WO2022122339A1 - Verfahren und system zum testen eines steuergeräts eines fahrzeugs - Google Patents
Verfahren und system zum testen eines steuergeräts eines fahrzeugs Download PDFInfo
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- 238000012360 testing method Methods 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 title claims abstract description 39
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
- G06F11/26—Functional testing
- G06F11/261—Functional testing by simulating additional hardware, e.g. fault simulation
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- G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
- G06F11/2205—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing using arrangements specific to the hardware being tested
- G06F11/2236—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing using arrangements specific to the hardware being tested to test CPU or processors
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- G06F11/263—Generation of test inputs, e.g. test vectors, patterns or sequences ; with adaptation of the tested hardware for testability with external testers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
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Definitions
- the invention relates to a method for testing a control unit of a vehicle, the control unit receiving environment data calculated using an environment sensor simulation of at least one simulated environment sensor and using a vehicle and environment simulation calculated movement data of a simulated vehicle, the vehicle and environment simulation being implemented by a computer program which is executed on a programmable computer device, with the calculated movement data being transmitted to the control unit via a simulated vehicle data bus, and with the calculated environmental data being transmitted using a sensor test unit which is connected to the programmable computer device via a sensor data connection that is different from the vehicle data bus to the be transferred to the control unit.
- a further aspect of the invention relates to a system for testing a control unit of a vehicle, which is set up to carry out the method.
- Modern vehicles have a large number of assistance systems, such as parking assistants and emergency brake assistants, to support the driver in carrying out driving maneuvers.
- the assistance systems are dependent on environmental data that is obtained from environmental sensors arranged on the vehicle, such as ultrasonic sensors, radar sensors, LiDAR sensors and optical cameras.
- environmental sensors arranged on the vehicle, such as ultrasonic sensors, radar sensors, LiDAR sensors and optical cameras.
- the development of the control units for the implementation of the assistance systems is a complex process and usually requires the control units to be coordinated for new vehicles.
- simulations When developing new vehicles and the systems installed in the vehicles, it is common to use simulations. This makes it possible, for example, to test the function of environment sensors before they are installed in a new vehicle.
- the reaction of control units to the environmental data supplied by environmental sensors can also be tested.
- DE 10 2013 212 710 A1 describes a simulator and a method for simulating sensor measurements.
- the simulator includes a sensor model that describes hardware and/or physical properties of the sensor.
- an environment model and a vehicle model are provided, which are used to carry out a virtual measurement.
- a computing unit used can be designed as a control computer of a vehicle.
- the detection range of a sensor in particular an ultrasonic sensor, is determined by simulating amplitude values and reception times of echoes that a receiver of the sensor would receive at a fixed installation position as reflections of radiation on a standard body if the standard body was at different positions in the radiation range Radiation source of the sensor are located with known directional characteristics and would be illuminated by this.
- the simulation is carried out taking into account the propagation speed of the radiation and the distances and angular relationships between the respective positions of the standard body, the receiver and the radiation source relative to one another. It is then determined for which of the positions the respective amplitude values of the echoes of the standard body are above a defined threshold value, with the spatial distribution of these positions representing the detection range of the sensor.
- US 2018/0060725 A1 describes a method and a test stand for simulating sensor reflections, for example from virtual ultrasonic sensors.
- the test stand includes hardware that implements and makes available mathematical models for the mechanical properties of a vehicle, as well as software that is coupled with the hardware and comprises a test algorithm for processing reflections obtained from a virtual vehicle environment.
- the environment of the simulated vehicle When testing the response of a control unit to environmental data received from simulated environmental sensors, the environment of the simulated vehicle must be simulated with all objects in the environment. If the functions of complex systems of a control device are to be tested, such as a parking assistant or an emergency brake assistant, the relative movement of the simulated vehicle to the simulated objects must also be taken into account.
- the known methods for simulating functions of an environment sensor have the problem that there can be a time lag between the simulation of the environment and the movement of the vehicle and the calculation of the simulated environment data, which impairs the reaction of a control unit tested with the simulation can.
