Patent Description:
Generally, in times of an increasing number of advanced driver assistance systems (ADAS) employing radar sensors, there is a growing need of a testing device and a testing method for testing such radar sensors.

<CIT> discloses a device including an array of antenna systems which send scene simulation signals to a target seeking radar. Based on a lack of storage capability, however, the device lacks flexibility and provides testing results that lack practical relevance or applicability as a result of its ability to simulate only a single - permanently wired - scene. In addition to this, said lack of flexibility is emphasized by the fact that an intermediate frequency signal has to be fed back.

Nevertheless, investigating devices under test such as radar sensors, for example, with respect to a plurality of different radar scenarios, in a most efficient and flexible manner is very important, because only in this way practice-oriented results can be obtained in order to ensure the proper functioning of the sensors in the field.

The document <CIT> relates to a crash prevention system test and evaluation device that allows testing and evaluating of the crash prevention system by simulating driving conditions of the test vehicle in a virtual environment.

The document <CIT> relates to a test station for testing an autonomous Forward Looking Sensor (FLS) in detecting one or more targets in a predetermined scene within the field of view of the FLS, and the document <CIT> relates to a test apparatus for testing safety-related devices of a motor vehicle.

The document <CIT> relates to a delay device for checking a frequency modulated continuous wave (FMCW) radar.

The document <CIT> discloses a waveform generator particularly suited for the simulation of Doppler radar returns from precipitation.

The object is an approach for testing devices under test (e.g., radar sensors) in a most efficient and flexible manner, leading to highly practice-oriented testing results and a respective method. The object is solved by the features of claims <NUM> and <NUM>, respectively.

Embodiments of the present invention advantageously address the foregoing requirements and needs, as well as others, by providing a training system for training an autonomous vehicle and a radar target simulation method for testing devices under test (e.g., radar sensors) in a most efficient and flexible manner, leading to highly practice-oriented testing results.

Still other aspects, features, and advantages of the present invention are readily apparent from the following detailed description, simply by illustrating a number of particular embodiments and implementations, including the best mode contemplated for carrying out the present invention. The present invention is also capable of other and different embodiments, and its several details can be modified in various obvious respects, all without departing from the scope of the present invention. Accordingly, the drawing and description are to be regarded as illustrative in nature, and not as restrictive.

Embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings, in which like reference numerals refer to similar elements, and in which:.

A testing device and testing method, for testing devices under test (e.g., radar sensors) in a most efficient and flexible manner, leading to highly practice-oriented testing results, is described. In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the invention. It is apparent, however, that the invention may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to avoid unnecessarily obscuring the invention.

As will be appreciated, a module or component (as referred to herein) may be composed of software component(s), which are stored in a memory or other computer-readable storage medium, and executed by one or more processors or CPUs of the respective devices. As will also be appreciated, however, a module may alternatively be composed of hardware component(s) or firmware component(s), or a combination of hardware, firmware and/or software components. Further, with respect to the various example embodiments described herein, while certain of the functions are described as being performed by certain components or modules (or combinations thereof), such descriptions are provided as examples and are thus not intended to be limiting. Accordingly, any such functions may be envisioned as being performed by other components or modules (or combinations thereof). Moreover, the methods, processes and approaches described herein may be processor-implemented using processing circuitry that may comprise one or more microprocessors, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other devices operable to be configured or programmed to implement the systems and/or methods described herein. For implementation on such devices that are operable to execute software instructions, the flow diagrams and methods described herein may be implemented in processor instructions stored in a computer-readable medium, such as executable software stored in a computer memory store.

Further, terminology referring to computer-readable media or computer media or the like as used herein refers to any medium that participates in providing instructions to the processor of a computer or processor module or component for execution. Such a medium may take many forms, including but not limited to non-transitory non-volatile media and volatile media. Non-volatile media include, for example, optical disk media, magnetic disk media or electrical disk media (e.g., solid state disk or SDD). Volatile media include dynamic memory, such random access memory or RAM. Common forms of computer-readable media include, for example, floppy or flexible disk, hard disk, magnetic tape, any other magnetic medium, CD ROM, CDRW, DVD, any other optical medium, random access memory (RAM), programmable read only memory (PROM), erasable PROM, flash EPROM, any other memory chip or cartridge, or any other medium from which a computer can read data.

Various forms of computer-readable media may be involved in providing instructions to a processor for execution. For example, the instructions for carrying out at least part of the present invention may initially be borne on a magnetic disk of a remote computer. In such a scenario, the remote computer loads the instructions into main memory and sends the instructions over a telephone line using a modem. A modem of a local computer system receives the data on the telephone line and uses an infrared transmitter to convert the data to an infrared signal and transmit the infrared signal to a portable computing device, such as a personal digital assistance (PDA) and a laptop. An infrared detector on the portable computing device receives the information and instructions borne by the infrared signal and places the data on a bus. The bus conveys the data to main memory, from which a processor retrieves and executes the instructions. The instructions received by main memory may optionally be stored on storage device either before or after execution by processor.

<FIG> shows a radar target simulation device <NUM>, for testing a device under test, such as a radar sensor, with respect to at least one radar scenario, in accordance with an illustrative example not forming part of the present invention. For instance, the radar sensor device under test may be part of an advanced driver assistance system integrated into a car. The radar target simulation device <NUM> comprises a storage unit 11a, a radar scenario simulation unit <NUM>, and y * x antennas A(y, x) forming an y × x antenna array <NUM>.

