Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
  • G01M17/00—Testing of vehicles
  • G01M17/007—Wheeled or endless-tracked vehicles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
  • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
  • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
  • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
  • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/04—Monitoring the functioning of the control system
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
  • G01H15/00—Measuring mechanical or acoustic impedance
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F11/00—Error detection; Error correction; Monitoring
  • G06F11/36—Prevention of errors by analysis, debugging or testing of software
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F11/00—Error detection; Error correction; Monitoring
  • G06F11/36—Prevention of errors by analysis, debugging or testing of software
  • G06F11/3668—Testing of software
  • G06F11/3672—Test management
  • G06F11/3688—Test management for test execution, e.g. scheduling of test suites
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F11/00—Error detection; Error correction; Monitoring
  • G06F11/36—Prevention of errors by analysis, debugging or testing of software
  • G06F11/3698—Environments for analysis, debugging or testing of software
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/16—Sound input; Sound output
  • G06F3/162—Interface to dedicated audio devices, e.g. audio drivers, interface to CODECs
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
  • H04R3/00—Circuits for transducers
  • H04R3/04—Circuits for transducers for correcting frequency response
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
  • H04R2410/00—Microphones
  • H04R2410/07—Mechanical or electrical reduction of wind noise generated by wind passing a microphone
• • H—ELECTRICITY
  • H04—ELECTRIC COMMUNICATION TECHNIQUE
  • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
  • H04R2499/00—Aspects covered by H04R or H04S not otherwise provided for in their subgroups
  • H04R2499/10—General applications
  • H04R2499/13—Acoustic transducers and sound field adaptation in vehicles

Definitions

• Test stand system for testing a driver assistance system with an audible sound sensor
• the invention relates to a test stand system for testing a driver assistance system with an acoustic audible sound sensor for a motor vehicle, the driver assistance system having a control unit for processing sensor signals, which is set up to process sensor signals from environmental sensors and to control the motor vehicle on their basis, with at least one of the environmental sensors is the audible sound sensor, set up to detect audible sound.
• driver assistance systems Advanced Driver Assistance Systems - ADAS
• autonomous Driving - AD autonomous driving
• Driver assistance systems make an important contribution to increasing active traffic safety and serve to increase driving comfort.
• ABS anti-lock braking system
• ESP electronic stability program
• Driver assistance systems that are already being used to increase active road safety are a parking assistant, an adaptive distance control system, also known as Adaptive Cruise Control (ACC), which adaptively adjusts a desired speed selected by the driver to a distance from a vehicle in front.
• ACC stop-and-go systems which, in addition to ACC, cause the vehicle to continue driving automatically in traffic jams or when vehicles are stationary
• lane keeping or lane assist systems which automatically keep the vehicle in its lane stop
• pre-crash systems which, for example, prepare or initiate braking in the event of the possibility of a collision, to take the kinetic energy out of the vehicle and, if necessary, initiate further measures if a collision is unavoidable.
• driver assistance systems both increase safety in traffic by warning the driver in critical situations and initiate independent intervention to avoid or reduce accidents, for example by activating an emergency braking function.
• driving comfort is increased by functions such as automatic parking, automatic lane keeping and automatic distance control.
• the safety and comfort gain of a driver assistance system is only perceived positively by the vehicle occupants if the support by the driver assistance system is safe, reliable and—as far as possible—comfortable.
• each driver assistance system depending on its function, must manage scenarios that occur in traffic with maximum safety for the vehicle itself and without endangering other vehicles or other road users.
• the respective degree of automation of vehicles is divided into so-called automation levels 1 to 5 (see, for example, the SAE J3016 standard).
• the present invention relates in particular to vehicles with driver assistance systems of automation level 3 to 5, which is generally regarded as (partially) autonomous driving.
• the challenges for testing such systems are manifold. In particular, a balance must be found between the test effort and the test coverage.
