JP2024074751A - Test system - Google Patents

Abstract

To provide a test system reproducing a traveling state of a vehicle equipped with an on-vehicle sensor in a test room and comprehensively verifying operation of the on-vehicle sensor and the vehicle in a limited space.SOLUTION: A test system includes rollers on which front and rear wheels of an automobile vehicle equipped with at least one on-vehicle sensor are placed or a rolling mechanism, upon lifting the vehicle by a jack, interlockingly rotating the front and rear wheels; and a device for deceiving the at least one on-vehicle sensor, disposed around the at least one on-vehicle sensor.SELECTED DRAWING: Figure 1

Description

The present invention relates to a testing system, and more specifically, to a testing system for performing comprehensive indoor operational testing of vehicles equipped with on-board sensors using rollers (sometimes called chassis dynamos), devices that trick the sensors, etc.

When developing an autonomous vehicle, it is necessary to comprehensively verify whether the vehicle can properly perform functions such as automatically braking, accelerating and decelerating, and steering based on the data obtained by observing the surrounding situation using sensors such as radar and cameras mounted on the vehicle. For example, Patent Document 1 proposes technology related to an autonomous driving test system.

The ideal way to verify these functions would be to actually drive the vehicle under development on public roads and verify the above functions, but this would lead to problems such as the effects of weather conditions and road congestion, as well as inefficiencies such as the effort required to coordinate with relevant parties.

To solve this problem, it is necessary to combine tests in a test room appropriately. However, simply placing a vehicle equipped with an on-board sensor in a room will only be able to verify the functionality of the on-board sensor. Furthermore, simply placing a vehicle on rollers and rotating the wheels will not synchronize the rotation of the wheels because the front and rear wheels are on different planes (the roller rotation mechanism), resulting in a deviation from real driving conditions.

Furthermore, when conducting tests in a test room, it is not possible to actually arrange and operate sensor targets such as vehicles or pedestrians ahead due to space constraints within the room (constraints on space area, space height, etc.). Even if it were possible to actually arrange for vehicles and pedestrians ahead, it is clear that the effort required to arrange them would be an unnecessary burden, and the space constraints within the room could result in inefficiencies in conducting the tests.

JP 2018-96958 A

The present invention has been made in light of these circumstances. The problem that the present invention aims to solve is to reproduce the driving conditions of a vehicle equipped with an on-board sensor indoors and to comprehensively verify the operation of the on-board sensor and the vehicle in a limited space, and also to improve the efficiency of testing, the ease of testing, and the convenience of testing, and further to achieve a balance between improving the efficiency of testing, the ease of testing, and the convenience of testing.

The present invention is characterized by the fact that it can compactly test on-board sensors and vehicles by reproducing the vehicle's running conditions indoors using rollers that can synchronize the rotation of the front and rear wheels of the vehicle, and simulating a target using a device that tricks the sensor.
The present invention provides a test system that has rollers for supporting the front and rear wheels of an automobile equipped with at least one on-board sensor, or a rotation mechanism for lifting the automobile with a jack and rotating the front and rear wheels in conjunction with each other, and a device for deceiving the sensor is disposed around the on-board sensor installed on the automobile. The surroundings of the on-board sensor are a concept including, for example, the front, rear, right, left, etc. of the on-board sensor (hereinafter the same). The wheels may be considered as a concept including tires (hereinafter the same).

The rollers in this invention are synchronized for the front and rear wheels, so the information obtained by the on-board sensor is reflected naturally and does not cause malfunction. Furthermore, by utilizing the roller rotation speed and roller load fluctuations, the driving operation of the car and the load operation applied to the car from outside can be obtained numerically.

In addition, meters (e.g., speedometer, fuel gauge, water temperature gauge, meter showing distance between vehicles, meter showing relative speed, etc.) are observed with a first surveillance camera, the rotation status (rpm, rotation state, etc.) of the front and rear wheels (front and rear wheels) of the automobile are observed with a second surveillance camera, sounds emitted by the vehicle (e.g., abnormal sounds, warning sounds, normal sounds, etc.) are detected with a microphone, or meters are observed with a first surveillance camera and the rotation status (rpm, rotation state, etc.) of the front and rear wheels (front and rear wheels) of the automobile are observed with a second surveillance camera. By using a microphone to detect sounds made by the vehicle (for example, strange sounds made by the vehicle, abnormal sounds made by the vehicle, warning sounds made by the vehicle, caution sounds made by the vehicle, etc.), it is possible to quickly and thoroughly check whether the vehicle's operation is normal or abnormal, even if the test room (laboratory) is far away, and even if there is no one in the test room (there is no one in the laboratory (no tester (experimenter), driver, etc.).)

In addition, the present invention can reproduce the driving conditions of a vehicle (automobile) equipped with an on-board sensor indoors, and comprehensively verify the functions and operations of the on-board sensor and the vehicle.

FIG. 1 is a diagram for explaining the operations of a roller, a first monitoring camera, and a second monitoring camera. FIG. 2 is a diagram for explaining vehicle testing using a scenario generator and a burst generator with a condition setter at the center. FIG. 3 is a diagram for explaining optimization of vehicle operation. FIG. 4 is a diagram for explaining a method for testing a single vehicle-mounted sensor. FIG. 5 is a diagram for explaining a method for performing a test (HILS test) to observe the reaction of an automobile. FIG. 6 is a diagram for explaining a method for conducting a test (actual vehicle test) to observe the reaction of an automobile. FIG. 7 is a diagram for explaining the operation of the roller, the first surveillance camera, the second surveillance camera, and the microphone. FIG. 8 is a diagram for explaining vehicle testing using a scenario generator and a burst generator with a condition setter at the center. FIG. 9 is a diagram for explaining optimization of vehicle operation. FIG. 10 is a diagram for explaining a method for conducting a test (actual vehicle test) to observe the reaction of an automobile.

First Embodiment
The test system of this embodiment (first embodiment) according to the present invention includes at least a roller for carrying the front and rear wheels of a vehicle equipped with at least one on-board sensor, and a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor. This embodiment (first embodiment) will be described with reference to FIG. 1. The vehicle Y is equipped with meters E (e.g., a speedometer, a fuel gauge, a water temperature gauge, a meter that displays the distance between vehicles, a meter that displays the relative speed, etc.) that indicate the speed of the vehicle, the size and distance of targets such as a vehicle ahead or a pedestrian indicated by various on-board sensors, a radar A, a camera B (e.g., a monocular camera, a stereo camera, etc., the same below), a lidar C, a sonar D, etc.

Here, the meter that displays the distance between vehicles and is installed in vehicle Y is a meter that displays the distance (m) between the test vehicle (own vehicle) and a vehicle ahead of the test vehicle (own vehicle). Some examples of meters that display the distance between vehicles are given below.
・Example 1 of a meter that displays the distance between vehicles (m)
In the example 1 of the meter that displays the distance (m) between vehicles, the distance between vehicles is displayed on a liquid crystal panel (display) at intervals of 0 m to 50 m to 100 m.
・Example 2 of a meter that displays the distance between vehicles (m)
In example 2 of a meter that displays the distance between cars (m), the liquid crystal panel display (display) has the following distance settings of "long" (long distance between cars), "medium" (neither long nor short, but medium distance between cars), and "short" (short distance between cars), and the following distance changes according to the vehicle speed, becoming longer as the speed increases. For example, when traveling at a speed of 100 km/h, the following distance setting of "long" is about 60 m, the following distance setting of "medium" is about 45 m, and the following distance setting of "short" is about 30 m.
・Example 3 of a meter that displays the distance between vehicles (m)
Example 3 of the meter that displays the distance between vehicles (m) is a meter that displays the distance between vehicles with an alarm function. The distance between vehicles is displayed on a liquid crystal panel (display). For example, in the case of the first setting, the alarm is activated when the speed of the test vehicle (own vehicle) is 80 km/h and the distance between the vehicle ahead is less than 80 m, and in the case of the second setting, the alarm is activated when the speed of the test vehicle (own vehicle) is 80 km/h and the distance between the vehicle ahead is less than 40 m.
・Example 4 of a meter that displays the distance between vehicles (m)
The example 4 of the meter that displays the distance between vehicles (m) measures the time between the vehicle and the vehicle ahead and displays the "estimated distance between vehicles" on the liquid crystal panel (display). The example 4 of the meter that displays the distance between vehicles (m) is linked to the time between vehicles display, so the distance between the vehicle and the vehicle ahead, which was previously checked by visual inspection, can be visually and easily notified to the driver (examiner).

The meter installed on vehicle Y that displays the relative speed is a meter that displays the difference in speed (km/h) between the speed (km/h) of the test vehicle (own vehicle) and the speed (km/h) of the vehicle ahead of the test vehicle (own vehicle). In other words, the meter that displays the relative speed is a meter that displays the speed (km/h) of the vehicle ahead as seen from the test vehicle (own vehicle). For example, when the test vehicle (own vehicle) is traveling at 40 km/h and the vehicle ahead is traveling at 80 km/h, the meter that displays the relative speed will show 40 km/h, and from the test vehicle (own vehicle), the vehicle ahead will appear to be traveling at 40 km/h and moving away at a speed of 40 km/h (i.e., the distance (m) between the test vehicle (own vehicle) and the vehicle ahead will increase over time).

When the test vehicle (own vehicle) is traveling at 80 km/h and the vehicle ahead is traveling at 40 km/h, the meter displaying the relative speed will show -40 km/h, and from the test vehicle (own vehicle) it will appear that the vehicle ahead is traveling at -40 km/h and approaching closely at a speed of 40 km/h (i.e., the distance (m) between the test vehicle (own vehicle) and the vehicle ahead will become shorter over time).

When the test vehicle (own vehicle) is traveling at 80 km/h and the vehicle ahead is also traveling at 80 km/h, the meter displaying the relative speed will show 0 km/h, and from the test vehicle (own vehicle) it will appear that the vehicle ahead is traveling at 0 km/h and is not moving (i.e. the distance (m) between the test vehicle (own vehicle) and the vehicle ahead does not change over time).

By using a meter that displays the distance between vehicles and/or a meter that displays the relative speed, the on-board sensor (e.g., radar A, camera B (e.g., monocular camera, stereo camera, etc.; same below), lidar C, sonar D, etc.) can measure the distance between vehicles and the vehicle ahead and the relative speed. For example, when a test vehicle (host vehicle) (test vehicle) that is accelerating and coasting using a meter that displays the distance between vehicles and/or a meter that displays the relative speed is following a vehicle ahead (vehicle ahead), efficient driving is possible by maintaining a nearly constant safe distance between vehicles and the vehicle ahead by accelerating and coasting in sync with the start of acceleration and coasting of the vehicle ahead.

This vehicle Y is either placed on a roller F or lifted up with a jack. In this embodiment (see FIG. 1), the roller F is assumed, but in either case, the front and rear wheels are linked to realize a state of running on a road, and the on-board sensor functions normally. In addition, this roller F can also respond to the operation of the steering device due to the rotation of the handlebars, and can also apply a load when going up and down a slope on the road. In addition, as shown in FIG. 1, a device I for fooling the sensor for radar A, a device J for fooling the sensor for camera B, a device L for fooling the sensor for lidar C (reference symbol K is a screen. The same applies below), and a device M for fooling the sensor for sonar D are arranged around (around) the vehicle Y. In more detail, the device I for fooling the radar A sensor is placed in front of the radar A (to the right in Figure 1), the device J for fooling the camera B sensor is placed in front of the camera B (to the right in Figure 1), and the device L for fooling the LIDAR C sensor is placed in front of the LIDAR C (to the right in Figure 1). The device M for fooling the sonar D sensor is placed behind the sonar D (to the left in Figure 1).

The driver starts driving vehicle Y and checks that the wheels (tires) U of vehicle Y are rotating normally and that the meters E (e.g., speedometer, fuel gauge, water temperature gauge, meter showing distance between vehicles, meter showing relative speed, etc.) are operating normally. The driver only performs the operations of starting and stopping vehicle Y, and leaves the vehicle for all other operations. Note that the operations of stopping and starting vehicle Y may be left to a robot. Incidentally, when the operations of stopping and starting vehicle Y are left to a robot, the test room (laboratory) can be considered to be unmanned.

Next, for example, in experiment 1, device I that deceives the sensor for radar A is used to simulate a situation in which a truck drives ahead, approaches at a relative speed of 50 km/h from a distance of 100 m to 10 m, and then moves away again to a distance of 100 m. Then, vehicle Y begins to decelerate when the vehicle ahead approaches to a distance of 30 m, and attempts to stop when the distance becomes 10 m. However, when the distance increases, vehicle Y increases its speed again. Even after performing this repeated test for 10 hours, the various on-board sensors (radar A, camera B, lidar C, or sonar D) function normally, and vehicle Y can continue to operate normally.

If there is a risk that the operation of device I (which may be referred to as radar deception device I) for deceiving the sensor for radar A may become unstable, a tunnel II made of a radio wave absorber may be placed between radar deception device I and radar A. By placing tunnel II, the operation of radar deception device I becomes more stable.

The above description of the first embodiment of the present invention can be applied to the second to twenty-fourth embodiments of the present invention, described below, unless there is any technical inconsistency.

Second Embodiment
The test system of this embodiment (second embodiment) according to the present invention includes at least a roller on which the front and rear wheels of a vehicle equipped with at least one on-board sensor are placed, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, and a second monitoring camera. This embodiment (second embodiment) will be described with reference to FIG. 1. In this embodiment, the first monitoring camera Ga is arranged around the meters E of the vehicle Y (for example, a speedometer, a fuel gauge, a water temperature gauge, a meter that displays the distance between vehicles, a meter that displays the relative speed, etc.) (in FIG. 1, the upper left rear), and the operation of the vehicle Y is monitored using the first monitoring camera Ga. In addition, the second monitoring cameras Gb and Gc are arranged around the wheels (tires) U and the roller F (in FIG. 1, below the wheels (tires) U and the roller F), and the operation of the wheels (tires) U is monitored using the second monitoring cameras Gb and Gc. The monitoring results from the first monitoring camera Ga are confirmed via a remote monitoring camera display Ha, and the monitoring results from the second monitoring cameras Gb and Gc are confirmed via remote monitoring camera displays Hb and Hc.