- a control unit cannot create a reliable map of objects in the vehicle's surroundings without synchronization between movement data and environment data.
- a method for testing a control unit of a vehicle is proposed, in which the control unit receives environment data calculated using an environment sensor simulation of at least one simulated environment sensor and movement data of a simulated vehicle calculated using a vehicle and environment simulation, the vehicle and environment simulation being carried out by a computer program is implemented, which is executed on a programmable computer device, with the calculated movement data being transmitted to the control unit via a simulated vehicle data bus, and with the calculated environmental data being transmitted using a sensor test unit which is connected to the programmable computer device via a sensor data connection that is different from the vehicle data bus be transferred to the control unit. Provision is also made for the control unit to send a command to perform a measurement using at least one environment sensor simulated by the environment sensor simulation to the sensor test unit in order to carry out a simulated acquisition of environment data by the control unit in a first step a).
- step b) information for identifying the position of the at least one simulated surroundings sensor is transmitted by the sensor test unit to the computer device.
- the computer device calculates the position of reflection points on simulated objects in the vehicle environment and information about the calculated positions of the reflection points is transmitted to the sensor test unit.
- step d) environmental data calculated by the sensor test unit are determined based on the information about the calculated positions of the reflection points.
- the sensor test unit then transmits the calculated environmental data on the positions of the reflection points obtained to the control unit.
- the control device can be, for example, a control device for implementing a function of the vehicle, which makes decisions based on the receipt of environmental data.
- the function can in particular be an assistance system or an automated driving function of a vehicle.
- the control unit can implement a parking assistant or an emergency brake assistant.
- the computer device and the sensor test unit receive information about the simulated vehicle and the at least one simulated environment sensor.
- This information preferably includes information about the physical properties of the at least one environment sensor, information about the arrangement of the at least one environment sensor on the vehicle, information about Driving characteristics of the vehicle and combinations of several of these details. In this case, provision can be made in particular to define a number of simulated surroundings sensors.
- a simulated environment is preferably defined for the simulated vehicle.
- Simulated objects in particular are defined here.
- the simulated objects can be defined in particular by parameters relating to their shape, the type of object, the size, the orientation, the position in the simulated environment and combinations of several of these parameters.
- several posts can be defined for a test of an assistance system by defining the parameters of cylindrical shape, specified height, specified diameter and specified positions.
- step a) Includes the simulated vehicle more than one simulated environment sensor, it is preferred in step a) together with the command to execute a
- the at least one simulated environment sensor can correspond to an environment sensor that actually exists or can be based on a design of an environment sensor that is under development.
- the at least one simulated environment sensor is preferably an environment sensor that is based on the pulse-echo principle.
- a signal is sent out for a measurement by an environment sensor and echoes of the signal are then received, which were reflected by objects in the environment. If the echo is received by the same environmental sensor that sent out the original signal, the echo is referred to as a direct echo. If the echo is received from another environmental sensor, the echo is called a cross echo. Accordingly, it can be provided that a command to carry out a measurement relates to a single simulated surroundings sensor or relates to two or more of the simulated surroundings sensors. Accordingly, it is preferred if the measurement of a cross echo is requested in step a), in Step b) Information about the position of a transmitting environment sensor and information about the position of a receiving environment sensor for transmissions.
- the sensor test unit transmits information for identifying the position of the simulated environment sensor or sensors involved in a measurement to the computer device.
- environment sensors can be involved, for example, when performing a measurement in which a
- the information for identifying the position of the at least one environment sensor can be transferred as coordinates which describe the position of the respective environment sensor in the vehicle and environment simulation. If the computer device has, for example, information about which simulated environment sensor is arranged at which point on the simulated vehicle, such information can, for example, also be in the form of a clear
- identification number are transmitted. It is also conceivable to transmit a relative position in relation to a reference point of the simulated vehicle as information for identifying the position.
