• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method (1) and a system (2) for the simulation-based determination of at least one actual echo point (15 ') of an object (9) as well as a method and an emulation device (8) for emulating a locating target. In this case, a predicted object reference point (13) of the object (9) and a predicted sensor device reference point of a, in particular radar-based, sensor device (10) are calculated on the basis of an actual object reference point (12) and an actual sensor device reference point (11) and a predicted echo point ( 15) of the object (9) is calculated based on a radiation characteristic (14) of the sensor device (10), the predicted object reference point (13) and the predicted sensor device reference point. In addition, a predicted, in particular spatial, relative relationship (16) between the predicted echo point (15) and the predicted object reference point (13) is calculated. An updated actual object reference point (12) is calculated, in particular at least substantially in real time, and a simulated actual echo point (15 ') of the object (9) on the basis of the predicted relative relationship (16) and the updated actual object reference point (12 ), in particular at least substantially in real time. The simulated actual echo point (15 ') is output.
    公开号:AT519538A1
    申请号:T51188/2016
    申请日:2016-12-29
    公开日:2018-07-15
    发明作者:Michael Maier Franz
    申请人:Avl List Gmbh；
    IPC主号:
    专利说明:

    Summary
    The invention relates to a method (1) and a system (2) for the simulation-based determination of at least one actual echo point (15 ') of an object (9) as well as a method and an emulation device (8) for emulating a location target. A predicted object reference point (13) of the object (9) and a predicted sensor device reference point of a, in particular radar-based, sensor device (10) are calculated on the basis of an actual object reference point (12) and an actual sensor device reference point (11) and a predicted echo point (15) of the object (9) is calculated on the basis of a radiation characteristic (14) of the sensor device (10), the predicted object reference point (13) and the predicted sensor device reference point. In addition, a predicted, in particular spatial, relative relationship (16) between the predicted echo point (15) and the predicted object reference point (13) is calculated. An updated actual object reference point (12) is calculated, in particular at least essentially in real time, and a simulated actual echo point (15 ') of the object (9) on the basis of the predicted relative relationship (16) and the updated actual object reference point (12), in particular at least essentially in real time. The simulated actual echo point (15 ') is output.
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    - 1 Method and system for the simulation-based determination of echo points as well as methods for emulation and emulation device
    The present invention relates to a method and a system for the simulation-based determination of an actual echo point of an object as well as a method and an emulation device for emulating a location target.
    To control driver assistance systems, in particular highly automated or autonomously driving vehicles, data from a plurality of sensors are processed, among other things, by means of which objects, for example other vehicles, pedestrians, buildings, etc., can be recognized and related. In order to secure such systems and thus ensure a high level of traffic safety, test drives are usually carried out. A reduction in the test effort can be achieved by using hardware-in-the-loop (HiL) test procedures, whereby the corresponding systems are connected to a HiL simulator via their inputs and outputs. As a result, these systems can be easily operated in a simulated environment, i.e. a virtual world.
    In order for these tests to reproduce reality particularly reliably, the aim is to simulate the environment essentially in real time. It is a particular challenge to integrate radar sensors in such a HiL test procedure, because the spread, i.e. the transmission and reflection of electromagnetic waves in the virtual world are generally quite complex, i.e. computationally intensive, must be simulated.
    It is an object of the invention to improve the determination of simulated echo points.
    This object is achieved by a method and a system for echo point determination as well as a method and an emulation device for emulating a location target according to the independent claims. Advantageous embodiments of the invention are claimed in the dependent claims. The teaching of the claims is hereby made part of the description.
    A first aspect of the invention relates to a method for the simulation-based determination of at least one actual echo point of an object, the method comprising the following steps: calculating a predicted object reference point of the / 26
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    2 object and a predicted sensor device reference point of a, in particular radar-based, sensor device on the basis of an actual object reference point and an actual sensor device reference point; Determining a predicted echo point of the object based on a radiation characteristic of the sensor device, the predicted object reference point and the predicted sensor device reference point; Calculating a predicted, in particular spatial, relative relationship between the predicted echo point and the predicted object reference point; Calculating, in particular at least substantially in real time, an updated actual object reference point; Determining, in particular at least substantially in real time, a simulated actual echo point of the object on the basis of the predicted relative relationship and the updated actual object reference point; and outputting the simulated actual echo point.