• the main task when testing ADAS/AD functions is to demonstrate that the function of the driver assistance system is guaranteed in all imaginable situations, especially in critical driving situations. Such critical driving situations have a certain or criticality since no reaction or an incorrect reaction of the respective driver assistance system can lead to an accident.
• driver assistance systems therefore requires a large number of driving situations, which can be found in different scenarios, to be taken into account can arise.
• the range of possible scenarios is generally spanned by many dimensions (e.g. different road properties, behavior of other road users, weather conditions, etc.). From this almost infinite and multidimensional parameter space, it is particularly relevant for testing driver assistance systems to extract such parameter constellations for critical scenarios that can lead to unusual or dangerous driving situations.
• WO 2016/110488 discloses a method for operating a driving simulator, which has the following steps:
• Document DE 10 2007 031040 A1 relates to a test device for a driver assistance system that is integrated in a vehicle and has vehicle sensors for recording a signal from the area surrounding the vehicle, the test device comprising:
• the document EP 3 101 404 A2 relates to a test system that includes a vehicle test bench, a motor vehicle located on the vehicle test bench, at least one signal unit provided in or on the vehicle test bench and/or in or on the motor vehicle and/or separately from the vehicle test bench and the motor vehicle, with which at least one vehicle operation-specific and/or optical and/or acoustic and/or haptic and/or driving situation-related and/or environment-related signal can be output or displayed and/or manipulated, at least one measuring device and a data acquisition and/or evaluation unit with an evaluation module for the data recorded by the measuring device.
• a first aspect of the invention relates to a test stand system for testing a driver assistance system with an acoustic audible sound sensor for a motor vehicle, the driver assistance system having a control unit for processing sensor signals, which is set up to process sensor signals from environmental sensors and to control the motor vehicle on their basis , wherein at least one of the environmental sensors is the audible sound sensor, set up for detecting audible sound, and wherein the test bench system has:
• a test stand which is set up in such a way that the driver assistance system, in particular together with a drive train for the motor vehicle, can be operated on the test stand;
• a simulation device set up for simulating an environment of the motor vehicle, the simulated environment comprising an acoustic audible environment
• the first interface is preferably set up to map the simulated environment including the acoustic audible sound environment from the perspective of the respective environment sensors.
• the test bench is preferably designed as a hardware-in-the-loop test bench, as a drive train test bench or as a vehicle test bench.
• a second aspect of the invention relates to a measurement arrangement with a test stand on which a vehicle with a driver assistance system is arranged, the driver assistance system having a control unit for processing sensor signals, which is set up to process sensor signals from environmental sensors and on the basis of which the vehicle control, wherein at least one of the environmental sensors is an acoustic audible sound sensor, set up for detecting audible sound.
• a third aspect of the invention relates to a measurement vehicle for generating sensor data of an environment of the measurement vehicle, the environment comprising an acoustic audible environment, having:
• environment sensors wherein at least one of the environment sensors is an auditory sound sensor
• a data memory set up to record sensor data, in particular with a frequency of at least 10 kHz, in particular around 44.1 kHz or 48 kHz; wherein the data processing unit is also set up to synchronize the sensor data of the at least one auditory sound sensor with the sensor data of the other environmental sensors.
• a further aspect of the invention relates to a method for testing a driver assistance system with an acoustic audible sound sensor for a motor vehicle, the driver assistance system being set up to process sensor signals from surroundings sensors and to control the vehicle on the basis of these, with at least one of the surroundings sensors measuring the audible sound
• a sensor set up to detect audible sound is comprising the following working steps:
• An audible sound within the meaning of the invention is the sound perceptible to humans, in particular in a spectrum from 16 Hz to 20 kHz.
• An auditory sound sensor within the meaning of the invention is preferably a microphone and is more preferably suitable for stereophonic recordings.
• Labeling within the meaning of the invention is preferably an assignment of noise sources to a respective characteristic noise, which are stored as object data for the sensor data.