- step c) of the method the computer device uses the vehicle and environment simulation to calculate which of the simulated objects reflect an echo of a signal from the at least one simulated environment sensor, and determines the position of reflection points on the simulated objects.
- the vehicle and environment simulation takes into account in particular the relative position of the simulated objects to the simulated vehicle, which continuously changes when the simulated vehicle and/or one of the simulated objects moves.
- the computing device determines the geometry of a model representing the simulated vehicle in a simulated environment.
- a beam emanating from the position of the simulated surroundings sensor and running in the direction of a main axis of the simulated surroundings sensor can be checked for intersections with surfaces of the simulated objects.
- the positions of the points of intersection then represent positions of reflection points rules are calculated. For example, it is known that when ultrasonic sensors are used as environment sensors, an object generates a number of echoes, with an echo being produced at a base point of the object.
- the vehicle and environment simulation are preferably carried out continuously by the computer device. It is provided that regularly calculated movement data of the simulated vehicle is transmitted to the control device, with the determination of the position of reflection points according to step c) being synchronized in terms of time with the vehicle and environment simulation.
- the calculated movement data includes, in particular, simulated data from simulated vehicle sensors, which determine the movement of the simulated vehicle. These include, in particular, odometry sensors, speed sensors, yaw rate sensors, acceleration sensors and combinations of several of these sensors.
- the calculation of the movement data and the calculation of the reflection points, on the basis of which the environment data are determined, are obtained using the same vehicle and environment simulation. Provision is also made to keep time delays in the transmission of the movement data and the environmental data, which reach the control device via various paths, as small as possible.
- the calculated surroundings data are preferably determined taking into account a field of view (also referred to as field of view) of the respective simulated surroundings sensor and/or taking into account the intended installation location on the vehicle.
- a field of view also referred to as field of view
- the field of vision of an environment sensor is determined on the one hand by the respective design and the technology of the sensor.
- the installation location of the respective environment sensor has a significant influence on its field of vision.
- environment sensors based on ultrasound are often integrated into a bumper of the vehicle, with the shape, the material selected and the attachment of the bumper affecting the field of vision of the vehicle environment sensor can affect.
- the field of view resulting from the planned arrangement of the environmental sensor is taken into account when determining the calculated environmental data.
- the simulation preferably takes into account the respective propagation properties of the signals and echoes, which in particular can also be dependent on a frequency of the signals.
- a simulated echo is first calculated, with this calculation not only including the position of the reflection point but also, in particular, the field of view. If several reflection points were obtained, it is preferable to additionally take into account interferences between the resulting several echoes.
- the simulated echo After the simulated echo has been calculated, it is preferably provided to carry out the same signal processing that would also be carried out by a corresponding real sensor for the respective echo in order to obtain the calculated environmental data.
- the calculated environmental data can be calculated in advance and stored in a memory of the sensor test unit, a grid with a predetermined increment being used for position parameters of a simulated vehicle and a simulated object.
- the calculated surroundings data are thus already determined in advance with a certain predetermined increment for parameters such as the relative distance between the simulated surroundings sensor and the simulated object and the direction to the simulated object and stored in a memory of the sensor test unit. If the sensor test unit then receives a calculated position of a reflection point, the set of previously calculated environmental data is used to determine that data set whose parameters have the smallest deviations from the parameters of the respective reflection point.
- This variant of the method allows the use of complex models to determine the calculated environmental data. Since the environmental data are calculated in advance, there is advantageously a particularly small delay in the forwarding to the control unit.
- the calculated environmental data is calculated after receipt of the information about the calculated positions by a computing unit of the sensor test unit.
- the determined, calculated environmental data are transmitted to the control unit in step e).
- a communication protocol used for the communication between the control unit and the sensor test unit is selected, which is preferably identical to the protocol which a real example of the at least one environment sensor simulated by the sensor test unit would use. Furthermore, the communication is preferably secured cryptographically.