The above description of the second embodiment of the present invention can be applied to the first embodiment of the present invention described above and the third to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Third Embodiment
The test system of this embodiment (third embodiment) according to the present invention includes at least a roller for carrying the front and rear wheels of a vehicle equipped with at least one on-board sensor, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, and a second monitoring camera. The configuration of this embodiment (third embodiment) is shown in FIG. 2. As described above, the first and second embodiments can be implemented to confirm that the vehicle Y is operating normally. A scenario is selected from the scenario generator N based on an instruction from the condition setter SET, and the device I for deceiving the sensor for radar A, the device J for deceiving the sensor for camera B, the device M for deceiving the sensor for sonar D, and the device L for deceiving the sensor for lidar C are operated. Also, a scenario is selected from the sudden phenomenon generator EVN based on an instruction from the SET. For example, the radar deception device I can simulate a situation in which a person crosses in front of the vehicle. In this case, a moving antenna in which at least one antenna moves laterally may be installed between the radar A and the radar deception device I. If the above tests are performed outside an anechoic chamber, they may be moved to the anechoic chamber W and then performed there.

An immunity transmitting antenna S, an immunity oscillator, and an amplifier (reference symbol Q) are installed as devices for irradiating electromagnetic waves to vehicle Y. The oscillator frequency can be varied from 10 KHz to 6 GHz. The electric field strength on the bonnet 100 mm away from the bottom edge of the vehicle's window glass can be adjusted from 0 to 300 V/m. The immunity oscillator and amplifier Q are installed, along with cables connecting them.

The frequency and power of the applied electric field were then set, and experiment 1 described in the first embodiment section was repeated. When the frequency was 550 MHz and the electric field strength was 150 V/m or higher, abnormalities began to appear in the operation control using radar A, and the vehicle would no longer accelerate or decelerate.

Next, an emission receiving antenna S, an emission receiver R, and a connecting coaxial cable (not shown) are installed to measure the electromagnetic waves emitted from vehicle Y.

In Experiment 1, which was explained in the section on the first embodiment, the emission receiver R was monitored and received radio waves above the specified level at around 100 kHz. This is thought to be leakage from the inverter used to start the motor. Therefore, it is preferable to arrange for work to improve the inverter and to improve the inverter.

The above description of the third embodiment of the present invention can be applied to the first and second embodiments of the present invention described above and the fourth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Fourth Embodiment
The test system of this embodiment (fourth embodiment) according to the present invention includes at least a roller for supporting the front and rear wheels of a vehicle equipped with at least one on-board sensor, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, and a second monitoring camera. This embodiment (fourth embodiment) is shown in FIG. 3. The test system of this embodiment (fourth embodiment) according to the present invention is a system for correcting the program of an ECU that operates vehicle Y accurately.

The value of the condition setter SET is used as a reference value, and this reference value is sent to the data comparator COMP. Meanwhile, the actual values indicated by the vehicle's meters E (for example, a speedometer, a fuel gauge, a water temperature gauge, a meter that displays the distance between vehicles, a meter that displays the relative speed, etc.) and the rotational status (rotation speed, rotation state, etc.) of the wheels (tires) U are measured using the first monitoring camera Ga and the second monitoring camera Gb and Gc, and the values (actual values) output from the displays Ha, Hb and Hc for the first and second monitoring cameras, the rotation speed and load fluctuation value of the roller F, and the output value (actual value) from an ECU substitute called an ECU or HIL are sent to the data comparator COMP. Then, the difference between the reference value and the actual value is sent to the ECU, and the ECU program is optimized. Alternatively, the comparison data of these values is once sent to the condition setter SET, where it is comprehensively evaluated, and then correction data is sent to the ECU to optimize the program. If there is no driver (if a driver is not used), a robot or the like may be used to give driving instructions from the condition setter SET to the controller DIN.

In the test system of this embodiment (fourth embodiment) according to the present invention, at least one device for deceiving an on-board sensor (e.g., device I for deceiving a radar sensor) is arranged around at least one on-board sensor (e.g., radar A), and a first monitoring camera Ga for monitoring a meter (one example of meters E) of vehicle Y that displays the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, is further provided in order to monitor the driving situation of vehicle Y. The tester (experimenter) can compare and confirm the reference value of the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, displayed by the device for deceiving at least one on-board sensor (e.g., device I for deceiving a radar sensor), and the actual measured value of the distance (m) between vehicle Y displayed by the first monitoring camera Ga. The tester (experimenter) can compare and confirm the reference value of the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, displayed by the first monitoring camera Ga. Note that the tester (experimenter) can compare and confirm the reference value of the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, displayed by the first monitoring camera Ga, without getting in the test vehicle (own vehicle).

The reference value of the distance between vehicles (m) and the actual measured value of the distance between vehicles (m) displayed on the first monitoring camera Ga may be compared as described above to calculate the resulting error value. The error value of the distance between vehicles (m) may then be sent to the ECU to optimize the ECU program.

In addition, in the test system of this embodiment (fourth embodiment) of the present invention, a device for deceiving at least one vehicle-mounted sensor (e.g., device I for deceiving a radar sensor) is arranged in the vicinity of at least one vehicle-mounted sensor (e.g., radar A), and a first surveillance camera Ga is further provided for monitoring a meter (one example of a meter type E) of vehicle Y that displays the relative speed (km/h) between the speed (km/h) of vehicle Y and the speed (km/h) of a preceding vehicle, which is target information for vehicle Y, in order to monitor the driving condition of vehicle Y. The tester (experimenter) can compare and confirm the reference value of the relative speed (km/h) with the actual value of the relative speed (km/h) displayed on the first surveillance camera Ga, based on the relative speed (km/h) between the speed (km/h) of vehicle Y and the speed (km/h) of a preceding vehicle, which is target information for vehicle Y, indicated by the device for deceiving at least one vehicle-mounted sensor (e.g., device I for deceiving a radar sensor). Furthermore, the tester (experimenter) can compare and check remotely (outside the test room) without being in the test vehicle (own vehicle).

The reference value of the relative speed (km/h) may be compared with the actual measured value of the relative speed (km/h) displayed on the first monitoring camera Ga, and the resulting error value may be calculated. The error value of the relative speed (km/h) may then be sent to the ECU, and the ECU program may be optimized.

The above description of the fourth embodiment of the present invention can be applied to the first to third embodiments of the present invention described above and the fifth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical inconsistency.

Fifth embodiment
The fifth embodiment will be described with reference to Fig. 4. As described above, Fig. 4 is a diagram for explaining a method for testing a single vehicle-mounted sensor.

In step S41 shown in FIG. 4, a device for deceiving an on-board sensor (sometimes called a deception device; the same applies below) sends target information to an on-board sensor such as a radar. The target information is, for example, information about an automobile (car) traveling 50 m ahead at 100 km/h.

In step S42, a test is performed to determine whether onboard sensors such as radar are functioning normally based on the target information.

The above description of the fifth embodiment of the present invention can be applied to the first to fourth embodiments of the present invention described above and the sixth to twelfth embodiments of the present invention described below, unless there is any particular technical inconsistency.

Sixth embodiment
The sixth embodiment will be described with reference to Fig. 5. As described above, Fig. 5 is a diagram for explaining a method of performing a test (Hardware In the Loop Simulator (HILS) test) for observing the reaction of an automobile (car).

In step S51 shown in FIG. 5, a device for deceiving an on-board sensor (deception device) sends target information (target information) to an on-board sensor such as a radar. The target information (target information) is, for example, information about a car traveling 50 m ahead at 100 km/h.

In step S52, a test is performed based on the target information to check whether the vehicle-mounted sensors, such as radar, are functioning normally. In step S53, the ECU program is started. In step S54, a driving simulator is started, and the indicated value based on the device that tricks the vehicle-mounted sensors is set as a reference value. An error value is calculated by comparing the reference value with the actual measurement value from the ECU. The ECU program is modified and optimized so that the error value can be eliminated.

The above description of the sixth embodiment of the present invention can be applied to the first to fifth embodiments of the present invention described above and the seventh to twenty-fourth embodiments of the present invention described below, unless there is any particular technical inconsistency.

Seventh embodiment
The seventh embodiment will be described with reference to Fig. 6. As described above, Fig. 6 is a diagram for explaining a method of performing a test (actual vehicle test) to observe the reaction of an automobile (car).

In step S61 shown in FIG. 6, a device for deceiving an on-board sensor (deception device) sends target information (target information) to an on-board sensor such as a radar. The target information (target information) is, for example, information about a car traveling 50 m ahead at 100 km/h.

In step S62, a test is performed based on the target information to check whether the on-board sensors such as radar are functioning normally. In step S63, the ECU program is started. In step S64, the engine of a real car is started and the indicated value based on the device that deceives the on-board sensors is used as a reference value. The reference value is compared with the actual values indicated by the vehicle meters E (e.g., speedometer, fuel gauge, water temperature gauge, meter that displays the distance between the vehicles, meter that displays the relative speed, etc.) obtained from the first surveillance camera, and the rotational status (rotation speed, rotational state, etc.) of the wheels (tires) obtained from the second surveillance camera and the values (actual values) output from the displays for the first and second surveillance cameras, the actual values output from the roller rotation speed and load fluctuation values, and the actual values from the ECU, to calculate the error value. The ECU program is modified and optimized so that the error value can be eliminated.

In the seventh embodiment of the present invention, in step S64, the inter-vehicle distance (m) between the vehicle and the preceding vehicle, which is target information for the vehicle, indicated by a device for deceiving at least one on-board sensor (e.g., a device for deceiving a radar sensor) may be used as a reference, and the reference value of the inter-vehicle distance (m) may be compared with the actual measured value of the inter-vehicle distance (m) displayed on the first surveillance camera for confirmation.

In step S64, the reference value of the inter-vehicle distance (m) may be compared with the actual measured value of the inter-vehicle distance (m) displayed on the first monitoring camera Ga as described above to calculate the resulting error value. The error value of the inter-vehicle distance (m) may then be sent to the ECU to optimize the ECU program.

In addition, in the seventh embodiment of the present invention, in step S64, the relative speed (km/h) between the vehicle speed (km/h) indicated by a device for deceiving at least one on-board sensor (e.g., a device for deceiving a radar sensor) and the speed (km/h) of the vehicle ahead, which is the target information for the vehicle, may be used as a reference, and the reference value of the relative speed (km/h) may be compared with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera to confirm.

In step S64, the reference value of the relative speed (km/h) may be compared with the actual measured value of the relative speed (km/h) displayed on the first monitoring camera Ga to calculate the resulting error value. The error value of the relative speed (km/h) may then be sent to the ECU to optimize the ECU program.

The above description of the seventh embodiment of the present invention can be applied to the first to sixth embodiments of the present invention described above and the eighth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Eighth embodiment
The test system of this embodiment (8th embodiment) according to the present invention includes at least a roller for carrying the front and rear wheels of a vehicle equipped with at least one on-board sensor, and a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor. This embodiment (8th embodiment) will be described with reference to FIG. 7. The vehicle Y is equipped with meters E (e.g., a speedometer, a fuel gauge, a water temperature gauge, a meter for displaying the distance between vehicles, a meter for displaying the relative speed, etc.) that indicate the speed of the vehicle, the size and distance of targets such as a vehicle ahead or a pedestrian indicated by various on-board sensors, a radar A, a camera B (e.g., a monocular camera, a stereo camera, etc., the same below), a lidar C, a sonar D, etc.

This vehicle Y is either placed on a roller F or lifted up with a jack. In this embodiment (see FIG. 7), the roller F is assumed, but in either case, the front and rear wheels are linked to realize a state of running on a road, and the on-board sensor functions normally. In addition, this roller F can also respond to the operation of the steering device due to the rotation of the handlebars, and can also apply a load when going up and down a slope. As shown in FIG. 7, a device I for fooling the sensor for radar A, a device J for fooling the sensor for camera B, a device L for fooling the sensor for rider C (reference symbol K is a screen. The same applies below), and a device M for fooling the sensor for sonar D are arranged around (around) the vehicle Y. In detail, the device I for fooling the sensor for radar A is arranged in front of the radar A (to the right in FIG. 7), the device J for fooling the sensor for camera B is arranged in front of the camera B (to the right in FIG. 7), and the device L for fooling the sensor for rider C is arranged in front of the rider C (to the right in FIG. 7). Device M, which deceives the sensor for sonar D, is placed behind sonar D (to the left in Figure 7).

The driver can start driving vehicle Y and confirm that the wheels U of vehicle Y are rotating normally and that the meters E (e.g., speedometer, fuel gauge, water temperature gauge, meter showing distance between vehicles, meter showing relative speed, etc.) are operating normally. The driver only performs the operations of starting and stopping vehicle Y, and otherwise exits the vehicle. Note that these stopping and starting operations may be left to a robot.

Next, for example, in experiment 2, device I that deceives the sensor for radar A is used to simulate a situation in which a truck drives ahead, approaches at a relative speed of 50 km/h from a distance of 100 m to 10 m, and then moves away again to a distance of 100 m. Vehicle Y then begins to decelerate when the vehicle ahead approaches to a distance of 30 m, and attempts to stop when the distance becomes 10 m. However, once the distance increases, vehicle Y increases its speed again. Even after performing this repeated test for 10 hours, the various sensors (radar A, camera B, lidar C, or sonar D) function normally, and vehicle Y can continue to operate normally.