• the invention is based on the assumption that future driver assistance systems not only take into account the visual environment of a motor vehicle to control the motor vehicle, as well as data on the spatial environment, which are obtained using camera, radar, lidar and ultrasonic sensors, but also information that auditory sound are conveyed.
• a tire squeal depending on the direction of origin, can also announce a future impairment of the roadway of the motor vehicle.
• the approach of the invention is to provide a test bench system for a driver assistance system with an audible sound sensor, which has both a test bench that is set up to operate a drive train of the motor vehicle and a simulation device that is set up, including the environment of the motor vehicle to simulate acoustic audible sound environment, as well as a first interface for providing the simulated environment including acoustic audible sound environment to the driver assistance system.
• a driver assistance system with audible sound sensors can be tested particularly reliably and realistically.
• a ferry operation of the motor vehicle can be mapped particularly realistically in this way.
• the simulation device is set up to track a movement of the vehicle in the simulated environment and to adjust the environment, including the acoustic audible sound environment, accordingly.
• the simulation device is set up to track a movement of the vehicle in the simulated environment and to adjust the environment, including the acoustic audible sound environment, accordingly.
• the first interface is a stimulation device which is set up to stimulate environmental sensors and has at least two sound transducers for audible sound, further set up by means of the at least two Sound transducer to produce a spatial sound, which reproduces the simulated acoustic environment on the vehicle test bench around the motor vehicle.
• Such a stimulation device is preferably a mono loudspeaker or several stereo or surround loudspeakers.
• the driver assistance system can also be tested to determine whether it can determine the respective direction of the sound source and, if applicable, its speed and direction of movement.
• the first interface is therefore set up to map the simulated environment including the acoustic audible sound environment from the perspective of the respective environment sensors.
• a particularly realistic simulation of the audible sound environment can be generated on the environmental sensors of the motor vehicle.
• the first interface is a data interface which is set up to provide the driver assistance system, in particular the software of the audible sound sensor, with the simulated environment as a signal, in particular as an output signal of the audible sound sensor, or data stream.
• the test bench system has a second data interface which is set up to provide object data or what is known as ground truth about the simulated environment.
• object data or what is known as ground truth about the simulated environment.
• a data processing unit is also set up to determine characteristic noises from the sensor data of the at least one audible sound sensor and to identify their acoustic source and to label the characteristic noises accordingly.
• data recorded in real test drives can be identified in relation to an acoustic environment and the data can be processed for use in a test bench system according to the invention.
• the data processing unit is also set up to filter the sensor data of the at least one audible sound sensor in order to remove background noise, in particular wind noise, preferably up to a measuring speed of approximately 50 km/h.
• an acoustic environment recorded by the measuring vehicle can be applied to other driving situations, independently of the recorded driving situation.
• the data processing unit is also set up to determine a distance from an acoustic source, the direction in relation to the measuring vehicle from which the characteristic noises come, and/or a speed difference between the acoustic source and the measuring vehicle recorded in the sensor data.
• the recorded sensor data can be provided with ground truth in relation to the movement directions and speeds of acoustic sources.
• the data stream is output in such a way that the auditory sound sensor can generate sensor data on the basis of the data stream, which is then output to the driver assistance system.
• driver assistance system can be tested together with the associated audible sound sensor.
• the data stream is output as spatial sound, which reproduces the simulated acoustic environment around the motor vehicle on the motor vehicle test bench.
• a surround sound allows a particularly realistic reproduction of the environment.
• the method has the following work steps:
• the method also has the following work step:
• Deterioration, in particular distortion, of a data stream in particular that part which depicts the acoustic audible sound environment from the perspective of the respective environment sensors, preferably taking into account weather conditions and/or defects in the hardware of the respective environment sensor.
• data processing software for the auditory sound sensor and also for the driver assistance system can be tested, in particular its ability to deal with deteriorated sensor data.