    An echo point in the sense of the invention indicates in particular the point at which a signal, in particular electromagnetic waves, such as a radar signal, are reflected by an object. The reflections of signals on the object, in particular on several surfaces of the object, are preferably combined in an echo point, and an idealization of reality is thus achieved. In particular, an echo point can always be assigned to an object reference point, i.e. a distance vector can be calculated which, starting from the object reference point, points in the direction of the echo point.
    A prediction in the sense of the invention is to be understood in particular to mean the prediction of the further development, in particular the interpolation, for example by means of simulation and / or modeling, of a quantity, in particular of points or coordinates, for example reference points of an object. Such a reference point can be a focus.
    A signal in the sense of the invention assigns a measurable physical quantity such as. B. an electrical voltage, a sound pressure or a field strength information. This information can originate from the measurement of a physical process, for example a reflection at an echo target. The information can also be impressed on a signal by a technical modulation method in order to transmit any information to a suitable receiving device by means of a signal. In general, signals change their amount as a function of time and another information-carrying quantity. According to the invention, it is preferably a / 26
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    - 3 real signal, such as electromagnetic waves, which can be generated and received, in particular by an antenna.
    The invention is based in particular on the knowledge that a calculation of an echo point of a simulated object, for example by a ray tracing method (ray tracing), can be carried out for a predicted simulated situation in the future in such a way that the predicted echo point of the situation that occurred later essentially without any time delay , in particular essentially in real time. If the simulation is carried out in real time, actual echo points of individual simulation time steps (frames) can be output in real time in addition to actual object reference points. In other words, the echo point of a simulated object can be calculated for a predetermined situation, for example a predicted object reference point, which develops from a current situation, for example an actual object reference point. Therefore, this echo point, designated as predicted, is preferably assigned to the actual situation, for example the current actual object reference point, after its calculation.
    The assignment of the predicted echo point to the current actual object reference point is preferably carried out on the basis of a predicted relative relationship between the predicted echo point and the predicted object reference point. The predicted relative relationship preferably specifies the distance and / or the orientation between the predicted echo point and the predicted object reference point, in particular by means of a distance vector.
    If the predicted development of the object reference point matches the actual development, the predicted echo point of the simulated object also corresponds to the actual echo point. If, on the other hand, the predicted development of the object reference point deviates from the actual development, depending on the situation, there may be a slight deviation of the predicted echo point from the actual echo point. In particular, this deviation relates to the predicted relative relationship, so that the distance and / or the orientation from the predicted echo point to the current actual object reference point does not match the actual distance and / or the actual orientation. However, this deviation is small and therefore, especially in the context of a HiL test procedure, without neglecting any negative effects.
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    - 4 In particular, as already mentioned, this deviation only occurs situationally, for example only when the direction of movement of the object reference point changes. If, on the other hand, the object reference point moves towards the sensor device reference point, for example in the case of simulated vehicles traveling behind one another or two-way traffic, it does not matter for the relative relationship between the echo point and the object reference point, at what distance the object reference point and sensor device reference point are actually located. In this case, an actual echo point of the actual object reference point is determined without errors even in the event of incorrect prediction of the object reference point.
    The deviation between the predicted echo point of the simulated object and the actual echo point is preferably estimated and / or corrected. For this purpose, the deviation between the orientation of the predicted echo point to the predicted object reference point and the orientation of the predicted echo point to the current actual object reference point can be recorded, for example by comparing the respective relative relationships, and a corresponding correction factor for correcting the predicted echo point can be calculated therefrom ,
    The simulated actual echo point is preferably not dependent on the prediction algorithm and is updated in real time. A Doppler frequency swing can also preferably be updated in real time.
    Overall, by determining a predicted echo point, the invention enables the reliable determination of an actual echo point, in particular essentially in real time.
    The predicted object reference point of the object and the predicted sensor device reference point of a sensor device are preferably calculated on the basis of an actual object reference point and an actual sensor device reference point with data from a traffic simulation, in particular CarMaker® and / or VIRES®. The traffic simulation preferably supplies the actual data, a further simulation serves for the prediction.