If there is a risk that the operation of device I (which may be referred to as radar deception device I) for deceiving the sensor for radar A may become unstable, a tunnel II made of a radio wave absorber may be placed between radar deception device I and radar A. By placing tunnel II, the operation of radar deception device I becomes more stable.

The above description of the eighth embodiment of the present invention can be applied to the first to seventh embodiments of the present invention described above and the ninth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Ninth embodiment
The test system of this embodiment (ninth embodiment) according to the present invention includes at least a roller on which the front and rear wheels of a vehicle equipped with at least one on-board sensor are placed, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, a second monitoring camera, and at least one microphone. This embodiment (ninth embodiment) will be described with reference to FIG. 7. In this embodiment, the first monitoring camera Ga is arranged around the meters E of the vehicle Y (for example, a speedometer, a fuel gauge, a water temperature gauge, a meter that displays the distance between vehicles, a meter that displays the relative speed, etc.) (in FIG. 7, the upper left rear), and the operation of the vehicle Y is monitored using the first monitoring camera Ga. In addition, the second monitoring cameras Gb and Gc are arranged around the wheels (tires) U and the roller F (in FIG. 7, below the wheels (tires) U and the roller F), and the operation of the wheels (tires) U is monitored using the second monitoring cameras Gb and Gc. The monitoring results from the first monitoring camera Ga are confirmed via a remote monitoring camera display Ha, and the monitoring results from the second monitoring cameras Gb and Gc are confirmed via remote monitoring camera displays Hb and Hc.

Then, microphone G-1 is placed inside vehicle Y. Microphone G-1 picks up sounds emitted by vehicle Y (e.g., abnormal sounds emitted by vehicle Y, warning sounds emitted by vehicle Y, normal sounds emitted by vehicle Y, etc.). The picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) are output as sounds by speaker H-1. Note that the picked up sounds (e.g., abnormal sounds, warning sounds, normal sounds, etc.) may be output as voltages generated by a voltage generator instead of speaker H-1.

Here, examples of the sound level (loudness, pitch (height), and tone) of the sound emitted by vehicle Y include abnormal sounds emitted by vehicle Y, abnormal sounds emitted by vehicle Y, normal sounds emitted by vehicle Y, etc. Examples of the sound type (or classification based on the source of the sound) emitted by vehicle Y include sounds caused by parts of vehicle Y, sounds caused by combustion of vehicle Y, sounds caused by the computer of vehicle Y, braking sounds of vehicle Y, motor sounds of vehicle Y, warning sounds emitted by vehicle Y, sounds caused by wheels (tires) U of vehicle Y, etc.

An abnormal sound emitted by vehicle Y is a sound that is different from the normal sound emitted by vehicle Y described below, but is a sound that can be distinguished from the abnormal sound emitted by vehicle Y described below, and is, for example, a sound emitted by vehicle Y when vehicle Y is neither in a normal state nor in an abnormal state. An abnormal sound emitted by vehicle Y is, for example, an abnormal sound caused by a part of vehicle Y, an abnormal sound caused by combustion of vehicle Y, an abnormal sound caused by the computer of vehicle Y, an abnormal sound from the brakes of vehicle Y, an abnormal sound from the motor of vehicle Y, an abnormal sound from the wheels (tires) U of vehicle Y, etc.

An abnormal sound emitted by vehicle Y is a sound when vehicle Y is in an abnormal state (e.g., the driving conditions are abnormal), and is a sound that is abnormal compared to a normal sound emitted by vehicle Y when vehicle Y is in a normal state (e.g., the driving conditions are normal). Examples of abnormal sounds emitted by vehicle Y include abnormal sounds caused by parts of vehicle Y, abnormal sounds caused by combustion of vehicle Y, abnormal sounds caused by the computer of vehicle Y, abnormal sounds of the brakes of vehicle Y, abnormal sounds of the motor of vehicle Y, and puncture sounds (abnormal sounds) of wheels (tires) U of vehicle Y.

A normal sound emitted by vehicle Y is a sound when vehicle Y is in a normal state (for example, when the driving conditions are normal). Depending on the type of vehicle Y, the sound of vehicle Y while driving may be almost silent (quiet). In that case, even if the sound of vehicle Y while driving is, for example, faint, the sound may be interpreted as an abnormal sound or an abnormal sound. A normal sound emitted by vehicle Y is, for example, a normal sound caused by a part of vehicle Y, a normal sound caused by the combustion of vehicle Y, a normal sound caused by the computer of vehicle Y, a normal sound of the brakes of vehicle Y, a normal sound of the motor of vehicle Y, a normal sound caused by the wheels (tires) U of vehicle Y, etc.

Sounds caused by parts of vehicle Y are sounds emitted by parts that operate periodically in conjunction with the operation of the internal combustion engine mounted on vehicle Y. Specific examples of parts that operate periodically in conjunction with the operation of the internal combustion engine include rotating bodies such as the crankshaft and transmission gears, and parts that perform periodic motion such as pistons and timing chains.

Sounds caused by combustion in vehicle Y are sounds that are caused by combustion in the internal combustion engine. For example, sounds caused by knocking, misfire, etc. are likely to become abnormal or strange sounds. If the degree of knocking or misfire is severe, the sound is likely to become abnormal, and if the degree of knocking or misfire is not so severe, the sound is likely to become abnormal.

The warning sound (horn) emitted by vehicle Y is, for example, a security alarm, a horn, etc. The warning sound (horn) is, for example, a sound emitted by vehicle Y to ensure the safety of vehicle Y when a car (car) in front of vehicle Y, a car (car) behind vehicle Y, a person, or an animal approaches, to inform the car (car) in front of vehicle Y, a car (car) behind vehicle Y, a person, or an animal of the presence of vehicle Y. Also, for example, a sound emitted by vehicle Y when vehicle Y is approaching an obstacle (for example, luggage dropped on the road by a truck, etc.) to inform vehicle Y (if a driver is present in vehicle Y and is driving, the driver) that the obstacle is approaching. If the warning sound (horn) emitted by vehicle Y is too weak to serve the purpose of issuing a warning, it is an abnormal sound because it indicates an abnormal state of vehicle Y. In that case, by implementing the test system of this embodiment (ninth embodiment) of the present invention in an anechoic chamber or semi-anechoic chamber described below, even a weak sound can be picked up by microphone G-1, so it is possible to quickly and sufficiently confirm whether the operation of vehicle Y is abnormal or normal. Note that if the warning sound (horn) emitted by vehicle Y is loud enough to serve the purpose of issuing a warning (it can be considered a normal warning sound), it goes without saying that the warning sound can be picked up by microphone G-1, so it is possible to quickly and sufficiently confirm whether the operation of vehicle Y is abnormal or normal.

In this embodiment (ninth embodiment), it is also possible to use only the microphone G-1 without using the first surveillance camera Ga and the second surveillance cameras Gb and Gc. In other words, the test system of the ninth embodiment of the present invention may not include the first surveillance camera Ga and the second surveillance cameras Gb and Gc, but may include the microphone G-1.

Microphone G-1 may be an omnidirectional microphone or a directional microphone. A directional microphone can pick up more sound that arrives at the directional microphone from a specific direction than sound that arrives at the directional microphone from other directions (directions other than the specific direction).

It is preferable that the directional microphone is positioned so that the sound collection range includes the sound collection target. For example, the test system of this embodiment (ninth embodiment) of the present invention may be equipped with a directional microphone that collects sound emitted by the engine of vehicle Y, or a directional microphone that collects sound emitted by the wheels (front wheels, rear wheels, or both front and rear wheels) of vehicle Y.

The test system of this embodiment (ninth embodiment) of the present invention may also include multiple (two or more) directional microphones, for example, a directional microphone that picks up (collects) sounds emitted by the engine of vehicle Y, and a directional microphone that picks up (collects) sounds emitted by the wheels (front wheels, rear wheels, or both the front and rear wheels) of vehicle Y. Furthermore, in the test system of this embodiment (ninth embodiment) of the present invention, a directional microphone and an omnidirectional microphone may be used in combination.

In FIG. 7, microphone G-1 is placed inside vehicle Y, but it may be placed outside vehicle Y. For example, if microphone G-1 is a directional microphone, it may be more preferable to place the directional microphone outside vehicle Y rather than inside vehicle Y in order to place the directional microphone so that the sound collection target is included in the range in which the directional microphone collects sound.

The test system of this embodiment (ninth embodiment) of the present invention may be implemented in any test room, an anechoic room, or a semi-anechoic room. When the test system of this embodiment (ninth embodiment) of the present invention is implemented in an anechoic room or semi-anechoic room, unlike a normal test room, there is no room for various noises from the surroundings to intrude. Since the test system of this embodiment (ninth embodiment) of the present invention is implemented in a quiet environment where no noise can intrude, the sound pickup effect of microphone G-1 is further improved.

An anechoic chamber is a test room that is constructed with boundaries that sufficiently absorb sound waves within the frequency range to be measured, for example by providing a floor, placing sound-absorbing panels under the floor, and creating a floating floor structure with floating floor walls, and within which a free sound field condition can be established.

A semi-anechoic chamber is a test room that does not have sound-absorbing panels on the floor, has sufficient acoustic reflectivity so that sound is not absorbed by the floor, and is otherwise composed of boundary surfaces that sufficiently absorb sound waves within the frequency range to be measured, and in which semi-free sound field conditions can be established on the reflecting surfaces.

The above description of the ninth embodiment of the present invention can be applied to the first to eighth embodiments of the present invention described above and the tenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Tenth embodiment
The test system of this embodiment (tenth embodiment) according to the present invention includes at least a roller for carrying the front and rear wheels of a vehicle equipped with at least one on-board sensor, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, a second monitoring camera, and at least one microphone. This embodiment (tenth embodiment) will be described with reference to FIG. 8. As described above, the eighth and ninth embodiments can be implemented to confirm that the vehicle Y is operating normally. A scenario is selected from the scenario generator N based on an instruction from the condition setter SET, and the device I for deceiving the sensor for radar A, the device J for deceiving the sensor for camera B, the device M for deceiving the sensor for sonar D, and the device L for deceiving the sensor for lidar C are operated. Also, a scenario is selected from the sudden phenomenon generator EVN based on an instruction from the SET. For example, the radar deception device I can simulate a situation in which a person crosses in front of the vehicle. In this case, a moving antenna in which at least one antenna moves laterally may be installed between the radar A and the radar deception device I.

An immunity transmitting antenna S, an immunity oscillator, and an amplifier (reference symbol Q) are installed as devices for irradiating electromagnetic waves to vehicle Y. The oscillator frequency can be varied from 10 KHz to 6 GHz. The electric field strength on the bonnet 100 mm away from the bottom edge of the vehicle's window glass can be adjusted from 0 to 300 V/m. The immunity oscillator and amplifier Q are installed, along with cables connecting them.

The frequency and power of the applied electric field were then set, and experiment 2 described in the eighth embodiment section was repeated. When the frequency was 550 MHz and the electric field strength was 150 V/m or higher, abnormalities began to appear in the operation control using radar A, and the vehicle could no longer accelerate or decelerate.

Next, an emission receiving antenna S, an emission receiver R, and a connecting coaxial cable (not shown) are installed to measure the electromagnetic waves emitted from vehicle Y.

In Experiment 2, which was explained in the eighth embodiment section, monitoring the emission receiver R revealed that it received radio waves above the specified level at around 100 kHz. This is thought to be leakage from the inverter used to start the motor. Therefore, it is preferable to arrange for work to improve the inverter and to improve the inverter.

The above description of the tenth embodiment of the present invention can be applied to the first to ninth embodiments of the present invention described above and the eleventh to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Eleventh embodiment
The test system of this embodiment (eleventh embodiment) according to the present invention includes at least a roller for carrying the front and rear wheels of a vehicle equipped with at least one on-board sensor, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, a second monitoring camera, and at least one microphone. This embodiment (eleventh embodiment) will be described with reference to FIG. 9. The test system of this embodiment (eleventh embodiment) according to the present invention is a system for correcting a program of an ECU that operates vehicle Y accurately.

The value of the condition setter SET is used as a reference value, and this reference value is sent to the data comparator COMP. Meanwhile, the values (actual values) indicated by the vehicle's meters E (for example, speedometer, fuel gauge, water temperature gauge, meter displaying distance between vehicles, meter displaying relative speed, etc.) and the rotational status (rotation speed, rotational state, etc.) of the wheels (tires) U are output from the first and second monitoring camera displays Ha, Hb, and Hc using the first monitoring camera Ga and the second monitoring camera Gb and Gc, and the rotation speed and load fluctuation value of the roller F, and the output value from the ECU substitute called ECU or HIL are sent to the data comparator COMP. Then, the difference between the reference value and the actual value is sent to the ECU, and the ECU program is optimized. Alternatively, the comparison data of these values is once sent to the condition setter SET, where it is comprehensively evaluated, and then the correction data is sent to the ECU to optimize the program. If there is no driver (if a driver is not used), a robot or the like may be used to give driving instructions from the condition setter SET to the controller DIN.

In the test system of this embodiment (11th embodiment) of the present invention, at least one device for deceiving an on-board sensor (e.g., device I for deceiving a radar sensor) is arranged around at least one on-board sensor (e.g., radar A), and a first monitoring camera Ga for monitoring a meter (one example of meters E) of vehicle Y that displays the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, is further provided in order to monitor the driving situation of vehicle Y. The tester (experimenter) can compare and confirm the reference value of the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, indicated by the device for deceiving at least one on-board sensor (e.g., device I for deceiving a radar sensor), and the actual measured value of the distance (m) between vehicle Y displayed on the first monitoring camera Ga. The tester (experimenter) can compare and confirm the reference value of the distance (m) between vehicle Y and a preceding vehicle, which is target information for vehicle Y, indicated by the device for deceiving at least one on-board sensor (e.g., device I for deceiving a radar sensor). Note that the tester (experimenter) can compare and confirm remotely (outside the test room) without getting in the test vehicle (own vehicle).

