for example, a vehicle in front is to be simulated for the LiDAR sensor and the radar sensor, which has a relative speed to the vehicle to be tested, it is advantageous if an environmental situation is also displayed on the screens for the cameras with a vehicle with the corresponding relative speed the vehicle to be tested.

Claim 3 relates to a method for carrying out tests of ADAS of a vehicle with a device according to claim 1. The movement of the target arrangement or the first target is synchronized with the display on the screens.

This simulates uniform environmental situations for the vehicle's sensors. This proves to be advantageous in that the driving dynamics systems may be designed in such a way that the sensor signals are evaluated redundantly in such a way that certain measures are only taken by the driving dynamics systems if the evaluation of different sensor signals indicates the same environmental situations.

The driving dynamics systems can be designed in such a way that an error situation is recognized in the event of a contradictory assessment of the surrounding situations from the evaluation of the signals from various sensors.

Both in the vehicle function test bench according to claims 1 and 2 and in the methods according to claims 3 and 4, a defined journey of the vehicle can be simulated using the wheel mounts at a certain speed and, if necessary, with cornering. Because the direction of view of a vehicle in front changes when cornering, it is advantageous if the first target (which interacts with the LiDAR sensor of the vehicle) not only represents the rear of the vehicle, but also the corresponding side flanks of the vehicle , which become “visible” when cornering.

Insofar as we are talking about a vehicle to be tested, this test refers to the ADAS of the vehicle. Depending on the proper functioning of the ADAS being tested, the vehicle is evaluated in this context. With this in mind, the vehicle is also checked.

An embodiment of the invention is shown in the drawing.

The only figure shows a vehicle function test stand 1 with four wheel holders 2, 3, 4, 5 for the wheels of a vehicle to be tested. The wheel mounts 2, 3, 4, 5 can be adjustable with regard to the wheelbase of the vehicle to be tested and also with regard to the track width of the vehicle to be tested.

A target arrangement 6 can be seen, which consists of the first target 7 and the second target 8.

The first target 7 interacts with the LiDAR sensor of a vehicle to be tested.

In the exemplary embodiment shown here, a second target 8 can be seen, which is a radar target simulator. In this embodiment, the first target 7 is transparent to radar beams. The second target 8 interacts with the radar sensor of a vehicle to be tested.

In the exemplary embodiment shown, the target arrangement 6 can be moved relative to the wheel holders 2, 3, 4, 5 of the vehicle function test bench in accordance with the arrows 9 and 10. A drive unit (not shown here) is available for this purpose.

In addition, two screens 11 and 12 can be seen, which are guided on a portal system 13 in such a way that these screens 11 and 12 can be positioned in the field of view of the vehicle's cameras.

A control unit 14 can be seen. This control unit specifies to the screens 11 and 12 what should be displayed on the screens as an environmental situation.

The drive unit of the target arrangement 6 is also controlled by the control unit 14, so that the target arrangement 6 is moved synchronously with the representation of the surrounding situation on the screens 11 and 12.

Claims (4)

Vehicle function test stand (1) for carrying out tests of ADAS of vehicles, > wherein the vehicle function test stand (1) has several wheel holders (2, 3, 4, 5), > each wheel of a vehicle to be tested on a wheel holder (2, 3, 4 , 5) of the vehicle function test stand (1), > whereby the wheel holders (2, 3, 4, 5) of the vehicle function test stand (1) have crown rollers or double rollers, > whereby the wheel holders (2, 3, 4, 5) are used to drive a vehicle vehicle standing on the wheel mounts (2, 3, 4, 5) can be simulated, > wherein the vehicle function test stand (1) is constructed in such a way that this vehicle function test stand (1) has a target arrangement (6), > where the target arrangement (6) is a first Target (7), which is an object which corresponds three-dimensionally to the outer contour of at least the rear of a vehicle, > this first target (7) having a surface on which projected laser lines are visible, characterized in that > that the vehicle function test stand ( 7) is further constructed in such a way that > the surface of the first target (7) is transparent to radar beams, > that the target arrangement (6) has a second target (8) which has at least the antenna and the transmitter of a radar target simulator carries, and > that the vehicle functional test bench has a control unit (14) with a drive unit which is designed so that > the target arrangement (6) as a whole or > at least the first target (7) of the target arrangement (6) in the vehicle functional test bench (1) during for carrying out ADAS tests of the vehicle relative to the wheel mounts (2, 3, 4, 5) of the vehicle function test bench (1). Vehicle function test bench Claim 1 , characterized in that > the vehicle function test bench (1) has an environment simulation unit (6, 7, 8, 11, 12, 14), > that the target arrangement (6) is part of the environment simulation unit, > that the environment simulation unit also has one or more screens ( 11, 12), which can be positioned (13) in the field of view of the cameras of a camera arrangement of a vehicle to be tested, > that the control unit (14) is part of the environment simulation unit, > whereby the screens (11.) are controlled via the control unit (14). , 12) to display a defined environmental situation on the screens (11, 12) and > wherein the drive unit (14) controls the drive unit to move the first target (7) or the target arrangement (6) relative to the wheel holders (2 , 3, 4, 5) of the vehicle function test bench (1) takes place in accordance with the defined environmental situation. Procedure for carrying out tests of ADAS of a vehicle using a vehicle functional test bench (1) in accordance with Claim 1 , characterized in that while ADAS tests of the vehicle are being carried out, the target arrangement (6) or the first target (7) is moved relative to the wheel mounts of the vehicle function test bench (1). Procedure for carrying out tests of ADAS of a vehicle using a vehicle functional test bench (1) in accordance with Claim 2 , characterized in that the movement of the target arrangement (6) or the first target (7) while carrying out tests of the vehicle's ADAS is synchronized with the display on the screens (11, 12).

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