    The predicted echo point of the object is preferably determined on the basis of a radiation characteristic of the sensor device, the predicted object reference point and the predicted sensor device reference point by means of a ray tracing method, in particular OptiX®.
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    The method can preferably also be used to determine actual echo points from virtual, i.e. to determine signals emitted by a simulated sensor device. In particular, the method can also be used to test simulated sensor devices by calculating, in particular modeling, the propagation of the virtual, in particular simulated, signals, including predicted object reference points, likewise simulated objects, and a predicted sensor device reference point of the sensor device, in particular in a simulated traffic situation. for example using a ray tracing method.
    In a preferred embodiment, the method according to the invention has the further, following work step: calculating, in particular at least essentially in real time, an updated actual sensor device reference point; wherein the actual echo point is further determined based on the updated actual sensor device reference point of the sensor device. This takes into account that the, in particular radar-based, sensor device is not stationary, but can in particular move linearly or accelerated. This plays a role, for example, if the object is an at least substantially immovable object, for example a pedestrian or a building, relative to which the sensor device changes the direction of movement or speed. In particular, this allows a Doppler stroke of a signal that would be reflected on a simulated object, in particular in its echo point, to be taken into account particularly reliably.
    In a further preferred embodiment, the work steps of the method according to the invention are repeated periodically. Preferably, the prediction horizon in calculating the predicted object reference point and the predicted sensor device reference point is as far as is required to determine the predicted echo point of the object. The prediction horizon is preferably less than one second, preferably less than approximately 500 ms, particularly preferably less than approximately 200 ms, in particular at least approximately 100 ms. This ensures that the predicted echo point reliably corresponds to an actual echo point of the current actual object reference point.
    For simulation time steps that lie within the prediction horizon, it is preferred to determine a simulated actual echo point on the basis of a previously predicted relative relationship between a previously predicted echo point and a previously predicted object reference point on the one hand and / 26
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    - 6 updated actual object reference point of the current simulation time step on the other hand determined. In other words, the actual echo points are preferably determined based on non-current predicted relative relationships until a current predicted relative relationship has been calculated.
    In a further preferred embodiment, the work steps of the method are repeated periodically. The determination of a simulated actual echo point is preferably repeated after about 10 ms, preferably after about 5 ms, preferably after about 2 ms, in particular after about 1 ms. In this case, the actual echo point can preferably also be determined based on non-current predicted relative relationships between a previously determined predicted echo point and a previously calculated predicted object reference point. This ensures that the simulated actual echo point is determined at least essentially in real time and that HiL test methods in particular can thus be carried out reliably.
    In a further preferred embodiment, when determining the predicted echo point, an arrangement of the object, in particular its orientation, relative to the sensor device and / or object dimensions, in particular the shape of the object, are also taken into account. This ensures that the predicted echo point reflects the reflection of a signal on the object, in particular back towards the sensor device, in a particularly reliable, in particular realistic manner.
    A second aspect of the invention relates to a method for simulating a location target, comprising the following working steps: checking whether a signal which is emitted by a, in particular radar-based, sensor device is received; Determining and outputting at least one simulated actual echo point according to the first aspect of the invention, in particular when a signal is received; Modulating the received signal based on the at least one simulated actual echo point; and sending the modulated signal to the sensor device.
    Sending out in the sense of the invention means in particular sending back. The signal is preferably only modulated and sent back.
    In a preferred embodiment, the emitted modulated signal acts, in particular directly, on a sensor, in particular a measurement sensor, preferably in the sense of DIN 1319-1, of the sensor device. This ensures / 26
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    7 shows that the emitted modulated signal is not disturbed, in particular falsified, so that the sensor device can reliably detect one or more simulated objects, in particular a simulated environment.