The reference value of the distance between vehicles (m) and the actual measured value of the distance between vehicles (m) displayed on the first monitoring camera Ga may be compared as described above to calculate the resulting error value. The error value of the distance between vehicles (m) may then be sent to the ECU to optimize the ECU program.

In addition, in the test system of this embodiment (11th embodiment) of the present invention, a device for deceiving at least one on-board sensor (e.g., device I for deceiving a radar sensor) is arranged in the vicinity of at least one on-board sensor (e.g., radar A), and a first surveillance camera Ga is further provided for monitoring a meter (one example of a meter type E) of vehicle Y that displays the relative speed (km/h) between the speed (km/h) of vehicle Y and the speed (km/h) of a preceding vehicle, which is target information for vehicle Y, in order to monitor the driving condition of vehicle Y. The tester (experimenter) can compare and confirm the reference value of the relative speed (km/h) with the actual value of the relative speed (km/h) displayed on the first surveillance camera Ga, based on the relative speed (km/h) between the speed (km/h) of vehicle Y and the speed (km/h) of a preceding vehicle, which is target information for vehicle Y, indicated by the device for deceiving at least one on-board sensor (e.g., device I for deceiving a radar sensor). Furthermore, the tester (experimenter) can compare and check remotely (outside the test room) without being in the test vehicle (own vehicle).

The reference value of the relative speed (km/h) may be compared with the actual measured value of the relative speed (km/h) displayed on the first monitoring camera Ga, and the resulting error value may be calculated. The error value of the relative speed (km/h) may then be sent to the ECU, and the ECU program may be optimized.

In order to change the ECU program for optimization, a microphone may also be used to pick up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, abnormal sounds emitted by vehicle Y, warning sounds emitted by vehicle Y, normal sounds emitted by the vehicle, etc.), and the picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) may be output by a speaker as sound data.

In addition, in order to change the ECU program for optimization, a microphone may be further used to pick up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, abnormal sounds emitted by vehicle Y, warning sounds emitted by vehicle Y, normal sounds emitted by the vehicle, etc.), and the voltage data output by a voltage generator based on the picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) may be used.

The above description of the eleventh embodiment of the present invention can be applied to the first to tenth embodiments of the present invention described above and the twelfth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Twelfth embodiment
The test system of this embodiment (twelfth embodiment) of the present invention has at least rollers for supporting the front and rear wheels of an automobile vehicle equipped with at least one on-board sensor, a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first surveillance camera, a second surveillance camera, at least one microphone, and at least one sensor selected from the group consisting of a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human presence sensor, a humidity sensor, a water leak sensor, an oil leak sensor, and a vehicle speed sensor for detecting the vehicle speed. That is, the test system of this embodiment (twelfth embodiment) of the present invention may be equipped with various sensors, such as a first surveillance camera, a second surveillance camera, and/or a microphone (an omnidirectional microphone and/or a directional microphone), as well as a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human presence sensor, a humidity sensor, a water leak sensor, an oil leak sensor, a vehicle speed sensor that detects the vehicle speed, etc.

According to the test system of this embodiment (12th embodiment) of the present invention, at least one of the above-mentioned sensors is used together with the first surveillance camera, the second surveillance camera, and/or the microphone (omnidirectional microphone and/or directional microphone), so that it is possible to more quickly and thoroughly check whether the vehicle's operation is abnormal or normal even if it is remote from the test room (laboratory), and even if the test room is empty (there is no tester (experimenter), driver, etc.).

An example of a vibration sensor is an acceleration sensor. A microphone may also be considered as an example of a vibration sensor.

The odor sensor is, for example, disposed inside the vehicle and can detect odors emitted by the vehicle Y. Examples of odors emitted by the vehicle Y include odors emitted from the engine of the vehicle Y and odors emitted from the wheels (tires) U of the vehicle Y.

The odor sensor is, for example, a semiconductor odor sensor. When a semiconductor odor sensor detects an odor, its resistance value changes. The semiconductor odor sensor can output a signal according to the resistance value. Based on the odor data output from the odor sensor, the type of odor emitted by vehicle Y and the odor level associated with that odor type can be calculated, and it can be determined whether or not the odor level meets a predetermined standard (reference) calculated based on past odor level data, thereby checking the condition of vehicle Y.

The tactile sensor may be provided, for example, on a steering wheel in a vehicle, and used to monitor whether the driver (robot or human) is operating the steering wheel appropriately. Whether the steering wheel is operated appropriately can be determined, for example, by detecting the gripping force of the driver's (robot or human) hand using the tactile sensor. Note that in this specification, if the driver is a human, the test room is defined as being in an attended state, and if the driver is a robot, the test room is defined as being in an unattended state.

The water leak sensor may be used, for example, to monitor the leakage of cooling water from a vehicle. Also, for example, the water leak sensor may be used to monitor whether water leaks have occurred due to deterioration of sealing materials or packings in the engine system or power distribution section of the vehicle.

However, if the seals and packings in the engine system and power distribution section of a vehicle have deteriorated and oil is leaking, an oil leak sensor can be used.

The temperature sensor may be used, for example, to detect the temperature of the vehicle's battery and monitor whether the battery temperature becomes abnormal. Also, for example, the temperature sensor may be used to detect the temperature of equipment components (motors, etc., the same applies below) and electronic components other than the battery of vehicle Y and monitor whether the temperature of the equipment components and/or electronic components becomes abnormal. The vehicle may be equipped with multiple temperature sensors, such as a temperature sensor for detecting the battery temperature and a temperature sensor for detecting the temperatures of the equipment components, electronic components, etc. In addition, an inside air temperature sensor and/or an outside air temperature sensor may be used to detect the temperature inside and/or outside the vehicle. When the inside air temperature sensor and the outside air temperature sensor are used simultaneously, the temperature difference between the inside and outside of the vehicle can be detected.

The human presence sensor (e.g., infrared sensor) or temperature sensor is used to monitor whether the test room is empty or occupied, and to monitor whether the vehicle is empty or occupied (i.e., whether a tester (experimenter), driver, etc. is present or not). The human presence sensor (e.g., infrared sensor) or temperature sensor may also be used to detect nearby people outside the vehicle.

The above description of the twelfth embodiment of the present invention can be applied to the first to eleventh embodiments of the present invention described above and the thirteenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Thirteenth embodiment
The test system of this embodiment (13th embodiment) of the present invention has at least rollers on which the front and rear wheels of an automobile vehicle equipped with at least one on-board sensor are placed, a device for deceiving the at least one on-board sensor arranged around the at least one on-board sensor, and at least one sensor selected from the group consisting of a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human presence sensor, a humidity sensor, a water leak sensor, an oil leak sensor, and a vehicle speed sensor for detecting the vehicle speed. That is, the test system of this embodiment (thirteenth embodiment) according to the present invention may include various sensors such as a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human sensor, a humidity sensor, a water leak sensor, an oil leak sensor, a vehicle speed sensor that detects the vehicle speed, etc., instead of the first monitoring camera, the second monitoring camera, and/or a microphone (an omnidirectional microphone and/or a directional microphone). Details of the various sensors are as explained in the section of the twelfth embodiment.

According to the test system of this embodiment (13th embodiment) of the present invention, at least one of the above-mentioned sensors is used, so that it is possible to quickly and thoroughly check whether the vehicle's operation is abnormal or normal, even if it is remote from the test room (laboratory), and further, it is possible to quickly and thoroughly check even if the test room is empty (there is no one in the laboratory (no tester (experimenter), driver, etc.).)

The above description of the thirteenth embodiment of the present invention can be applied to the first to twelfth embodiments of the present invention described above and the fourteenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

<Fourteenth embodiment>
This embodiment (fourteenth embodiment) will be described with reference to Fig. 10. Fig. 10 is a diagram for explaining a method of carrying out a test (actual vehicle test) for observing the reaction of an automobile (car).

In step S101 shown in FIG. 10, a device for deceiving an on-board sensor (deception device) sends target information (target information) to an on-board sensor such as a radar. The target information (target information) is, for example, information about a car traveling 50 m ahead at 100 km/h.

In step S102, a test is performed based on the target information to check whether the on-board sensors such as radar are functioning normally. In step S103, the ECU program is started. In step S104, the engine of a real car is started and the indication value based on the device that deceives the on-board sensors is used as a reference value. The reference value is compared with the values (actual values) shown by the vehicle meters obtained from the first surveillance camera, the values (actual values) of the rotational status (rotation speed, rotation state, etc.) of the wheels (tires) obtained from the second surveillance camera output from the displays for the first and second surveillance cameras, the actual values output from the roller rotation speed and load fluctuation values, and the actual values from the ECU, to calculate the error value. The ECU program is then modified and optimized so that the error value can be eliminated.

In a fourteenth embodiment of the present invention, in step S104, the inter-vehicle distance (m) between the vehicle and the preceding vehicle, which is target information for the vehicle, indicated by a device for deceiving at least one on-board sensor (e.g., a device for deceiving a radar sensor) may be used as a reference, and the reference value of the inter-vehicle distance (m) may be compared with the actual measured value of the inter-vehicle distance (m) displayed on the first surveillance camera for confirmation.

In step S104, the reference value of the inter-vehicle distance (m) may be compared with the actual measured value of the inter-vehicle distance (m) displayed on the first monitoring camera Ga as described above, and the resulting error value may be calculated. The error value of the inter-vehicle distance (m) may then be sent to the ECU, and the ECU program may be optimized.

In addition, in the fourteenth embodiment of the present invention, in step S104, the relative speed (km/h) between the vehicle speed (km/h) indicated by a device for deceiving at least one on-board sensor (e.g., a device for deceiving a radar sensor) and the speed (km/h) of the vehicle ahead, which is the target information for the vehicle, may be used as a reference, and the reference value of the relative speed (km/h) may be compared with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera to confirm.

In step S104, the reference value of the relative speed (km/h) may be compared with the actual measured value of the relative speed (km/h) displayed on the first monitoring camera Ga to calculate the resulting error value. The error value of the relative speed (km/h) may then be sent to the ECU to optimize the ECU program.

In order to change the ECU program for optimization, a microphone may also be used to pick up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, abnormal sounds emitted by vehicle Y, warning sounds emitted by vehicle Y, normal sounds emitted by the vehicle, etc.), and the picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) may be output by a speaker as sound data.

In addition, in order to change the ECU program for optimization, a microphone may be further used to pick up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, abnormal sounds emitted by vehicle Y, warning sounds emitted by vehicle Y, normal sounds emitted by the vehicle, etc.), and the voltage data output by a voltage generator based on the picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) may be used.

The above description of the 14th embodiment of the present invention can be applied to the first to thirteenth embodiments of the present invention described above and the fifteenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical inconsistency.

<Fifteenth embodiment>
The test system of this embodiment (first embodiment) according to the present invention includes at least a device for lifting an automobile vehicle equipped with at least one on-board sensor with a jack and deceiving at least one on-board sensor arranged around the at least one on-board sensor. The test system of this embodiment (fifteenth embodiment) according to the present invention will be described. The vehicle is equipped with meters that indicate the vehicle speed, the size and distance of targets such as a vehicle ahead or a pedestrian indicated by various on-board sensors, and radar, cameras (e.g., monocular cameras, stereo cameras, etc., the same applies below), lidar, sonar, etc.

The vehicle is lifted with a jack so that the wheels (tires) are not in contact with the floor (road) of the test room. Regardless of the type of drive system of the wheels (tires), i.e., front-wheel drive, rear-wheel drive, all-wheel drive, etc., the wheels (tires) are not in contact with the floor (road) of the test room, but the front and rear wheels of the vehicle are linked to realize a state of running on a road, so that the on-board sensor functions normally. In addition, it is possible to respond to the operation of the steering device due to the rotation of the handle, etc., so that it is possible to apply a load when going up and down a slope on the road. In addition, a device for fooling the radar sensor, a device for fooling the camera sensor, a device for fooling the lidar sensor, and a device for fooling the sonar sensor are arranged around (around) the vehicle. In detail, the device for fooling the radar sensor is arranged in front of the radar, the device for fooling the camera sensor is arranged in front of the camera, and the device for fooling the lidar sensor is arranged in front of the lidar. The device for fooling the sonar sensor is arranged behind the sonar.

The driver starts driving the vehicle and checks that the wheels (tires) are rotating normally and that the meters are working properly. The driver only starts and stops the vehicle, and leaves the vehicle otherwise. Note that these stopping and starting operations may be left to a robot. Incidentally, when the stopping and starting operations of vehicle Y are left to a robot, the test room (laboratory) can be considered to be unmanned.

Next, for example, in experiment 3, a device that deceives radar sensors is used to simulate a situation in which a truck drives ahead, approaches at a relative speed of 50 km/h from a distance of 100 m to 10 m, and then moves away again to a distance of 100 m. The vehicle then begins to decelerate when the vehicle ahead approaches to a distance of 30 m, and attempts to stop when the distance becomes 10 m. However, once the distance increases, the vehicle speeds up again. Even after performing this repeated test for 10 hours, the various on-board sensors (radar, camera, lidar, and sonar) function normally, and the vehicle continues to operate normally.

If there is a risk that the operation of the device that deceives radar sensors (which may be called a radar deception device) may become unstable, a tunnel made of radio wave absorbers may be placed between the radar deception device and the radar. Placing a tunnel will make the operation of the radar deception device more stable.

The above description of the fifteenth embodiment of the present invention can be applied to the first to fourteenth embodiments of the present invention described above and the sixteenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical inconsistency.