- the at least one simulated environment sensor is preferably an ultrasonic sensor.
- the proposed method can also be applied to other types of sensors such as LiDAR sensors or RADAR sensors.
- the calculated surroundings data preferably include a distance between the simulated surroundings sensor and the corresponding reflection point and at least one attribute describing the quality of a received ultrasonic echo.
- attributes describing the quality of a received ultrasonic echo include amplitude, background noise, R value, and combinations thereof.
- the "R-value" of an ultrasonic echo describes how well the shape of the received echo matches the shape of the originally transmitted signal.
- a matched filter can be used to compare shape.
- the vehicle data bus is preferably a CAN bus or FlexRay. However, in principle any transmission technology used in the vehicle is suitable.
- control unit By connecting the computer device to a bus system that corresponds to the vehicle data bus of a real vehicle, the control unit can be tested directly under conditions that are as realistic as possible.
- the tested control unit is set up to send control commands to influence the longitudinal and/or lateral guidance of the simulated vehicle via the vehicle data bus, it is preferably provided to set up the vehicle and environment simulation in such a way that it reacts to the control commands and the movement of the simulated vehicle influenced accordingly. Furthermore, the vehicle and motion simulation preferably supplies the control unit with corresponding feedback from the addressed vehicle systems. This is particularly advantageous for testing control devices that implement functions that intervene in the movement of the vehicle, such as a parking assistant or an emergency brake assistant.
- a further aspect of the invention is the provision of a system for testing a control unit of a vehicle, the system comprising a computer device which can be connected to the control unit via a vehicle data bus, and a sensor test unit which is connected to the computer device and via a sensor connection can be connected to the control unit.
- the system is set up to execute one of the methods described herein when connected to a control unit for a vehicle.
- features described in the context of one of the methods apply to the system and vice versa, features described in the context of the system apply to the methods.
- the system includes a computing device. This is preferably freely programmable and carries out the vehicle and environment simulation as part of the method.
- the computer device is preferably a standard PC, which is operated with the Windows, Linux or MacOS operating system, for example, and participates in the process by executing appropriate software.
- the sensor test unit is a unit that is separate from the computer device and is connected to the computer device via a data connection.
- the sensor test unit can include a memory and/or a computing unit for determining the calculated environmental data.
- a programmable microcontroller and/or an application-specific integrated circuit (ASIC) can be used to implement the functions of the sensor test unit.
- the proposed method and the proposed system for testing a control unit are advantageously outsourced to specialized hardware, namely the sensor test unit, a particularly time-critical part of the simulation that is carried out, namely the determination of calculated environmental data.
- the intended computer device must therefore only perform general tasks and update the vehicle and environment simulation.
- specialized units such as the sensor test unit have a deterministic behavior for time-critical actions, whereby a time delay between the movement data and the environment data is reduced and any remaining delay is even.
- many different tasks are usually executed in parallel, and the execution of individual tasks can be delayed in a non-deterministic manner.
- the behavior of the control devices when the simulated vehicle moves can only be realistically simulated and thus tested by the synchronization between the movement data and the environment data achieved with the method and system according to the invention.
- the method used for determining the environmental data from the echoes received can be cryptographically secured by the proposed method, without a delay occurring in the transmission to the control device.
- the sensor test unit represents a closed system which does not allow access to previously stored databases with previously calculated environmental data or to the algorithms used to calculate the environmental data.
- the sensor test unit itself only receives general geometric information on the position of reflection points from the vehicle and environment simulation executed on the computer device, which do not allow any conclusions to be drawn about the function of the simulated environment sensor.
- the communication between the computer device and the sensor test unit is thus reduced to a small amount of data that can be transmitted quickly.
- no cryptographic security is required, so that no time delay caused by encryption occurs.
- the calculated environmental data then provided by the sensor test unit are provided to the control unit via the same protocol that a real sensor would also use, so that the control unit can be tested under conditions that are as real as possible. This allows to test the functionality of the environment sensors and the control units early in the design phase of a vehicle.