    A third aspect of the invention relates to a system for the simulation-based determination of at least one actual echo point of an object, comprising a means for calculating a predicted object reference point of the object and a predicted sensor device reference point of a, in particular radar-based, sensor device on the basis of an actual object reference point and an actual Sensor device reference point and means for determining a predicted echo point of the object based on a radiation characteristic of the sensor device, the predicted object reference point and the predicted sensor device reference point. In addition, the system has a means for calculating a predicted, in particular spatial, relative relationship between the predicted echo point and the predicted object reference point and a means for calculating, in particular at least essentially in real time, an updated actual object reference point. Furthermore, the system has a means for determining, in particular at least substantially in real time, a simulated actual echo point of the object on the basis of the predicted relative relationship and the updated actual object reference point and a means for outputting the simulated actual echo point.
    The system preferably has one or more computing units, in particular main processors (CPU) and / or graphics processors (GPU), which are set up to carry out one or more work steps of the method according to the first aspect of the invention. The computing units are preferably controlled by a control unit. In particular, the control unit is set up to adapt the prediction horizon when calculating a predicted object reference point and a predicted sensor device reference point to the time period which is necessary for determining the predicted echo point of the object.
    In a preferred embodiment, the means for calculating a predicted object reference point and a predicted sensor device reference point is designed as a computing unit which is set up to carry out a traffic simulation, in particular CarMaker® and / or VIRES®, and the results of the simulation, in particular object reference points and sensor device reference points, in a predetermined temporal object cycle, ie a predetermined chronological order of Simulati8 / 26
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    Output 8 time steps, preferably faster than about 10 ms, preferably faster than about ms, in particular faster than about 1 ms.
    In a further preferred embodiment, the means for determining a predicted echo point is designed as a computing unit which is set up to carry out a beam tracing method, in particular OptiX®, and the results of the simulation, in particular echo points, in a predetermined temporal echo cycle, preferably faster than approximately 1 Second, preferably faster than about 500 ms, preferably the faster than about 200 ms, in particular faster than about 100 ms.
    The system can preferably output actual echo points from simulated participants in any, in particular predetermined, simulated traffic situation.
    A fourth aspect of the invention relates to an emulation device for emulating a location target, with a receiving module which is set up to receive a signal emitted by a sensor device, in particular a radar signal, and a computing module which comprises a system according to the third aspect of the invention. In addition, the emulation device has a modulation module which is set up to modulate a signal received by the reception module based on the at least one simulated actual echo point, and a control module which is set up to generate a control signal for an antenna, in particular at least partially on the basis of the at least one simulated actual echo point and / or the modulated signal. The emulation device also has a transmission module which is set up to transmit the modulated signal to the sensor device.
    A receiving module in the sense of the invention is to be understood in particular as an antenna for receiving electromagnetic waves. The receiving module preferably converts a signal characterized by the electromagnetic waves into an electrical, in particular analog, signal which can be modulated.
    The receiving module preferably provides / modulates a received signal with the characteristics determined by a simulation and then sends it back again in such a modified manner.
    The emulation device is preferably designed at least as part of a HiL test system, the sensor device being a radar-based sensor direction of a vehicle
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    - 9 stuff. In particular, the emulation device is designed at least as part of a test bench for highly automated vehicles.
    In a preferred embodiment, the transmitter module is set up, in particular directly, to act on a sensor, in particular a measurement sensor, preferably in the sense of DIN 1319-1, of the sensor device. This ensures that the emitted modulated signal is not disturbed, in particular falsified, so that the sensor device can reliably detect one or more simulated objects, in particular a simulated environment.
    The features and advantages explained above with regard to the first aspect of the invention apply, where technically meaningful, also correspondingly to the second, third and fourth aspects of the invention and vice versa.
    These and other features and advantages emerge from the claims and from the description and from the drawings, the individual features can be realized individually or in groups, in the form of sub-combinations in an embodiment of the invention and an advantageous and for can be a protective version for which protection is also claimed, provided that it makes technical sense.
    The invention is explained in more detail below on the basis of non-limiting exemplary embodiments which are illustrated in the figures. In it at least partially show schematically:
    1 shows an embodiment of a method according to the invention;
    2 shows a first exemplary embodiment of a system according to the invention;
    3 shows a second exemplary embodiment of a system according to the invention;
    4A-C show various scenarios for determining an actual echo point of a simulated object; and
    Fig. 5 shows an embodiment of an emulation device according to the invention.