<Sixteenth embodiment>
The test system of this embodiment (16th embodiment) according to the present invention includes at least a device for lifting an automobile vehicle equipped with at least one on-board sensor with a jack and deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, and a second monitoring camera. The test system of this embodiment (16th embodiment) according to the present invention will be described. In this embodiment, the first monitoring camera is arranged around the meters of the vehicle, and the operation of the vehicle is monitored using the first monitoring camera. In addition, the second monitoring camera is arranged around the wheels (tires) when the vehicle is lifted with a jack, and the operation of the wheels (tires) is monitored using the second monitoring camera. The monitoring results of the first monitoring camera are confirmed via a remote monitoring camera display, and the monitoring results of the second monitoring camera are confirmed via a remote monitoring camera display.

The above description of the 16th embodiment of the present invention can be applied to the first to fifteenth embodiments of the present invention described above and the seventeenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

Seventeenth embodiment
The test system of this embodiment (17th embodiment) according to the present invention includes at least a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor by lifting an automobile vehicle equipped with at least one on-board sensor with a jack, a first monitoring camera, and a second monitoring camera. The test system of this embodiment (17th embodiment) according to the present invention will be described. As described above, the 15th and 16th embodiments can be implemented to confirm that the vehicle is operating normally. A scenario is selected in the scenario generator based on an instruction from the condition setter, and the device for deceiving the radar sensor, the device for deceiving the camera sensor, the device for deceiving the sonar sensor, and the device for deceiving the lidar sensor are each operated. Also, a scenario is selected in the sudden phenomenon generator based on an instruction from the condition setter. For example, the radar deception device can simulate a situation in which a person crosses in front of the vehicle. In this case, a moving antenna in which at least one antenna moves laterally may be installed between the radar and the radar deception device. In addition, if the above tests are performed outside an anechoic chamber, the tests may be performed by moving to the anechoic chamber.

An immunity transmitting antenna, immunity oscillator, and amplifier are installed as devices for irradiating electromagnetic waves to the vehicle. The oscillator frequency can be varied from 10 KHz to 6 GHz. The electric field strength on the bonnet 100 mm away from the bottom edge of the vehicle's window glass can be adjusted from 0 to 300 V/m. An immunity oscillator and amplifier are installed, along with cables connecting them.

The frequency and power of the applied electric field were then set, and experiment 3 described in the section on the 15th embodiment was repeated. When the frequency was 550 MHz and the electric field strength was 150 V/m or higher, abnormalities began to appear in the operation control using the radar, and the vehicle could no longer accelerate or decelerate.

Next, an emission receiving antenna, an emission receiver, and a connecting coaxial cable are installed to measure the electromagnetic waves emitted from the vehicle.

In Experiment 3, which was explained in the section on the 15th embodiment, the emission receiver was monitored and received radio waves at around 100 kHz, which was higher than the specified level. This is thought to be leakage from the inverter used to start the motor. Therefore, it is preferable to arrange for work to improve the inverter and to improve the inverter.

The above description of the 17th embodiment of the present invention can be applied to the first to sixteenth embodiments of the present invention described above and the eighteenth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical inconsistency.

<Eighteenth embodiment>
The test system of this embodiment (18th embodiment) according to the present invention includes at least a device for lifting an automobile vehicle equipped with at least one on-board sensor with a jack and deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, and a second monitoring camera. The test system of this embodiment (18th embodiment) according to the present invention will be described. The test system of this embodiment (18th embodiment) according to the present invention is a system for correcting a program of a vehicle control computer (ECU) that accurately operates a vehicle.

The value of the condition setter is set as a reference value, and this reference value is sent to the data comparator. Meanwhile, the actual values shown by the gauges of the vehicle and the rotational status of the wheels (tires) (rpm, rotation state, etc.) are output from the displays for the first and second monitoring cameras using the first and second monitoring cameras, and the rotational speed and load fluctuation value of the wheels (tires) when the vehicle is lifted with a jack, and the output value (actual value) from the substitute for the vehicle control computer (ECU) called the vehicle control computer (HIL) or the like are sent to the data comparator. Then, the difference between the reference value and the actual value is sent to the vehicle control computer (ECU), and the program of the vehicle control computer (ECU) is optimized. Alternatively, the comparison data of these values is once sent to the condition setter, and after a comprehensive evaluation is performed there, the correction data is sent to the vehicle control computer (ECU) to optimize the program. Note that if there is no driver (if a driver is not used), a robot or the like may be used to give driving instructions from the condition setter to the controller.

The above description of the 18th embodiment of the present invention can be applied to the first to seventeenth embodiments of the present invention described above and the 19th to 24th embodiments of the present invention described below, unless there is any particular technical contradiction.

Nineteenth embodiment
The test system of this embodiment (19th embodiment) according to the present invention includes at least a device for lifting an automobile vehicle equipped with at least one on-board sensor with a jack and deceiving at least one on-board sensor arranged around the at least one on-board sensor. The test system of this embodiment (19th embodiment) according to the present invention will be described. The vehicle is equipped with meters that indicate the vehicle speed, the size and distance of targets such as a vehicle ahead or a pedestrian indicated by various on-board sensors, and radar, cameras (e.g., monocular cameras, stereo cameras, etc., the same applies below), lidar, sonar, etc.

The vehicle is lifted with a jack so that the wheels (tires) are not in contact with the floor (road) of the test room. Regardless of the type of drive system of the wheels (tires), i.e., front-wheel drive, rear-wheel drive, all-wheel drive, etc., the wheels (tires) are not in contact with the floor (road) of the test room, but the front and rear wheels of the vehicle are linked to realize a state of running on a road, so that the on-board sensor functions normally. In addition, it is possible to respond to the operation of the steering device due to the rotation of the handle, etc., so that it is possible to apply a load when going up and down a slope on the road. In addition, a device for fooling the radar sensor, a device for fooling the camera sensor, a device for fooling the lidar sensor, and a device for fooling the sonar sensor are arranged around (around) the vehicle. In detail, the device for fooling the radar sensor is arranged in front of the radar, the device for fooling the camera sensor is arranged in front of the camera, and the device for fooling the lidar sensor is arranged in front of the lidar. The device for fooling the sonar sensor is arranged behind the sonar.

The driver starts driving the vehicle and checks that the wheels (tires) are rotating normally and that the meters are working properly. The driver only starts and stops the vehicle, and leaves the vehicle otherwise. Note that these stopping and starting operations may be left to a robot. Incidentally, when the stopping and starting operations of vehicle Y are left to a robot, the test room (laboratory) can be considered to be unmanned.

Next, for example, in experiment 4, a device that deceives radar sensors is used to simulate a situation in which a truck drives ahead, approaches at a relative speed of 50 km/h from a distance of 100 m to 10 m, and then moves away again to a distance of 100 m. The vehicle then begins to decelerate when the vehicle ahead approaches to a distance of 30 m, and attempts to stop when the distance becomes 10 m. However, once the distance increases, the vehicle speeds up again. Even after performing this repeated test for 10 hours, the various on-board sensors (radar, camera, lidar, and sonar) function normally, and the vehicle continues to operate normally.

If there is a risk that the operation of the device that deceives radar sensors (which may be called a radar deception device) may become unstable, a tunnel made of radio wave absorbers may be placed between the radar deception device and the radar. Placing a tunnel will make the operation of the radar deception device more stable.

The above description of the 19th embodiment of the present invention can be applied to the first to eighteenth embodiments of the present invention described above and the twentieth to twenty-fourth embodiments of the present invention described below, unless there is any particular technical contradiction.

<Twentieth embodiment>
The test system of this embodiment (20th embodiment) according to the present invention includes at least a device for lifting an automobile vehicle equipped with at least one on-board sensor with a jack and deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, a second monitoring camera, and at least one microphone. The test system of this embodiment (20th embodiment) according to the present invention will be described. In this embodiment, the first monitoring camera is arranged around the meters of the vehicle, and the operation of the vehicle is monitored using the first monitoring camera. In addition, the second monitoring camera is arranged around the wheels (tires) when the vehicle is lifted with a jack, and the operation of the wheels (tires) is monitored using the second monitoring camera. The monitoring results of the first monitoring camera are confirmed via a remote monitoring camera display, and the monitoring results of the second monitoring camera are confirmed via a remote monitoring camera display.

A microphone is then placed inside the vehicle. The microphone picks up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, warning sounds emitted by the vehicle, normal sounds emitted by the vehicle, etc.). The picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) are output as sounds by a speaker. Note that the picked up sounds (e.g., abnormal sounds, warning sounds, normal sounds, etc.) may be output as voltages generated by a voltage generator instead of a speaker.

Here, examples of the sound levels (volume, pitch (height), and tone) of sounds emitted by a vehicle include abnormal sounds emitted by a vehicle, abnormal sounds emitted by a vehicle, and normal sounds emitted by a vehicle. Examples of the types of sounds emitted by a vehicle (or types based on the source of the sounds) include sounds caused by vehicle parts, sounds caused by vehicle combustion, sounds caused by the vehicle's computer, vehicle brake sounds, vehicle motor sounds, warning sounds emitted by a vehicle, and sounds caused by the vehicle's wheels (tires).

An abnormal sound emitted by a vehicle is a sound that is different from the normal sound emitted by a vehicle described below, but can be distinguished from the abnormal sound emitted by a vehicle described below, and is, for example, a sound emitted by a vehicle when the vehicle is neither in a normal state nor in an abnormal state. Examples of abnormal sounds emitted by a vehicle include abnormal sounds caused by vehicle parts, abnormal sounds caused by vehicle combustion, abnormal sounds caused by the vehicle's computer, abnormal sounds from the vehicle's brakes, abnormal sounds from the vehicle's motor, abnormal sounds from the vehicle's wheels (tires), etc.

An abnormal sound emitted by a vehicle is a sound when the vehicle is in an abnormal state (for example, when the driving conditions are abnormal), and is a sound that is abnormal compared to a normal sound emitted by the vehicle when the vehicle is in a normal state (for example, when the driving conditions are normal). Examples of abnormal sounds emitted by a vehicle include abnormal sounds caused by vehicle parts, abnormal sounds caused by vehicle combustion, abnormal sounds caused by the vehicle computer, abnormal sounds from the vehicle brakes, abnormal sounds from the vehicle motor, and the sound of a flat tire (abnormal sounds) from a vehicle wheel (tire), etc.

Normal sounds emitted by a vehicle are sounds made when the vehicle is in a normal state (for example, when the driving conditions are normal). Depending on the type of vehicle, the sound produced when the vehicle is being driven may be almost silent (quiet). In that case, even if the sound produced when the vehicle is being driven is faint, the sound may be interpreted as an abnormal sound or an abnormal sound. Normal sounds emitted by a vehicle include, for example, normal sounds caused by vehicle parts, normal sounds caused by the vehicle's combustion, normal sounds caused by the vehicle's computer, normal sounds of the vehicle's brakes, normal sounds of the vehicle's motor, normal sounds caused by the vehicle's wheels (tires), etc.

Sounds caused by vehicle parts are sounds emitted by parts that operate periodically in conjunction with the operation of the internal combustion engine installed in the vehicle. Specific examples of parts that operate periodically in conjunction with the operation of the internal combustion engine include rotating bodies such as the crankshaft and transmission gears, and parts that perform periodic motion such as pistons and timing chains.

Sounds caused by vehicle combustion are sounds that result from combustion in an internal combustion engine. For example, sounds caused by knocking or misfires tend to be abnormal or strange sounds. If the extent of the knocking or misfire is severe, the sound is more likely to be abnormal, whereas if the extent of the knocking or misfire is not so severe, the sound is more likely to be abnormal.

Warning sounds (horns) emitted by a vehicle include, for example, security alarms and horns. A warning sound (horn) is a sound emitted by a vehicle to ensure the safety of the vehicle when an automobile (car) in front of the vehicle, an automobile (car) behind the vehicle, a person, or an animal approaches, to notify the automobile (car) in front of the vehicle, an automobile (car) behind the vehicle, a person, or an animal of the presence of the vehicle. A warning sound (horn) is also a sound emitted by a vehicle to notify the vehicle (if there is a driver in the vehicle and the driver is driving) of the approaching obstacle (for example, luggage dropped on the road by a truck, etc.) when the vehicle is approaching and approaching an obstacle. If the warning sound (horn) emitted by the vehicle is too weak to serve the purpose of issuing a warning, it is an abnormal sound because it indicates an abnormal state of the vehicle. In such a case, by implementing the test system of this embodiment (20th embodiment) of the present invention in an anechoic chamber or semi-anechoic chamber described below, even a weak sound can be picked up by a microphone, so it is possible to quickly and sufficiently check whether the operation of the vehicle is abnormal or normal. Note that if the warning sound (horn) emitted by the vehicle is loud enough to serve the purpose of issuing a warning (it can be considered a normal warning sound), it goes without saying that the warning sound can be picked up by a microphone, so it is possible to quickly and sufficiently check whether the operation of the vehicle is abnormal or normal.

In this embodiment (20th embodiment), the first and second surveillance cameras may not be used, and only a microphone may be used. That is, the test system of the 20th embodiment of the present invention may not include the first and second surveillance cameras, and may include a microphone.

The microphone may be an omnidirectional microphone or a directional microphone. A directional microphone can pick up more sound that arrives at the directional microphone from a specific direction than sound that arrives at the directional microphone from other directions (directions other than the specific direction).

It is preferable that the directional microphone is positioned so that the sound collection range includes the target of sound collection. For example, the test system of this embodiment (20th embodiment) of the present invention may include a directional microphone that collects sound from the engine of the vehicle, or a directional microphone that collects sound from the wheels (front wheels, rear wheels, or both front and rear wheels) of the vehicle.