- FIG. 1 shows a system for testing a control device according to the prior art
- FIG. 2 shows a system according to the invention for testing a control device
- FIG. 3 shows a schematic view of a simulated environment of a simulated vehicle
- Figure 4 a comparison between the amplitude of simulated and real echoes depending on the distance
- Figure 5 a comparison between the R value of simulated and real echoes depending on the distance
- FIG. 6 shows a comparison between a significance classification made by the control unit for simulated and real echoes as a function of the distance
- FIG. 7 a comparison between an object classification carried out by the control unit for simulated and real echoes depending on the distance
- FIGS. 8a and 8b a comparison between a height classification for simulated and real echoes carried out by the control unit as a function of the distance at a speed of 2.5 km/h
- FIGS. 9a and 9b show a comparison between a height classification performed by the control unit for simulated and real echoes depending on the distance at a speed of 4.5 km/h.
- FIG. 10 A system 10' according to the prior art for testing a control unit 20 is shown in FIG.
- the system 10' comprises a computer device 102 and a sensor test unit 104, which are connected to one another with a data cable 108 and can exchange data.
- Sensor test unit 104 is connected to control unit 20 to be tested via a sensor data connection 110 .
- the control device 20 and the computer device 102 are also connected via a vehicle data bus 106 .
- control unit 20 In order to simulate the behavior of control unit 20 in relation to environmental data, provision is made for computer device 102 to continuously update a vehicle and environment simulation, with the simulation being influenced by control commands from control unit 20 for influencing the longitudinal and/or lateral guidance of simulated vehicle 401.
- the sending of the control commands is indicated in FIG. 1 by an arrow with the reference number 206.
- FIG. 1 A schematic representation of the situation represented by the vehicle and environment simulation can be found in FIG.
- the continuously executed vehicle and environment simulation is used to calculate movement data, which is transmitted to control unit 20 via vehicle data bus 106, as indicated by the arrow with reference number 205.
- the computer device 102 determines possible surroundings sensor data, which could possibly be requested by a simulated surroundings sensor 402, see FIG. 3, and by the control unit 20.
- the computer device 102 takes into account all possible environmental data. This means that, for example, in the case of several ultrasound-based surroundings sensors 402 and in the case of several simulated objects 404, compare FIG. 3, all possible direct echoes and cross echoes are determined for each simulated surroundings sensor 402 and the associated calculated surroundings data are determined.
- control unit 20 now requests a measurement of one of simulated surroundings sensors 402, which is indicated by an arrow with reference number 202, the internal memory is read out, as indicated by arrow 203, and the calculated surroundings data determined in the process are stored as with the Arrow with the reference number 204 indicated transmitted to the control unit 20.
- control unit 20 Since the calculated surroundings data received from control unit 20 are not synchronous with the calculated movement data provided, the behavior of control unit 20 tested in this way can deviate from the behavior in a real environment.
- FIG. 2 shows a system 10 according to the invention for testing a control unit 20.
- the system 10 includes a computer device 102 and a sensor test unit 104, which are connected to one another with a data cable 108 and can exchange data.
- Sensor test unit 104 is connected to control unit 20 to be tested via a sensor data connection 110 .
- the control device 20 and the computer device 102 are also connected via a vehicle data bus 106 .
- the control unit 20 in the system 10 thus has the same connections as in a real vehicle.
- control unit 20 In order to simulate the behavior of control unit 20 in relation to environmental data, provision is made for computer device 102 to continuously update a vehicle and environment simulation, with the simulation being influenced by control commands from control unit 20 for influencing the longitudinal and/or lateral guidance of simulated vehicle 401.
- the sending of the control commands is indicated in FIG. 2 by an arrow with the reference number 216.
- a schematic representation of the situation represented by the vehicle and environment simulation can be found in FIG.
- the continuously executed vehicle and environment simulation is used to calculate movement data, which is transmitted to control unit 20 via vehicle data bus 106, as indicated by the arrow with reference number 217.