    FIG. 1 shows an exemplary embodiment of a method 1 according to the invention.
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    In a first step S1, the development of a, in particular predetermined, traffic situation is predetermined based on coordinates of road users and a sensor device, which are preferably generated by a traffic simulation, for example by simulating the various road users and sensor devices, in particular their kinematics. A predicted object reference point is calculated for each of the road users. In addition, a predicted sensor device reference point is also calculated for a sensor device which is intended to detect signals, in particular reflected electromagnetic waves, from the road users.
    In a second step S2, the coordinates of points are determined at which signals emitted by the sensor device, in particular by every road user, would be reflected according to the simulated traffic situation.
    For this purpose, the signals, in particular radar signals, can also be simulated, in particular modeled, i.e. can be virtually replicated, for example using a ray tracing method. In other words, signals emitted by the sensor device for detecting objects in reality are simulated and their propagation in the virtual environment of the simulated traffic situation is calculated. This results in particular the coordinates of the reflection points of each object, so-called echo points.
    However, it is preferably assumed that the sensor device is not moving or that the object is moving in an inertial system of the sensor device. The sensor device rests in this inertial system and only the relative movement of the object with respect to the sensor device is calculated.
    The echo points depend on the radiation characteristic of the sensor device, the predicted object reference point and the predicted sensor device point, i.e. in particular from the coordinates of the road users and the sensor device. In particular, the echo points can also depend on the arrangements, for example orientations, of the road users to the sensor device and / or the dimensions of the road users, in particular their shapes. Because these coordinates depend on coordinates of objects predicted in step S1, they are referred to as predicted echo points. Preferably, several expected echo points are combined in a single echo point.
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    In a third step S3, in particular spatial, relative relationships between the predicted echo points and the predicted object reference points can be calculated from the predicted echo points and the predicted object reference point. A relative relationship is, for example, a distance and / or an orientation, preferably a distance vector, which is directed from a predicted object reference point to a predicted echo point.
    For the point in time at which the calculation of the relative relationship is completed, updated coordinates of the road users, i.e. Object reference points. This calculation is preferably carried out at least essentially in real time.
    The prediction horizon, i.e. the period of time for which the traffic situation specified in the first work step S1 is further developed is preferably selected such that it essentially corresponds to the period of time required to determine the predicted echo points.
    In an additional fourth step S4 ', updated coordinates of the sensor device are calculated, which, analogous to the road users, continue to move within the prediction horizon.
    In a fifth step S5, simulated actual echo points are determined by assigning the relative relationships to the updated coordinates of the road users and the updated coordinates of the sensor device. In other words, predicted object reference points are replaced by current actual object reference points, so that the starting points of the distance vectors shift.
    The simulated actual echo points are finally output in a sixth step S6.
    FIG. 2 shows a first exemplary embodiment of a system 2 according to the invention for the simulation-based determination of at least one actual echo point with a traffic simulation 3, a beam tracking unit 4 and a calculation unit 5.
    The traffic simulation 3 has an input 6, via which the traffic simulation 3 can be controlled. By entering 6, in particular a traffic situation to be simulated can be entered, as well as a prediction horizon, which shows the time / 26
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    - 12 indicates the period for which the traffic situation is to be further developed. The traffic situation is characterized in particular by actual object reference points and actual sensor device reference points.
    The traffic simulation 3 outputs a predicted object reference point and a predicted sensor device reference point to the beam tracking unit 4 in step S1. The predicted reference points correspond approximately to coordinates of a road user and the sensor device in the predicted future.
    The predicted reference point of the road user and the sensor device is processed in the beam tracking unit 4 in order to determine a predicted echo point of the road user and output it to the calculation unit 5. This process is indicated by step S2.
    The paths of signals emitted by the sensor device, for example electromagnetic waves, are simulated, for example calculated, in particular their transmission or refraction and / or reflection on surfaces of the simulated road users.
    The calculation unit 5 is set up to calculate a predicted, in particular spatial, relative relationship between the predicted echo point and the predicted object reference point from the predicted echo point and the predicted object reference point calculated in step S1. As a result, the position, in particular the distance and / or the orientation, of the predicted echo point relative to the predicted object reference point is known.