The test system of this embodiment (20th embodiment) of the present invention may also include multiple (two or more) directional microphones, for example, a directional microphone that picks up (collects) sounds emitted by the engine of the vehicle, and a directional microphone that picks up (collects) sounds emitted by the wheels (front wheels, rear wheels, or both the front and rear wheels) of the vehicle. Furthermore, in the test system of this embodiment (20th embodiment) of the present invention, a directional microphone and an omnidirectional microphone may be used in combination.

The microphone may be placed inside or outside the vehicle. For example, if the microphone is a directional microphone, it may be more preferable to place the directional microphone outside the vehicle rather than inside in order to place the microphone so that the target of sound collection is included in the range in which the directional microphone collects sound.

The test system of this embodiment (20th embodiment) of the present invention may be implemented in any test room, in an anechoic room, or in a semi-anechoic room. When the test system of this embodiment (20th embodiment) of the present invention is implemented in an anechoic room or semi-anechoic room, unlike a normal test room, there is no room for various noises from the surroundings to intrude. Since the test system of this embodiment (20th embodiment) of the present invention is implemented in a quiet environment where no noise can intrude, the sound pickup effect of the microphone is further improved.

An anechoic chamber is a test room that is constructed with boundaries that sufficiently absorb sound waves within the frequency range to be measured, for example by providing a floor, placing sound-absorbing panels under the floor, and creating a floating floor structure with floating floor walls, and within which a free sound field condition can be established.

A semi-anechoic chamber is a test room that does not have sound-absorbing panels on the floor, has sufficient acoustic reflectivity so that sound is not absorbed by the floor, and is otherwise composed of boundary surfaces that sufficiently absorb sound waves within the frequency range to be measured, and in which semi-free sound field conditions can be established on the reflecting surfaces.

The above description of the twentieth embodiment of the present invention can be applied to the first to nineteenth embodiments of the present invention described above and the twenty-first to twenty-fourth embodiments of the present invention described below, unless there is any particular technical inconsistency.

<Twenty-first embodiment>
The test system of this embodiment (21st embodiment) according to the present invention includes at least a device for deceiving at least one on-board sensor arranged around the at least one on-board sensor by lifting an automobile vehicle equipped with at least one on-board sensor with a jack, a first monitoring camera, a second monitoring camera, and at least one microphone. The test system of this embodiment (21st embodiment) according to the present invention will be described. As described above, the 19th and 20th embodiments can be implemented to confirm that the vehicle is operating normally. A scenario is selected in the scenario generator based on an instruction from the condition setter, and the device for deceiving the radar sensor, the device for deceiving the camera sensor, the device for deceiving the sonar sensor, and the device for deceiving the lidar sensor are each operated. Also, a scenario is selected in the sudden phenomenon generator based on an instruction from the condition setter. For example, the radar deception device can simulate a situation in which a person crosses in front of the vehicle. In this case, a moving antenna in which at least one antenna moves laterally may be installed between the radar and the radar deception device. In addition, if the above tests are performed outside an anechoic chamber, the tests may be performed by moving to the anechoic chamber.

An immunity transmitting antenna, immunity oscillator, and amplifier are installed as devices for irradiating electromagnetic waves to the vehicle. The oscillator frequency can be varied from 10 KHz to 6 GHz. The electric field strength on the bonnet 100 mm away from the bottom edge of the vehicle's window glass can be adjusted from 0 to 300 V/m. An immunity oscillator and amplifier are installed, along with cables connecting them.

The frequency and power of the applied electric field were then set, and experiment 4 described in the 19th embodiment section was repeated. When the frequency was 550 MHz and the electric field strength was 150 V/m or higher, abnormalities began to appear in the radar-based operation control, and the vehicle could no longer accelerate or decelerate.

Next, an emission receiving antenna, an emission receiver, and a connecting coaxial cable are installed to measure the electromagnetic waves emitted from the vehicle.

In Experiment 4, which was explained in the section on the 19th embodiment, the emission receiver was monitored and received radio waves at around 100 kHz, which was higher than the specified level. This is thought to be leakage from the inverter used to start the motor. Therefore, it is preferable to arrange for work to improve the inverter and to improve the inverter.

The above description of the 21st embodiment of the present invention can be applied to the first to 20th embodiments of the present invention described above and the 22nd to 24th embodiments of the present invention described below, unless there is any particular technical contradiction.

<Twenty-second embodiment>
The test system of this embodiment (22nd embodiment) according to the present invention includes at least a device for lifting an automobile vehicle equipped with at least one on-board sensor with a jack and deceiving at least one on-board sensor arranged around the at least one on-board sensor, a first monitoring camera, a second monitoring camera, and at least one microphone. The test system of this embodiment (22nd embodiment) according to the present invention will be described. The test system of this embodiment (22nd embodiment) according to the present invention is a system for correcting a program of a vehicle control computer (ECU) that accurately operates a vehicle.

The value of the condition setter is set as a reference value, and this reference value is sent to the data comparator. Meanwhile, the actual values shown by the gauges of the vehicle and the rotational status of the wheels (tires) (rpm, rotation state, etc.) are output from the displays for the first and second monitoring cameras using the first and second monitoring cameras, and the rotational speed and load fluctuation value of the wheels (tires) when the vehicle is lifted with a jack, and the output value (actual value) from the substitute for the vehicle control computer (ECU) called the vehicle control computer (HIL) or the like are sent to the data comparator. Then, the difference between the reference value and the actual value is sent to the vehicle control computer (ECU), and the program of the vehicle control computer (ECU) is optimized. Alternatively, the comparison data of these values is once sent to the condition setter, and after a comprehensive evaluation is performed there, the correction data is sent to the vehicle control computer (ECU) to optimize the program. Note that if there is no driver (if a driver is not used), a robot or the like may be used to give driving instructions from the condition setter to the controller.

In order to change the ECU program for optimization, a microphone may also be used to pick up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, warning sounds emitted by the vehicle, normal sounds emitted by the vehicle, etc.), and the picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) may be output by a speaker as sound data.

In addition, in order to change the ECU program for optimization, a microphone may be further used to pick up sounds emitted by the vehicle (e.g., abnormal sounds emitted by the vehicle, warning sounds emitted by the vehicle, normal sounds emitted by the vehicle, etc.), and the voltage data output by a voltage generator based on the picked up sounds (e.g., picked up abnormal sounds, picked up abnormal sounds, warning sounds, normal sounds, etc.) may be used.

The above description of the 22nd embodiment of the present invention can be applied to the first to 21st embodiments of the present invention described above and the 23rd to 24th embodiments of the present invention described below, unless there is any particular technical contradiction.

<Twenty-third embodiment>
The testing system of this embodiment (23rd embodiment) of the present invention has at least a device that uses a jack to lift an automobile vehicle equipped with at least one on-board sensor and deceives at least one on-board sensor arranged around the at least one on-board sensor, a first surveillance camera, a second surveillance camera, at least one microphone, and at least one sensor selected from the group consisting of a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human presence sensor, a humidity sensor, a water leak sensor, an oil leak sensor, and a vehicle speed sensor that detects the vehicle speed. That is, the test system of this embodiment (23rd embodiment) of the present invention may be equipped with various sensors, such as a first surveillance camera, a second surveillance camera, and/or a microphone (an omnidirectional microphone and/or a directional microphone), as well as a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human presence sensor, a humidity sensor, a water leak sensor, an oil leak sensor, a vehicle speed sensor that detects the vehicle speed, etc.

According to the test system of this embodiment (23rd embodiment) of the present invention, at least one of the above-mentioned sensors is used together with the first surveillance camera, the second surveillance camera, and/or the microphone (omnidirectional microphone and/or directional microphone), so that it is possible to more quickly and thoroughly check whether the vehicle's operation is abnormal or normal even if it is remote from the test room (laboratory), and even if the test room is empty (there is no tester (experimenter), driver, etc.).

An example of a vibration sensor is an acceleration sensor. A microphone may also be considered as an example of a vibration sensor.

The odor sensor is, for example, disposed inside the vehicle and can detect odors emitted by the vehicle Y. Examples of odors emitted by the vehicle Y include odors emitted from the engine of the vehicle Y and odors emitted from the wheels (tires) U of the vehicle Y.

The odor sensor is, for example, a semiconductor odor sensor. When a semiconductor odor sensor detects an odor, its resistance value changes. The semiconductor odor sensor can output a signal according to the resistance value. Based on the odor data output from the odor sensor, the type of odor emitted by vehicle Y and the odor level associated with that odor type can be calculated, and it can be determined whether or not the odor level meets a predetermined standard (reference) calculated based on past odor level data, thereby confirming the condition of vehicle Y.

The tactile sensor may be provided, for example, on a steering wheel in a vehicle, and used to monitor whether the driver (robot or human) is operating the steering wheel appropriately. Whether the steering wheel is operated appropriately can be determined, for example, by detecting the gripping force of the driver's (robot or human) hand using the tactile sensor. Note that in this specification, if the driver is a human, the test room is defined as being in an attended state, and if the driver is a robot, the test room is defined as being in an unattended state.

The water leak sensor may be used, for example, to monitor the leakage of cooling water from a vehicle. Also, for example, the water leak sensor may be used to monitor whether water leaks have occurred due to deterioration of sealing materials or packings in the engine system or power distribution section of the vehicle.

However, if the seals and packings in the engine system and power distribution section of a vehicle have deteriorated and oil is leaking, an oil leak sensor can be used.

The temperature sensor may be used, for example, to detect the temperature of the vehicle's battery and monitor whether the battery temperature becomes abnormal. Also, for example, the temperature sensor may be used to detect the temperature of equipment components (motors, etc., the same applies below) and electronic components other than the battery of vehicle Y and monitor whether the temperature of the equipment components and/or electronic components becomes abnormal. The vehicle may be equipped with multiple temperature sensors, such as a temperature sensor for detecting the battery temperature and a temperature sensor for detecting the temperatures of the equipment components, electronic components, etc. In addition, an inside air temperature sensor and/or an outside air temperature sensor may be used to detect the temperature inside and/or outside the vehicle. When the inside air temperature sensor and the outside air temperature sensor are used simultaneously, the temperature difference between the inside and outside of the vehicle can be detected.

The human presence sensor (e.g., infrared sensor) or temperature sensor is used to monitor whether the test room is empty or occupied, and to monitor whether the vehicle is empty or occupied (i.e., whether a tester (experimenter), driver, etc. is present or not). The human presence sensor (e.g., infrared sensor) or temperature sensor may also be used to detect nearby people outside the vehicle.

The above description of the 23rd embodiment of the present invention can be applied to the first to 22nd embodiments of the present invention described above and the 24th embodiment of the present invention described below, unless there is any particular technical contradiction.

<Twenty-fourth embodiment>
The testing system of this embodiment (24th embodiment) of the present invention has at least a device that uses a jack to lift an automobile vehicle equipped with at least one on-board sensor and deceives at least one on-board sensor arranged around the at least one on-board sensor, and at least one sensor selected from the group consisting of a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human presence sensor, a humidity sensor, a water leak sensor, an oil leak sensor, and a vehicle speed sensor that detects the vehicle speed. That is, the test system of this embodiment (24th embodiment) according to the present invention may include various sensors such as a vibration sensor, a five-sense sensor including at least one of vision, hearing, taste, smell, touch, etc. (e.g., an odor sensor, a touch sensor, a taste sensor), a force sensor, a contact sensor, a proximity sensor, a distance sensor (ranging sensor), a temperature sensor, a biological sensor, a human sensor, a humidity sensor, a water leak sensor, an oil leak sensor, a vehicle speed sensor that detects the vehicle speed, etc., instead of the first monitoring camera, the second monitoring camera, and/or a microphone (an omnidirectional microphone and/or a directional microphone). Details of the various sensors are as explained in the section of the 23rd embodiment.

According to the test system of this embodiment (24th embodiment) of the present invention, at least one of the above-mentioned sensors is used, so that it is possible to quickly and thoroughly check whether the vehicle's operation is abnormal or normal, even if it is remote from the test room (laboratory), and further, it is possible to quickly and thoroughly check even if the test room is empty (there is no one in the laboratory (no tester (experimenter), driver, etc.).)

The above description of the 24th embodiment of the present invention can be applied to the first to 23rd embodiments of the present invention, unless there is a particular technical contradiction.

The effects of the present invention will be specifically explained below with reference to examples. Note that the scope of the present invention is not limited to the examples.

Example 1
A vehicle for testing the autonomous driving function (hereinafter referred to as the "test vehicle") was brought into an anechoic chamber and placed on rollers that support its four wheels.

The test vehicle is equipped with a radar. Information on the distance and relative speed to the vehicle traveling ahead (hereinafter referred to as the "vehicle ahead") captured by this radar is displayed on the cockpit screen inside the test vehicle in the form of a graphic that resembles the vehicle ahead, bars indicating the level of distance and relative speed, and numerical values of the distance (m) and relative speed (km/h). Examples of the cockpit screen include a meter that displays the distance (m) between vehicles on an LCD panel (display), and a meter that displays the relative speed (km/h) on an LCD panel (display).

Here, a device that tricks the sensor is used to create a fake target that simulates the appearance of a vehicle ahead, 1m in front of the test vehicle's radar.

By delaying the timing of the reflected waves from the radar, this pseudo target can accurately represent the distance and relative speed between the vehicle ahead and the test vehicle assumed in the test, and can also change this distance and relative speed.

The anechoic chamber also contains a jamming generator that can emit jamming signals and change the frequency and power strength of the jamming signals.

In this test environment, we tested whether the radar installed in the test vehicle would malfunction due to jamming radio waves.

The driving mode of the test vehicle was set to a mode that automatically tracks the vehicle in front, and the test scenario for the sensor deception device was set as follows:
- Accelerate the vehicle in front for 20 seconds so that the distance between the test vehicle and the vehicle in front increases from 10m to 100m, then repeat the process of decelerating the vehicle in front for 30 seconds so that the distance decreases from 100m to 10m.