- control unit 20 now requests a measurement of one of simulated surroundings sensors 402, a corresponding command, as indicated by arrow 211, is sent to sensor test unit 104, the command containing information for identifying the simulated surroundings sensor(s) 402 involved. This information is forwarded to the computer device 102 by the sensor test unit 104 , as indicated by the arrow with reference number 212 .
- the computer device 102 now determines reflection points 410, 412 depending on the position of the simulated environment sensors 402 involved and the current state of the vehicle and environment simulation and transmits information on the position of the reflection points 410, 412 back to the sensor test unit 104, as indicated by the arrow 213 . Since this position information is purely geometric information, it represents only a small amount of data and can be quickly transmitted via the data cable 108 . Furthermore, they do not reveal any details about the functionality of the simulated environment sensor 402 and can therefore be transmitted unencrypted, which further accelerates the transmission.
- the sensor test unit 104 now determines the calculated surroundings data, which is indicated in FIG. 2 by the arrow with the reference number 214.
- the specific environmental data are then transmitted to control unit 20, as shown by the arrow with reference number 215.
- the calculated surroundings data received from the control unit 20 reach the control unit 20 with a minimal time delay and are therefore synchronous in time to the calculated movement data received. This makes it possible to test the behavior of control unit 20 even when simulated vehicle 401 is moving.
- FIG. 3 shows a schematic view of a simulated environment of a simulated vehicle 401.
- the simulated vehicle 401 moves toward a simulated object 404 in the form of a circular-cylindrical post.
- the simulated vehicle 401 has a simulated surroundings sensor 402, which is designed as an ultrasonic sensor, for example.
- the simulated environment sensor 402 has a field of view 408 within which it can detect simulated objects 404 .
- the simulated environment sensor 402 is installed at the front in the area of a bumper (not shown) at an installation height h.
- the simulated surroundings sensor 402 is oriented horizontally forwards, so that a main axis 406 of the simulated surroundings sensor 402 is also oriented parallel to the ground.
- the simulated environment sensor 402 If signals are emitted by the simulated environment sensor 402, it can detect echoes which are reflected at reflection points 410, 412 on the simulated object 404. In the situation shown in Figure 3, the simulated surroundings sensor 402 would receive two echoes, one from a first reflection point 410 at the installation height h and one from a second reflection point 412 at a base of the simulated object 404.
- the simulated Environment sensor 402 Since the distance from the simulated environment sensor 402 to the second reflection point 412 is longer than that to the first reflection point 410, the simulated Environment sensor 402 in the situation shown two consecutive echoes.
- FIG. 4 shows a comparison between the amplitude of simulated and real echoes as a function of distance for a situation as shown schematically in FIG.
- a simulated vehicle 401 with a simulated ultrasonic sensor moves toward an obstacle in the form of a post.
- the amplitude A is plotted in arbitrary units on the Y-axis and the distance d of the reflection point 410, 412 from the simulated surroundings sensor 402 in mm is plotted on the X-axis.
- a first curve 301 shows the average curve for the amplitude obtained from a real measurement of the environmental data
- a second curve 302 shows the average curve for the amplitude obtained based on the calculated environmental data.
- FIG. 5 shows a comparison between the R value of simulated and real echoes as a function of the distance d for a situation as shown schematically in FIG.
- the R value is plotted in arbitrary units on the Y axis and the distance d of the reflection point 410, 412 from the simulated surroundings sensor 402 in mm is plotted on the X axis.
- a first curve 303 shows the averaged curve for real measurements of the R values assigned to the environmental data
- a second curve 304 shows the averaged curve for R values assigned to calculated environmental data.
- FIG. 6 shows a comparison between a significance classification made by the control unit 20 for simulated and real echoes in Dependence of the distance d for a situation as shown schematically in FIG.
- the significance P is plotted in arbitrary units on the Y-axis and the distance d of the reflection point 410, 412 from the simulated surroundings sensor 402 in mm is plotted on the X-axis.