    When the determination of the predicted echo point and / or the predicted relative relationship is essentially completed, the traffic simulation 3 calculates an updated actual object reference point. In addition, the traffic simulation 3 can also calculate an updated actual sensor device reference point. The updated reference points are output to the calculation unit 5. This is indicated by work steps S4, S4 '.
    The calculation unit 5 is also set up to use the predicted relative relationship, the updated actual object reference point and the updated actual sensor device reference point to determine a simulated actual echo point of the simulated road user, which can be output in step S6.
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    FIG. 3 shows a second exemplary embodiment of a system 2 according to the invention with a traffic simulation 3, a beam tracking unit 4, a calculation unit 5 and a prediction unit 7.
    The traffic simulation 3 outputs the calculated actual object reference point and the actual sensor device reference point to the prediction unit 7, which is set up to calculate a predicted object reference point and a predicted sensor device reference point based on the actual object reference point and the actual sensor device reference point. For this purpose, the prediction unit models the development of the actual reference points, such as the coordinates of road users and sensors. The prediction unit 7 can in particular be designed as a computing unit which carries out Kalman filtering and / or determines the coordinates by means of recursive least squares prediction or model-based RLSQ.
    The prediction unit 7 then outputs the predicted object reference point and the predicted sensor device reference point to the beam tracking device 4.
    Otherwise, this exemplary embodiment corresponds to the exemplary embodiment described in FIG. 2, in particular with regard to its possible advantages.
    FIGS. 4A-C show different scenarios for determining an actual echo point of a simulated object 9.
    In a starting position shown in FIG. 4A, a sensor device 10 is arranged at an actual sensor device reference point 11 and a simulated object 9 at an actual object reference point 12. A prediction unit (see FIG. 3) predicts an object reference point 13 behind a predetermined prediction horizon, i.e. after a specified period of time has passed.
    Using a radiation characteristic 14 for a signal emitted by the sensor device 10, for example electromagnetic waves, the predicted object reference point 13 and a predicted sensor device reference point (which in the present example corresponds to the actual sensor device reference point for reasons of clarity), a predicted echo point 15 of the object 9 is determined, which at least ideally reproduces how and / or at which coordinates a signal emitted by the sensor device 10 would be reflected by the object 9.
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    - 14 The predicted echo point 15 lies on a sensor device 10 facing
    Side of object 9.
    A predicted relative relationship 16 between the predicted echo point 15 and the predicted object reference point 13 can be calculated using the predicted echo point 15 and the predicted object reference point 13. In the present example, the predicted relative relationship 16 is represented as a vector, which points from the predicted object reference point 13 to the predicted echo point 15.
    If an object reference point of the simulated object 9 that is updated according to the prediction horizon, i.e. After the predicted echo point and / or the predicted relative relationship has been determined and matches the predicted object reference point 13, the predicted echo point 15 is the actual echo point of the object 9.
    Figure 4B shows a first situation after the prediction horizon, i.e. after the predicted echo point and / or the predicted relative relationship has been determined.
    The simulated object 9 has moved towards the sensor device 10, in particular its reference point 11, whereby its updated actual object reference point 12 'does not correspond to the predicted object reference point 13. The original position of the simulated object 9 is indicated by dash-dotted lines.
    Since the actual echo point 15 'is determined on the basis of the predicted relative relationship 16 and the updated actual object reference point 12', the actual echo point 15 'reflects the actual position of the echo point of the simulated object 9, although there is a discrepancy between the updated object reference point 12' and predicted object reference point 13.
    Figure 4C shows a second situation after the prediction horizon, i.e. after the predicted echo point and / or the predicted relative relationship has been determined.
    The simulated object 9 has changed its direction of movement, i.e. it has followed a curved path. Since the position of an actual echo point 15 "depends on the shape and / or the orientation of the object 9 to the sensor device 10, the actual echo point 15" in this example has one of the sensors / 26
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    - 15 towards the warped facing corner of object 9 moved. The predicted relative relationship 16, which is used to determine the actual echo point 15 ', therefore does not point to the actual echo point 15 "of the object 9.