• the method also has the additional work step:
• FIG. 1 an exemplary embodiment of a test bench system for testing a driver assistance system and a measurement arrangement from the test bench system with a motor vehicle;
• FIG. 2 an exemplary embodiment of a method for testing a driver assistance system
• FIG. 3 an exemplary embodiment of a measuring vehicle for generating sensor data of an environment.
• Figure 1 shows a first embodiment of a test bench system 1 for testing a driver assistance system 10 with an acoustic audible sound sensor 23a for a motor vehicle 20, wherein the test bench system 1 is shown as part of a measuring arrangement 40, which also includes the motor vehicle 20.
• the test stand system 1 preferably has a data processing device 7 .
• the data processing device 7 in turn preferably has a simulation device 2 which is set up to simulate an environment of the motor vehicle.
• a simulated environment includes at least one acoustic audible environment around motor vehicle 20.
• test stand 5 is preferably a drive train or vehicle test stand and has at least two dynamometers 6c, 6d in order to simulate a ferry operation on a drive train 21 of the motor vehicle 20.
• test stand 5 preferably has steering actuators 8a, 8b in order to simulate a steering of the vehicle 20 in a simulated ferry operation.
• non-driven axles of the vehicle are also preferably driven by dynamometers 6a, 6b.
• this preferably has loudspeakers 3a, 3b which are set up to output audible sound.
• the test stand 5 preferably has further interfaces in order to be able to supply or stimulate further sensors of the vehicle with data.
• Motor vehicle 20 has at least drive train 21 and a driver assistance system 10, which includes a control unit 11 for processing sensor signals. More preferably, motor vehicle 20 also has environmental sensors 23a, 23b, 23c, which are set up to simulated environment around the motor vehicle 20 to perceive. In particular, the motor vehicle 20 preferably has a microphone 23a for audible sound detection.
• the individual devices of the test bench 5 are preferably controlled by the data processing device 7, which preferably includes a test bench controller. More preferably, the data processing device 7 has a data interface 9, which is set up to read out operating data of the motor vehicle 20, in particular with regard to an activity of the driver assistance system 10.
• the data processing device 7 preferably also has a second interface 4, which is set up to read in object data and/or a so-called ground truth of the simulated environment.
• the surroundings detected by the driver assistance system 10 can be compared with this ground truth. In this way, a quality of the environment detected by driver assistance system 10, in particular an audible environment, can be assessed.
• the first interface can also be in the form of a data interface.
• environmental data can be made available directly to software for the auditory sound sensor, in particular software for processing sensor signals.
• a simulated emission signal of an auditory sound sensor can also be provided directly to the driver assistance system 10 .
• corresponding components can be tested.
• FIG. 2 shows an exemplary embodiment of a method for testing a driver assistance system 10 with an acoustic audible sound sensor.
• the method 100 is preferably carried out by a test stand system 1 according to FIG.
• the method 100 preferably has the following work steps: In a first work step 101, an environment of motor vehicle 20 is simulated, the simulated environment including an acoustic audible environment.
• the drive train 21 is operated on the basis of the simulated environment.
• Motor vehicle 20 is preferably arranged on test stand 5 for this purpose.
• a data stream is generated which depicts the simulated environment including the acoustic audible environment from the perspective of the respective environment sensors 23a, 23b, 23c.
• a fourth work step 104 the data stream is degraded, in particular distorted. This applies in particular to that part of the data stream which depicts the acoustic audible sound environment from the perspective of the respective audible sound sensors.
• This data stream is output to driver assistance system 10 in a fifth work step 105 .
• the data stream can be output in such a way that the audible sound sensor 23a, 23b can generate sensor data on the basis of the data stream, which sensor data are then output to the driver assistance system 10.
• the data stream is output as spatial sound, which reproduces the simulated acoustic environment around the motor vehicle 20 on the vehicle test bench 1 and by means of which auditory sound sensors 23a, 23b are stimulated.