- a first curve 305 shows the average curve for the significance P determined from a real measurement of the environmental data
- a second curve 306 shows the average curve for the significance P determined based on the calculated environmental data.
- the significance P is determined by the control unit 20 and represents a probability that the environmental data obtained represents an object actually present in the environment.
- FIG. 7 shows a comparison between an object classification performed by the control unit 20 for simulated and real echoes as a function of the distance d for a situation as shown schematically in FIG.
- an ID number is given on the Y-axis, which identifies the object class.
- Different object types such as posts, bushes, walls, curbs and the like are each provided with different ID numbers.
- First points 307 show the object classification based on a real measurement of the surroundings data and second points 308 show the object classification based on the calculated significance of the surroundings data.
- FIGS. 8a and 8b show a comparison between a height classification performed by the control unit 20 when the simulated vehicle 401 approaches a post for simulated and real echoes depending on the distance at a speed of 2.5 km/h.
- Figures 9a and 9b also show an altitude classification, but for a speed of 4.5 km/h.
- FIGS. 8a, 8b, 9a, 9b each show the profile of a height parameter H, which indicates the probability of the presence of a high object that cannot be driven over, in any units versus the distance d in mm.
- FIGS. 8a and 9a each show the profile of the height parameter H for real environmental data and FIGS. 8b and 9b for the calculated environmental data.
- the curves 301, 302, 303, 304, 305, 306 shown in FIGS. 8a, 9a and 8b and 9b are in each case mean values from ten real measurements carried out or ten simulations carried out with slightly different parameters.
- Figures 8a and 8b show that at a vehicle speed of 2.5 km/h and falling below the distance of around 1500 mm, the post is reliably classified as a high object that cannot be driven over, with curves 301, 302, 303 , 304, 305, 306 agree well for the simulation and the measurement. Since the control device 20 also uses the movement data for this classification, this good match shows the particular advantages of the proposed method.
- FIGS. 9a and 9b It can be seen from FIGS. 9a and 9b that at a vehicle speed of 4.5 km/h the post is only reliably classified as a high object that cannot be driven over if the distance is less than approximately 300 mm.
- This undesired behavior of the control device 20 is reliably recognized both in the real measurement and in the simulation due to the good properties of the proposed method, in particular relating to the time synchronization of the calculated environmental data and movement data.
- the proposed method is therefore suitable for safely simulating the function of a control unit 20 of a vehicle.
- the invention is not limited to the exemplary embodiments described here and the aspects highlighted therein. Rather, within the range specified by the claims, a large number of modifications are possible, which are within the scope of expert action.
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Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2023535388A JP7459384B2 (ja) | 2020-12-10 | 2021-11-18 | 車両の制御装置をテストするための方法およびシステム |
KR1020237023329A KR20230114306A (ko) | 2020-12-10 | 2021-11-18 | 차량의 제어 장치의 테스트를 위한 방법 및 시스템 |
US18/251,660 US20240001941A1 (en) | 2020-12-10 | 2021-11-18 | Method and system for testing a control unit of a vehicle |
CN202180083090.3A CN116601612A (zh) | 2020-12-10 | 2021-11-18 | 用于测试车辆的控制器的方法和系统 |
MX2023006293A MX2023006293A (es) | 2020-12-10 | 2021-11-18 | Metodo y sistema para probar un aparato de control de un vehiculo. |