    A correction of the actual echo point 15 'can preferably be carried out on the basis of the deviation of the orientation of the object 9 at the predicted object reference point 13 and at the updated actual object reference point 12', for example by calculating a correction factor for the deviation and in determining the actual echo point 15 'is involved.
    FIG. 5 shows an exemplary embodiment of an emulation device 8 according to the invention for emulating a location target with a reception module 17, a system 2 for the simulation-based determination of at least one actual echo point, a modulation module 18, a control module 19 and a transmission module 20.
    The receiving module 17, for example an antenna, receives the real signal 14 'emitted by a sensor device 10, in particular electromagnetic waves, for example a radar signal.
    By means of the simulation of a traffic situation, in which a driver assistance system of a vehicle having the sensor device (10) is to be tested, and the virtual beam tracking of the signals 14 'received by the receiving module 17, the system determines 2 actual echo points and outputs them to the modulation module 18 ,
    The modulation module 18 modulates the signal 14 ″ received by the reception module 17 in accordance with the actual echo points, in particular so that a modulated signal 14 ″ is characterized by the traffic situation simulated by the system 2, and outputs it to the control module 19. This controls a transmission module 20, for example an antenna, in such a way, in particular by means of a control signal, that the transmission module 20 can transmit the modulated signal 14 '', which is finally received by the sensor device 10.
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    - 16 list of reference symbols
    method
    system
    traffic simulation
    Ray tracing unit
    computer unit
    entrance
    prediction
    emulation device
    object
    sensor device
    Sensor device reference point
    Is object reference point
    12 ‘updated actual object reference point predicted object reference point
    emission characteristics
    14 'signal
    14 ‘’ modulated signal predicted echo point
    15 'actual echo point
    15 ‘’ actual echo point predicted relative relationship
    receiver module
    modulation module
    control module
    transmitter module
    S1-S6 first to sixth work step
    S4 ‘additional fourth work step / 26
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    权利要求:
    Claims (10)
    [1]
    claims
    1. A method (1) for the simulation-based determination of at least one actual echo point (15 ') of an object (9), comprising the following steps:
    51 calculating a predicted object reference point (13) of the object (9) and a predicted sensor device reference point of a, in particular radar-based, sensor device (10) on the basis of an actual object reference point (12) and an actual sensor device reference point (11);
    52 determining a predicted echo point (15) of the object (9) on the basis of a radiation characteristic (14) of the sensor device (10), the predicted object reference point (13) and the predicted sensor device reference point;
    53 calculating a predicted, in particular spatial, relative relationship (16) between the predicted echo point (15) and the predicted object reference point (13);
    54 calculating, in particular at least essentially in real time, an updated actual object reference point (12 ');
    55 determining, in particular at least essentially in real time, a simulated actual echo point (15 ') of the object (9) on the basis of the predicted relative relationship (16) and the updated actual object reference point (12'); and
    56 Output of the simulated actual echo point (15 ').
    [2]
    2. The method according to claim 1, further comprising the following step:
    S4 ‘calculating, in particular at least essentially in real time, an updated actual sensor device reference point; wherein the actual echo point (15 ') is further determined on the basis of the updated actual sensor device reference point of the sensor device (10).
    [3]
    3. The method according to claim 1 or 2, wherein the steps of the method are repeated periodically and the prediction horizon in step S1 is as far as for determining the predicted echo point (15) of the object (9) in Ar
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    [4]
    4. The method of claim 1 or 2, wherein the steps of the method are repeated periodically and the step S5 is repeated after about 10 ms, preferably after about 5 ms, particularly preferably after about 2 ms and most preferably after about 1 ms.
    [5]
    5. The method according to any one of the preceding claims, wherein when determining the predicted echo point (15) in step S2, an arrangement of the object (9) relative to the sensor device (10) and / or object dimensions are also taken into account.
    [6]
    6. A method for emulating a location target, comprising the following steps:
    - Check whether a signal (14 '), which is emitted by a, in particular radar-based, sensor device (10), is received;
    - Determining and outputting at least one simulated actual echo point (15 ') according to one of Claims 1 to 5, in particular only when a signal (14') is received;
    - modulating a received signal (14 ') on the basis of the at least one simulated actual echo point (15'); and
    - Sending the modulated signal (14 '') to the sensor device (10).