• an activity of the driver assistance system 10 is preferably monitored. More preferably, the simulation of the environment of motor vehicle 20 is adapted on the basis of the detected activity of driver assistance system 10 .
• An activity can be characterized by an action by the driver assistance system 10, but also by the omission of an action.
• the adaptation of the simulation of the environment results in a change in the environment of motor vehicle 20, in particular the audible sound environment.
• transmission paths change for you emitted sound.
• Sound sources change depending on how the environment reacts to an action by driver assistance system 10, for example people on the road who emit warning calls.
• the Doppler effect is also taken into account in relation to a shift in the frequency range due to a movement of motor vehicle 20 in a specific direction, preferably in the adapted simulation.
• the information content of the simulation also changes, for example if driver assistance system 10 causes an accident, further for example as a result of interactions with people.
• Figure 3 shows an exemplary embodiment of a measurement vehicle 20 for generating sensor data for an environment of measurement vehicle 20.
• the measuring vehicle 20 preferably has a drive train 21 . Furthermore, the measuring vehicle 20 preferably has environmental sensors, in particular two microphones 23a, 23b, which are set up to record audible sound. In this case, one or more microphones are preferably present, which can monitor the entire area around the vehicle with regard to audible sound.
• the audible sound environment in FIG. 3 is formed in particular by an excavator 50 which is carrying out road work and in doing so emits sound as a sound source.
• a data processing unit 22 of the measuring vehicle 20 can preferably determine the direction and/or the distance and/or the type of the sound source 50 and preferably its speed and direction of movement from the sensor data collected by the microphones 23a, 23b. This information is preferably stored in a data memory 24 which is set up to record sensor data, in particular at a frequency of at least approximately 10 kHz. Furthermore, the data processing unit 22 is preferably set up to synchronize the sensor data of the at least one microphone 23a, 23b with the sensor data of other environmental sensors
• Such a further environment sensor is, for example, a camera 23c, which captures the visual environment, in particular in the direction of travel of the vehicle 20 .
• the data processing unit 22 of the measuring vehicle 20 is set up to determine characteristic noises from the sensor data of the at least one audible sound sensor 23a, 23b and to recognize their acoustic source 50 and to label characteristic noises accordingly.
• sirens from emergency vehicles, horns, signals from reversing trucks and bicycle bells can be recognized based on the frequency spectra.
• acoustic sources are prioritized according to their general relevance for driving a motor vehicle. For example, emergency vehicle sirens and horns are given higher priority than reversing trucks or bicycle bells.
• the data processing unit 22 is preferably set up to filter the sensor data of the at least one microphone 23a, 23b in order to remove background noise, in particular wind noise.
• Data processing device a 8b steering actuator 0 driver assistance system 1 control unit 0 motor vehicle 1 drive train 2 data processing unit 3a, 23b, 23c sensors 4 data memory 0 measuring arrangement 0 sound source

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• General Engineering & Computer Science (AREA)
• Quality & Reliability (AREA)
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• Automation & Control Theory (AREA)
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• Mechanical Engineering (AREA)
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• Acoustics & Sound (AREA)
• General Health & Medical Sciences (AREA)
• Audiology, Speech & Language Pathology (AREA)
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• 2022
  • 2022-02-24 AT ATA50123/2022A patent/AT525938B1/de active
• 2023
  • 2023-02-23 KR KR1020247031138A patent/KR20240150490A/ko active Pending
  • 2023-02-23 EP EP23711933.4A patent/EP4483158A1/de active Pending
  • 2023-02-23 WO PCT/AT2023/060049 patent/WO2023159258A1/de not_active Ceased
  • 2023-02-23 CN CN202380023560.6A patent/CN118749060A/zh active Pending
  • 2023-02-23 US US18/841,131 patent/US20250172456A1/en active Pending
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