During the test, the above information is displayed on the screen in the cockpit of the test vehicle in the form of a graphic of the vehicle ahead, bars indicating the level of distance (m) and relative speed (km/h), and numerical values of distance (m) and relative speed (km/h). The test vehicle is also equipped with a camera (hereinafter referred to as the "first surveillance camera") for viewing this screen, and the image captured by the first surveillance camera can be viewed in real time by an observer (tester) on a monitor installed in an operation room separate from the anechoic chamber where the test is conducted.

First, we started the engine of the test vehicle without emitting any jamming signals.

The test vehicle began to follow the vehicle ahead, and the distance (m) between the test vehicle and the vehicle ahead, as well as the relative speed (km/h) between the test vehicle's speed (km/h) and the vehicle ahead's speed (km/h) changed according to the set scenario, and the standard values for the distance (m) and the relative speed (km/h) were confirmed.

Next, the jamming radio wave generator was started to emit jamming radio waves, and the frequency and field strength of the jamming radio waves were changed. When the frequency changed from 1.3 GHz to 1.5 GHz and the field strength reached 95 V/m, the vehicle distance (m) and relative speed (km/h) began to go wrong. For example, the actual measured value displayed on the meter displaying the vehicle distance (m) on the liquid crystal panel (display) and/or the meter displaying the relative speed (km/h) on the liquid crystal panel (display) did not show the correct value (this may also mean that the test vehicle stopped moving, as described below), and a deviation from the scenario (reference value) occurred (an error occurred). The occurrence of this deviation (the occurrence of an error) was confirmed by comparing the reference value for the vehicle distance (m) with the actual measured value for the vehicle distance (m) and comparing the reference value for the relative speed (km/h) with the actual measured value for the relative speed (km/h). It is also possible to calculate this error value (the difference between the actual measured value and the reference value) and send the calculated error value to the ECU to optimize the ECU program. When the electric field strength reached 150 V/m, the test vehicle stopped moving. The test vehicle stopping means, for example, that the engine stops, or that at least one of the parts that affect the running operation of the test vehicle, such as the radar or ECU, stops working properly.

The observer (tester) in the control room was able to grasp the above situation by watching the above monitor while repeating the test.

Example 2
In Example 1, a case was assumed in which a car was driving in front of the test vehicle, but in this example, the setting of the reflection intensity of the false target made to appear by the device for fooling the sensor was changed, and the device for fooling the sensor made a 500cc motorcycle or bicycle appear.

After that, we first conducted a test similar to that in Example 1, but without irradiating jamming radio waves.

In the case of the 500cc motorcycle, the pseudo target moved according to the scenario, and the radar was able to recognize the pseudo target, but in the case of the bicycle, the pseudo target moved according to the scenario, but the reflection intensity of the bicycle was weaker than that of the 500cc motorcycle, so the radar was unable to recognize the pseudo target. The above situation (situation) could be observed on a monitor installed in the control room without the observer (tester) looking into the first surveillance camera mounted on the test vehicle. The reflection intensity of the car (vehicle in front, test vehicle, etc.) is 10 dBm, the reflection intensity of the motorcycle is 2 dBm, and the reflection intensity of the bicycle is 0 dBm. Also, as a reference example, a human is -5 dBm.

Furthermore, a similar test was conducted while emitting jamming signals, but by observing the monitor mentioned above, the observer (tester) was able to complete the test safely without being affected by the jamming signals.

The present invention can have the following configurations.
[1]
The vehicle has rollers on which the front and rear wheels of the vehicle equipped with at least one on-board sensor are placed, or the vehicle is lifted with a jack, and the front and rear wheels are rotated in conjunction with each other.
The test system further comprises a device for fooling the at least one on-board sensor disposed in a vicinity of the at least one on-board sensor.
[2]
The at least one on-board sensor is at least one selected from the group consisting of a radar, a monocular camera, a stereo camera, a lidar, and a sonar.
[3]
The test system according to [1] or [2], further comprising a first surveillance camera for monitoring a meter of the vehicle in order to monitor a driving condition of the vehicle.
[4]
The test system described in [3], wherein the indication value of a device that deceives at least one vehicle-mounted sensor is used as a reference value, and an error value obtained by comparing the reference value with the actual measured value from the first surveillance camera is calculated.
[5]
The test system according to any one of [1] to [4], further comprising a second monitoring camera that monitors the rotation status of the front and rear wheels in order to monitor the driving status of the vehicle.
[6]
The test system described in [5], in which the indication value of the device that deceives the at least one vehicle-mounted sensor is used as a reference value, and an error value obtained by comparing this reference value with actual measured values from the second surveillance camera and the rotation speed and load fluctuation of the roller is calculated.
[7]
The test system according to any one of [1] to [6], further comprising at least one microphone that picks up sounds emitted by the vehicle in order to monitor the driving conditions of the vehicle.
[8]
To monitor the driving status of the vehicle,
A first monitoring camera for monitoring a meter of the vehicle;
A second monitoring camera for monitoring the rotation of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system according to any one of [1] to [7], further comprising:
[9]
The test system according to any one of [1] to [8], wherein an indication value of a device for deceiving the at least one vehicle-mounted sensor is set as a reference value, and an error value is calculated by comparing the reference value with an actual measurement value from an ECU (Electric Control Unit) or a substitute for the ECU possessed by the vehicle.
[10]
The test system according to claim 9, further comprising: a program for the ECU or a substitute for the ECU that is modified to optimize the program so as to eliminate the error value.
[11]
The test system according to any one of [1] to [10], further comprising a device for operating the device for deceiving the at least one vehicle-mounted sensor based on a scenario, simulating or generating a sudden event such as a person suddenly appearing in front of the vehicle and/or a weather change and/or interference by electromagnetic waves, and controlling the sudden event.
[12]
The test system according to any one of [1] to [11], constructed in an anechoic chamber.

[13]
Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
monitoring a meter of the vehicle using a first surveillance camera;
and monitoring the rotation of the front and rear wheels using a second surveillance camera.
[14]
Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
monitoring a meter of the vehicle using a first surveillance camera;
monitoring the rotation of the front and rear wheels using a second surveillance camera;
and collecting sounds emitted by the vehicle using at least one microphone.
[15]
The test method according to [13] or [14], which is a method for testing the vehicle of the automobile equipped with the at least one on-board sensor in the test room.

[16]
At least one on-board sensor and a roller for supporting the front and rear wheels of a vehicle equipped with the at least one on-board sensor; or
The vehicle has at least one on-board sensor and a rotation mechanism that lifts the vehicle with a jack and rotates the front and rear wheels in conjunction with each other;
The test system further comprises a device for fooling the at least one on-board sensor disposed in a vicinity of the at least one on-board sensor.
[17]
The at least one on-board sensor is at least one selected from the group consisting of a radar, a monocular camera, a stereo camera, a lidar, and a sonar.
[18]
The test system according to [16] or [17], further comprising a first surveillance camera for monitoring a meter of the vehicle in order to monitor a driving condition of the vehicle.
[19]
The test system described in [18], wherein the indication value of a device that deceives at least one vehicle-mounted sensor is set as a reference value, and an error value obtained by comparing the reference value with an actual measured value from the first surveillance camera is calculated.
[20]
The test system according to any one of [16] to [19], further comprising a second monitoring camera for monitoring the rotation status of the front and rear wheels in order to monitor the driving status of the vehicle.
[21]
The test system described in [20], wherein the indication value of the device that deceives the at least one vehicle-mounted sensor is set as a reference value, and an error value obtained by comparing the reference value with actual measured values from the second surveillance camera and the rotation speed and load fluctuation of the roller is calculated.
[22]
The test system according to any one of claims 16 to 21, further comprising at least one microphone for picking up sounds emitted by the vehicle in order to monitor the driving conditions of the vehicle.
[23]
To monitor the driving status of the vehicle,
A first monitoring camera for monitoring a meter of the vehicle;
A second monitoring camera for monitoring the rotation of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system according to any one of [16] to [22], further comprising:
[24]
The test system according to any one of [16] to [23], wherein an indication value of a device for deceiving the at least one vehicle-mounted sensor is set as a reference value, and an error value is calculated by comparing the reference value with an actual measurement value from an ECU (Electric Control Unit) or a substitute for the ECU possessed by the vehicle.
[25]
The test system according to claim 24, further comprising a program for optimizing the ECU or a substitute for the ECU by modifying the program so as to eliminate the error value.
[26]
The test system according to any one of [16] to [25], further comprising a device for operating the device for deceiving the at least one vehicle-mounted sensor based on a scenario, simulating or generating a sudden event such as a person suddenly appearing in front of the vehicle and/or a weather change and/or electromagnetic interference, and controlling the sudden event.
[27]
The test system according to any one of [16] to [26], constructed in an anechoic chamber.

[28]
A vehicle having at least one on-board sensor is jacked up,
The test system further comprises a device for fooling the at least one on-board sensor disposed in a vicinity of the at least one on-board sensor.
[29]
The at least one on-board sensor is at least one selected from the group consisting of a radar, a monocular camera, a stereo camera, a lidar, and a sonar.
[30]
The test system according to [28] or [29], further comprising a first surveillance camera for monitoring a meter of the vehicle in order to monitor the driving condition of the vehicle.
[31]
The test system described in [30], wherein the indication value of a device that deceives at least one vehicle-mounted sensor is set as a reference value, and an error value obtained by comparing the reference value with an actual measured value from the first surveillance camera is calculated.
[32]
The test system according to any one of [28] to [31], further comprising a second monitoring camera for monitoring the rotation status of the front and rear wheels in order to monitor the driving status of the vehicle.
[33]
The test system described in [32], wherein the indication value of the device that deceives the at least one vehicle-mounted sensor is set as a reference value, and an error value obtained by comparing the reference value with actual measured values from the second surveillance camera and the rotation speed and load fluctuation of the roller is calculated.
[34]
The test system according to any one of [28] to [33], further comprising at least one microphone for picking up sounds emitted by the vehicle in order to monitor the driving conditions of the vehicle.
[35]
To monitor the driving status of the vehicle,
A first monitoring camera for monitoring a meter of the vehicle;
A second monitoring camera for monitoring the rotation of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system according to any one of [28] to [34], further comprising:
[36]
The test system according to any one of [28] to [35], wherein an indication value of a device for deceiving the at least one vehicle-mounted sensor is set as a reference value, and an error value is calculated by comparing the reference value with an actual measurement value from an ECU (Electric Control Unit) or a substitute for the ECU possessed by the vehicle.
[37]
The test system according to claim 36, further comprising: a program for the ECU or a substitute for the ECU that is modified to optimize the program so as to eliminate the error value.
[38]
The test system according to any one of [28] to [37] further comprises a device for operating the device for deceiving the at least one vehicle-mounted sensor based on a scenario, simulating or generating a sudden event such as a person suddenly appearing in front of the vehicle and/or a weather change and/or electromagnetic interference, and controlling the sudden event.
[39]
A test system according to any one of [28] to [38], constructed in an anechoic chamber.

[40]
Lifting an automobile vehicle equipped with at least one on-board sensor with a jack and reproducing a running condition of the vehicle in a test room;
simulating a target using a device that fools at least one on-board sensor;
monitoring a meter of the vehicle using a first surveillance camera;
and monitoring the rotation of the front and rear wheels using a second surveillance camera.
[41]
Lifting an automobile vehicle equipped with at least one on-board sensor with a jack and reproducing a running condition of the vehicle in a test room;
simulating a target using a device that fools at least one on-board sensor;
monitoring a meter of the vehicle using a first surveillance camera;
monitoring the rotation of the front and rear wheels using a second surveillance camera;
and collecting sounds emitted by the vehicle using at least one microphone.
[42]
The test method according to [40] or [41], which is a method for testing the vehicle of the automobile equipped with the at least one on-board sensor in the test room.

[43]
Lift the car with a jack
At least one on-board sensor is mounted on the vehicle of the automobile;
The test system further comprises a device for fooling the at least one on-board sensor disposed in a vicinity of the at least one on-board sensor.
[44]
The at least one on-board sensor is at least one selected from the group consisting of a radar, a monocular camera, a stereo camera, a lidar, and a sonar.
[45]
The test system according to [43] or [44], further comprising a first surveillance camera for monitoring a meter of the vehicle in order to monitor the driving condition of the vehicle.
[46]
The test system described in [45], wherein the indication value of a device that deceives at least one vehicle-mounted sensor is set as a reference value, and an error value obtained by comparing the reference value with an actual measured value from the first surveillance camera is calculated.
[47]
The test system described in any one of [43] to [46] further comprises a second monitoring camera that monitors the rotation status of the front and rear wheels to monitor the driving status of the vehicle.
[48]
The test system described in [47], wherein the indication value of the device for deceiving the at least one vehicle-mounted sensor is set as a reference value, and an error value obtained by comparing the reference value with the actual measured values from the second surveillance camera and the rotation speed and load fluctuation of the roller is calculated.
[49]
The test system according to any one of [43] to [48], further comprising at least one microphone for picking up sounds emitted by the vehicle in order to monitor the driving conditions of the vehicle.
[50]
To monitor the driving status of the vehicle,
A first monitoring camera for monitoring a meter of the vehicle;
A second monitoring camera for monitoring the rotation of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system according to any one of [43] to [49], further comprising:
[51]
The test system according to any one of [43] to [50], wherein an indication value of a device for deceiving the at least one vehicle-mounted sensor is set as a reference value, and an error value is calculated by comparing the reference value with an actual measurement value from an ECU (Electric Control Unit) or a substitute for the ECU possessed by the vehicle.
[52]
The test system according to [51], further comprising: modifying and optimizing a program of the ECU or a substitute for the ECU so as to eliminate the error value.
[53]
The test system according to any one of [43] to [52] further comprises a device for operating the device for deceiving the at least one vehicle-mounted sensor based on a scenario, simulating or generating a sudden event such as a person suddenly appearing in front of the vehicle and/or a weather change and/or electromagnetic interference, and controlling the sudden event.
[54]
A test system according to any one of [43] to [53], constructed in an anechoic chamber.