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DE102020215657.3A DE102020215657A1 (de) | 2020-12-10 | 2020-12-10 | Verfahren und System zum Testen eines Steuergeräts eines Fahrzeugs |
DE102020215657.3 | 2020-12-10 |
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JP (1) | JP7459384B2 (de) |
KR (1) | KR20230114306A (de) |
CN (1) | CN116601612A (de) |
DE (1) | DE102020215657A1 (de) |
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CN111007842B (zh) * | 2019-12-24 | 2022-12-30 | 浙江合众新能源汽车有限公司 | 一种适用于汽车控制器的研发测试系统 |
EP4369240A1 (de) * | 2022-11-11 | 2024-05-15 | dSPACE GmbH | Simulationsvorrichtung zur ausgabe von bilddaten einer virtuellen umgebung eines fahrzeugs an ein steuergerät, testaufbau mit einer solchen simulationsvorrichtung und verfahren zur ausgabe von bilddaten einer virtuellen umge-bung eines fahrzeugs an ein steuergerät |
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DE10314129A1 (de) | 2003-03-31 | 2004-10-14 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Computerprogramm zum Simulieren des Detektionsbereiches eines Sensors |
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US20190303759A1 (en) * | 2018-03-27 | 2019-10-03 | Nvidia Corporation | Training, testing, and verifying autonomous machines using simulated environments |
US20200184027A1 (en) * | 2018-12-07 | 2020-06-11 | Zoox, Inc. | System and method for modeling physical objects in a simulation |
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DE202015104345U1 (de) | 2015-08-18 | 2015-10-26 | Dspace Digital Signal Processing And Control Engineering Gmbh | Adapter zur Einspeisung von Videosignalen in ein Steuergerät |
US10592805B2 (en) | 2016-08-26 | 2020-03-17 | Ford Global Technologies, Llc | Physics modeling for radar and ultrasonic sensors |
JP6548690B2 (ja) | 2016-10-06 | 2019-07-24 | 株式会社アドバンスド・データ・コントロールズ | シミュレーションシステム、シミュレーションプログラム及びシミュレーション方法 |
DE102016119538A1 (de) | 2016-10-13 | 2018-04-19 | Dspace Digital Signal Processing And Control Engineering Gmbh | Latenzarmer Prüfstand für ein bildverarbeitendes System |
EP3352028A1 (de) | 2017-01-23 | 2018-07-25 | dSPACE digital signal processing and control engineering GmbH | Verfahren zum test einer steuergerätefunktion eines steuergeräts eines fahrzeugs |
DE102019112200A1 (de) | 2019-05-09 | 2020-11-12 | Dspace Digital Signal Processing And Control Engineering Gmbh | Computerimplementiertes Verfahren zum Test von Steuergeräten |
DE102019120519A1 (de) | 2019-07-30 | 2021-02-04 | Dspace Digital Signal Processing And Control Engineering Gmbh | Computer-implementiertes Verfahren und Computerprogrammprodukt zum Test von realen oder virtuellen Steuergeräten |
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- 2021-11-18 CN CN202180083090.3A patent/CN116601612A/zh active Pending
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- 2021-11-18 JP JP2023535388A patent/JP7459384B2/ja active Active
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DE10314129A1 (de) | 2003-03-31 | 2004-10-14 | Valeo Schalter Und Sensoren Gmbh | Verfahren und Computerprogramm zum Simulieren des Detektionsbereiches eines Sensors |
DE102013212710A1 (de) | 2013-05-16 | 2014-11-20 | Siemens Aktiengesellschaft | Sensorprodukt, Simulator und Verfahren zur Simulation von Sensormessungen, zur Fusion von Sensormessungen, zur Validierung eines Sensormodells und zum Entwurf eines Fahrerassistenzsystems |
US20190303759A1 (en) * | 2018-03-27 | 2019-10-03 | Nvidia Corporation | Training, testing, and verifying autonomous machines using simulated environments |
US20200184027A1 (en) * | 2018-12-07 | 2020-06-11 | Zoox, Inc. | System and method for modeling physical objects in a simulation |
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CN116601612A (zh) | 2023-08-15 |
JP2023553943A (ja) | 2023-12-26 |
JP7459384B2 (ja) | 2024-04-01 |
MX2023006293A (es) | 2023-06-13 |
US20240001941A1 (en) | 2024-01-04 |
DE102020215657A1 (de) | 2022-06-15 |
KR20230114306A (ko) | 2023-08-01 |
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