    [7]
    7. The method according to claim 6, wherein the emitted modulated signal (14 ″ ″) acts, in particular directly, on a sensor, in particular a measurement sensor, preferably in the sense of DIN 1319-1, of the sensor device (10).
    [8]
    8. System (2) for the simulation-based determination of at least one actual echo point (15 ') of an object (9), comprising:
    - Means (7) for calculating a predicted object reference point (13) of the object (9) and a predicted sensor device reference point of a, in particular radar-based, sensor device (10) on the basis
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    - 19 an actual object reference point (12) and an actual sensor device reference point (11);
    - means (4) for determining a predicted echo point (15) of the object (9) on the basis of an emission characteristic (14) of the sensor device (10), the predicted object reference point (13) and the predicted sensor device reference point;
    - Means (5) for calculating a predicted, in particular spatial, relative relationship (16) between the predicted echo point (15) and the predicted object reference point (13);
    - Means (3) for calculating, in particular at least substantially in real time, an updated actual object reference point (12 ');
    - Means (5) for determining, in particular at least substantially in real time, a simulated actual echo point (15 ″) of the object (9) on the basis of the predicted relative relationship (16) and the updated actual object reference point (12 ″); and
    - Means (5) for outputting the simulated actual echo point (15 ').
    [9]
    9. emulation device (8) for emulating a location target, comprising:
    - A receiving module (17), configured to receive a signal (14 ') emitted by a sensor device (10), in particular a radar signal;
    - a computing module comprising a system (2) according to claim 8;
    - a modulation module (18) which is set up to modulate a signal (14 ″) received by the reception module (17) on the basis of the at least one simulated actual echo point (15 ″);
    - A control module (19) which is set up to generate a control signal for an antenna, in particular at least in part on the basis of the at least one simulated actual echo point (15 '') and / or the modulated signal (14 ''); and
    - A transmission module (20), set up to transmit the modulated signal (14 '') to the sensor device (10).
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    [10]
    10. The emulation device according to claim 9, wherein the transmitter module (20) is set up, in particular directly, to act on a sensor, in particular a measurement sensor, preferably in the sense of DIN 1319-1, of the sensor device (10).
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    Fig. 1
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    Fig. 2
    S1
    Fig. 3
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    Figure 4B
    Figure 4C
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    14 '
    14 "
    Fig. 5
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    Patent Office
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    WO2018122282A1|2018-07-05|
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    AT519538B1|2019-05-15|
    US20200025875A1|2020-01-23|
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    DE102014017831A1|2014-12-03|2016-06-09|GM Global Technology Operations LLC |simulation system|
    DE102014118625A1|2014-12-15|2016-06-16|Valeo Schalter Und Sensoren Gmbh|Sensor arrangement for a test stand of a driver assistance system of a motor vehicle, test bench and associated method|
    DE102014118622A1|2014-12-15|2016-06-16|Valeo Schalter Und Sensoren Gmbh|Method for simulatively determining an interaction between a sensor of a motor vehicle and a virtual object in a virtual surrounding area of the motor vehicle and computing device|CN113376612B|2021-08-12|2021-11-23|成都众享天地网络科技有限公司|Radar clutter generation method based on terrain matrixing and detection|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA51188/2016A|AT519538B1|2016-12-29|2016-12-29|Method and system for the simulation-based determination of echo points as well as methods for emulation and emulation device|ATA51188/2016A| AT519538B1|2016-12-29|2016-12-29|Method and system for the simulation-based determination of echo points as well as methods for emulation and emulation device|
    EP17825550.1A| EP3563168B1|2016-12-29|2017-12-28|Method and system for simulation-assisted determination of echo points, and emulation method and emulation apparatus|
    US16/474,751| US20200025875A1|2016-12-29|2017-12-28|Method and system for simulation-assisted determination of echo points, and emulation method and emulation apparatus|
    PCT/EP2017/084681| WO2018122282A1|2016-12-29|2017-12-28|Method and system for simulation-assisted determination of echo points, and emulation method and emulation apparatus|
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