[55]
The vehicle has rollers on which the front and rear wheels of the vehicle equipped with at least one on-board sensor are placed, or the vehicle is lifted with a jack, and the front and rear wheels are rotated in conjunction with each other.
A device for deceiving the at least one on-board sensor is disposed around the at least one on-board sensor;
In order to monitor the driving condition of the vehicle, a first monitoring camera is further provided for monitoring a meter of the vehicle, the meter displaying a distance (m) between the vehicle and a preceding vehicle, which is target information for the vehicle;
Based on the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle, indicated by the device for deceiving the at least one vehicle-mounted sensor,
A test system that compares the reference value of the inter-vehicle distance (m) with the actual measured value of the inter-vehicle distance (m) displayed by the first surveillance camera.
[56]
The vehicle has rollers on which the front and rear wheels of the vehicle equipped with at least one on-board sensor are placed, or the vehicle is lifted with a jack, and the front and rear wheels are rotated in conjunction with each other.
A device for deceiving the at least one on-board sensor is disposed around the at least one on-board sensor;
In order to monitor the driving conditions of the vehicle, a first monitoring camera is further provided for monitoring a meter of the vehicle that displays a relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of a vehicle ahead, which is target information for the vehicle;
Based on a relative speed (km/h) between the speed (km/h) of the vehicle indicated by the device for deceiving the at least one vehicle-mounted sensor and the speed (km/h) of the preceding vehicle which is the target information for the vehicle,
A test system that compares the reference value of the relative speed (km/h) with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera.
[57]
A test system as described in [55], which calculates an error value obtained by comparing a reference value of the vehicle distance (m) with an actual measured value of the vehicle distance (m) displayed on the first surveillance camera.
[58]
A test system as described in [56], which calculates an error value obtained by comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera.
[59]
The at least one on-board sensor is at least one selected from the group consisting of a radar, a monocular camera, a stereo camera, a lidar, and a sonar.
[60]
The test system described in any one of [55] to [59] further comprises a second monitoring camera that monitors the rotation speed of the front and rear wheels to monitor the driving conditions of the vehicle.
[61]
The test system according to any one of [55] to [60], further comprising at least one microphone that picks up sounds emitted by the vehicle in order to monitor the driving conditions of the vehicle.
[62]
To monitor the driving status of the vehicle,
the first monitoring camera monitoring a meter of the vehicle that displays the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle;
A second monitoring camera for monitoring the rotation speeds of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system according to any one of [55], [57] and [59] to [61], further comprising:
[63]
To monitor the driving status of the vehicle,
A first monitoring camera for monitoring a meter of the vehicle that displays the relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of the vehicle ahead, which is the target information with respect to the vehicle;
A second monitoring camera for monitoring the rotation speeds of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system according to any one of [56], [58] and [59] to [61], further comprising:
[64]
The test system according to any one of [55] to [63] further comprises a device for operating the device for deceiving the at least one vehicle-mounted sensor based on a scenario, simulating or generating a sudden event such as a person suddenly appearing in front of the vehicle and/or a weather change and/or electromagnetic interference, and controlling the sudden event.
[65]
The test system according to any one of [55] to [64], constructed in an anechoic chamber.
[66]
Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first monitoring camera, monitor a meter of the vehicle that displays a distance (m) between the vehicle and a preceding vehicle, which is target information for the vehicle;
and monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
Based on the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle, indicated by the device for deceiving the at least one vehicle-mounted sensor,
A method for testing a vehicle equipped with at least one on-board sensor, the method comprising comparing a reference value of the vehicle distance (m) with an actual measured value of the vehicle distance (m) displayed on the first surveillance camera.
[67]
A test method as described in [66], which calculates an error value obtained by comparing a reference value of the vehicle distance (m) with an actual measured value of the vehicle distance (m) displayed on the first surveillance camera.
[68]
Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first monitoring camera, monitor a meter of the vehicle that displays a distance (m) between the vehicle and a preceding vehicle, which is target information for the vehicle;
monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
and collecting sounds emitted by the vehicle using at least one microphone;
Based on the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle, indicated by the device for deceiving the at least one vehicle-mounted sensor,
A method for testing a vehicle equipped with at least one on-board sensor, the method comprising comparing a reference value of the inter-vehicle distance (m) with an actual measured value of the inter-vehicle distance (m) displayed on the first surveillance camera.
[69]
A test method as described in [68], which calculates an error value obtained by comparing a reference value of the vehicle distance (m) with an actual measured value of the vehicle distance (m) displayed on the first surveillance camera.
[70]
Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first surveillance camera, monitor a meter of the vehicle that displays a relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of a preceding vehicle that is target information for the vehicle;
and monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
Based on a relative speed (km/h) between the speed (km/h) of the vehicle indicated by the device for deceiving the at least one vehicle-mounted sensor and the speed (km/h) of the preceding vehicle which is the target information for the vehicle,
A method for testing a vehicle of an automobile equipped with at least one on-board sensor, the method comprising comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera.
[71]
The test method described in [70], further comprising calculating an error value obtained by comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera.
[72]
Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first surveillance camera, monitor a meter of the vehicle that displays a relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of a preceding vehicle that is target information for the vehicle;
monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
and collecting sounds emitted by the vehicle using at least one microphone;
Based on a relative speed (km/h) between the speed (km/h) of the vehicle indicated by the device for deceiving the at least one vehicle-mounted sensor and the speed (km/h) of the vehicle ahead, which is the target information for the vehicle,
A method for testing a vehicle of an automobile equipped with at least one on-board sensor, the method comprising comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera.
[73]
A test method according to [72], which calculates an error value obtained by comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera.
[74]
The test method according to any one of [66] to [73], which is a method for testing the vehicle of the automobile equipped with the at least one on-board sensor in the test room.

Self-driving cars are equipped with a large number of sensors, and the information obtained from these sensors must be processed in a timely and appropriate manner to operate the vehicle accurately. Furthermore, in the actual driving environment of self-driving cars, electromagnetic waves emitted by sensors, communication devices, ETCs, and other devices in nearby cars are flying around, so it is also necessary to verify the resistance of on-board sensors to interference from this.

This invention makes it possible to perform comprehensive testing of on-board sensors and vehicles indoors, which is expected to lead to the development of efficient self-driving cars and further advances in Japan's self-driving technology. From the above, it is clear that this invention has industrial applicability.

A... radar,
B: Camera,
C... Rider,
D...Sonar,
E... Vehicle meters,
F: Roller (chassis dynamo),
Ga...first surveillance camera,
Gb, Gc . . . second surveillance camera,
Ha: first surveillance camera display,
Hb, Hc... second surveillance camera display,
G-1: Microphone,
H-1: Speaker,
I... A device to fool radar sensors,
J... A device that tricks camera sensors,
K... Screen,
L: A device to deceive the lidar sensor,
N: Scenario generator;
M: A device to fool sonar sensors;
SET: Condition setting device,
Q: Immunity oscillator and amplifier,
R: Emission receiver,
S: Immunity transmitting antenna,
T: Emission receiving antenna,
U: Wheels (tires),
Y: vehicle,
W... darkroom,
II... A tunnel made of radio wave absorbers,
ECU: vehicle control computer,
EVN: Sudden phenomenon generator,
COMP: comparator,
DIV...controller.

Claims (20)

The vehicle has rollers on which the front and rear wheels of the vehicle equipped with at least one on-board sensor are placed, or the vehicle is lifted with a jack, and the front and rear wheels are rotated in conjunction with each other.
A device for deceiving the at least one on-board sensor is disposed around the at least one on-board sensor;
In order to monitor the driving condition of the vehicle, a first monitoring camera is further provided for monitoring a meter of the vehicle, the meter displaying a distance (m) between the vehicle and a preceding vehicle, which is target information for the vehicle;
Based on the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle, indicated by the device for deceiving the at least one vehicle-mounted sensor,
A test system that compares the reference value of the inter-vehicle distance (m) with the actual measured value of the inter-vehicle distance (m) displayed by the first surveillance camera. The vehicle has rollers on which the front and rear wheels of the vehicle equipped with at least one on-board sensor are placed, or the vehicle is lifted with a jack, and the front and rear wheels are rotated in conjunction with each other.
A device for deceiving the at least one on-board sensor is disposed around the at least one on-board sensor;
In order to monitor the driving conditions of the vehicle, a first monitoring camera is further provided for monitoring a meter of the vehicle that displays a relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of a vehicle ahead, which is target information for the vehicle;
Based on a relative speed (km/h) between the speed (km/h) of the vehicle indicated by the device for deceiving the at least one vehicle-mounted sensor and the speed (km/h) of the vehicle ahead, which is the target information for the vehicle,
A test system that compares the reference value of the relative speed (km/h) with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera. The test system according to claim 1, which calculates an error value obtained by comparing the reference value of the vehicle distance (m) with the actual measured value of the vehicle distance (m) displayed on the first surveillance camera. The test system according to claim 2, which calculates an error value obtained by comparing the reference value of the relative speed (km/h) with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera. The test system according to claim 1 or 2, wherein the at least one on-board sensor is at least one selected from the group consisting of radar, monocular camera, stereo camera, lidar, and sonar. The test system according to claim 1 or 2, further comprising a second monitoring camera that monitors the rotation speeds of the front and rear wheels to monitor the driving conditions of the vehicle. The test system according to claim 1 or 2, further comprising at least one microphone for picking up sounds emitted by the vehicle in order to monitor the driving conditions of the vehicle. To monitor the driving status of the vehicle,
The first monitoring camera monitors a meter of the vehicle that displays the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle;
A second monitoring camera for monitoring the rotation speeds of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system of claim 1 further comprising: To monitor the driving status of the vehicle,
A first monitoring camera for monitoring a meter of the vehicle that displays the relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of the vehicle ahead, which is the target information with respect to the vehicle;
A second monitoring camera for monitoring the rotation speeds of the front and rear wheels;
At least one microphone for picking up sounds emitted by the vehicle;
The test system of claim 2 further comprising: The test system according to claim 1 or 2 further comprises a device that operates the device for deceiving the at least one vehicle-mounted sensor based on a scenario, simulates or generates a sudden event of a person suddenly appearing and/or a weather change and/or interference by electromagnetic waves, and controls the sudden event. The test system according to claim 1 or 2, constructed in an anechoic chamber. Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first monitoring camera, monitor a meter of the vehicle that displays a distance (m) between the vehicle and a preceding vehicle, which is target information for the vehicle;
and monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
Based on the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle, indicated by the device for deceiving the at least one vehicle-mounted sensor,
A method for testing a vehicle equipped with at least one on-board sensor, the method comprising comparing a reference value of the vehicle distance (m) with an actual measured value of the vehicle distance (m) displayed on the first surveillance camera. The test method according to claim 12, further comprising: calculating an error value obtained by comparing the reference value of the vehicle distance (m) with the actual measured value of the vehicle distance (m) displayed on the first surveillance camera. Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first monitoring camera, monitor a meter of the vehicle that displays a distance (m) between the vehicle and a preceding vehicle, which is target information for the vehicle;
monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
and collecting sounds emitted by the vehicle using at least one microphone;
Based on the distance (m) between the vehicle and the preceding vehicle, which is the target information for the vehicle, indicated by the device for deceiving the at least one vehicle-mounted sensor,
A method for testing a vehicle equipped with at least one on-board sensor, the method comprising comparing a reference value of the vehicle distance (m) with an actual measured value of the vehicle distance (m) displayed on the first surveillance camera. The test method according to claim 14, further comprising: calculating an error value obtained by comparing the reference value of the vehicle distance (m) with the actual measured value of the vehicle distance (m) displayed on the first surveillance camera. Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first surveillance camera, monitor a meter of the vehicle that displays a relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of a preceding vehicle that is target information for the vehicle;
and monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
Based on a relative speed (km/h) between the speed (km/h) of the vehicle indicated by the device for deceiving the at least one vehicle-mounted sensor and the speed (km/h) of the vehicle ahead, which is the target information for the vehicle,
A method for testing a vehicle of an automobile equipped with at least one on-board sensor, the method comprising comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera. The test method according to claim 16, further comprising: calculating an error value obtained by comparing the reference value of the relative speed (km/h) with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera. Reproducing the running conditions of a vehicle equipped with at least one on-board sensor in a test room using rollers capable of synchronizing the rotation of the front and rear wheels of the vehicle;
simulating a target using a device that fools at least one on-board sensor;
Using a first surveillance camera, monitor a meter of the vehicle that displays a relative speed (km/h) between the speed (km/h) of the vehicle and the speed (km/h) of a preceding vehicle that is target information for the vehicle;
monitoring the rotational speeds of the front and rear wheels using a second monitoring camera;
and collecting sounds emitted by the vehicle using at least one microphone;
Based on a relative speed (km/h) between the speed (km/h) of the vehicle indicated by the device for deceiving the at least one vehicle-mounted sensor and the speed (km/h) of the vehicle ahead, which is the target information for the vehicle,
A method for testing a vehicle of an automobile equipped with at least one on-board sensor, the method comprising comparing a reference value of the relative speed (km/h) with an actual measured value of the relative speed (km/h) displayed on the first surveillance camera. The test method according to claim 18, further comprising: calculating an error value obtained by comparing the reference value of the relative speed (km/h) with the actual measured value of the relative speed (km/h) displayed on the first surveillance camera. 20. The method according to claim 12, which is a method for testing the vehicle of the motor vehicle equipped with the at least one on-board sensor in a test room.