Further, the storage unit 11a stores the at least one radar scenario with respect to the corresponding device under test. For this purpose, the storage unit 11a contains storage contents 11b comprising y * x storage cells SC(y, x), where each storage cell SC(y, x) corresponds to the respective antenna A(y, x) and comprises several parameters, each with respect to adjustment of different radar properties, such as frequency, delay, amplitude, angle, or a combination thereof, and in consideration of various devices under test and radar scenarios.

After the storage unit 11a has provided the respective information in form of the storage contents 11b for the radar scenario simulation unit <NUM>, the radar scenario simulation unit <NUM> simulates the at least one radar scenario, each of which may advantageously comprise at least two radar targets, such as pedestrians, cars, busses or the like.

For this purpose, the radar scenario simulation unit <NUM> receives a first number of radar signals from the device under test with the aid of the antenna array <NUM>. Then, the radar scenario simulation unit <NUM> manipulates the first number of radar signals according to the at least one radar scenario in consideration of the above-mentioned adjustment of signal frequency, signal delay, signal amplitude, angle, or a combination thereof, which results in a second number of manipulated radar signals. Afterwards, the radar scenario simulation unit <NUM> transmits the second number of manipulated radar signals to the device under test with the aid of the antenna array <NUM>.

By way of example, the adjustment of signal frequency, respectively Doppler frequency, signal delay, and signal amplitude, respectively attenuation, may be employed to simulate a desired velocity, distance, and radar cross section (RCS) of a realistic radar target, and different angles are simulated by selection of the respective antennas of the antenna array <NUM>, for transmitting the second number of manipulated radar signals to the device under test.

In this context, multiple antennas of the antenna array <NUM> are advantageously arranged at different angles with respect to the main radiation direction of the device under test.

Further advantageously, it should be mentioned that whereas at least two antennas are used for transmitting the second number of manipulated radar signals to the device under test, just at least one antenna in examples not forming part of the invention would be sufficient for receiving the first number of radar signals from the device under test. In addition to this, the usage of at least two antennas advantageously allows for beamforming.

Additionally, multiple antennas outside the antenna array <NUM> not shown in the figures) may be arranged at the same angle with respect to the main radiation direction of the device under test but with different distances thereto, which may advantageously lead to a three-dimensional antenna array.

<FIG> shows a system <NUM> comprising a device under test and a radar target simulation device, in accordance with an example scenario of the present invention. The radar target simulation device <NUM> advantageously provides an optical representation of the at least one radar scenario to be simulated on a screen <NUM>. Further advantageously, the optical representation provided on the screen <NUM> comprises radar reference points 23a, 23b, 23c.

Further, the system <NUM> comprises - in addition to the radar target simulation device <NUM> and the screen <NUM> - a device under test <NUM>. Due to the fact that the screen <NUM> is located between the device under test <NUM> and the radar target simulation device <NUM>, the screen <NUM> is transparent with respect to the radar signals 21a, 21b.

After radar signals 21a have been sent by the device under test <NUM> to the radar target simulation device <NUM>, the radar target simulation device <NUM> simulates the at least one radar scenario, provides an optical representation thereof on the screen <NUM>, and sends back the corresponding manipulated radar signals 21b to the device under test <NUM>.

Advantageously, with respect to the radar signals 21a sent by the device under test <NUM> and the corresponding manipulated radar signals 21b sent back to the device under test <NUM>, there is no need of, on the one hand, any kind of synchronization, and on the other hand, of feeding back any kind of intermediate frequency signal.

Further advantageously, the at least one radar scenario may change over time. Additionally, the at least one radar scenario may be changeable in real time and/or unlimited in time.

In this manner, and with the aid of the radar reference points 23a, 23b, 23c, correct fusion of sensor data from radar and optical systems can be tested in a most efficient and accurate manner, which is advantageous in view of the increasing number of systems combining radar and optical techniques. Additionally, detection algorithms for real life scenarios can likewise efficiently and accurately be trained in order to ensure a proper detection and identification of radar targets in the field.

<FIG> shows a training system <NUM> for training an autonomous vehicle <NUM> with the aid of at least one traffic scenario, in accordance with example embodiments of the present invention. The training system <NUM> comprises a memory <NUM>, a radar scenario simulator <NUM>, two antennas 33a and 33b, an optical scenario simulator <NUM>, a screen <NUM>, and a feedback unit <NUM>.

The memory <NUM> is configured to store the at least one traffic scenario and to simultaneously provide the at least one traffic scenario to the radar scenario simulator <NUM> and to the optical scenario simulator <NUM>.

Advantageously, each of the at least one traffic scenario may change over time, may be changeable in real time, may be unlimited in time, or any combination thereof.

Further, the radar scenario simulator <NUM> is configured to provide a radar representation of the at least one traffic scenario. For this purpose via the antennas 33a and 33b, the radar scenario simulator <NUM> receives a radar signal from the radar sensor <NUM> of the autonomous vehicle <NUM>, simulates the at least one traffic scenario by manipulating the radar signal received from the radar sensor <NUM> correspndingly, and sends the manipulated radar signal back to the radar sensor <NUM> of the autonomous vehicle with the aid of both antennas 33a and 33b.

Due to the usage of not just a single antenna especially for transmitting the manipulated radar signal back, effects such as Doppler can advantageously be simulated.

Moreover, the optical scenario simulator is configured to simultaneously provide an optical representation of the at least one traffic scenario stored in the memory <NUM> on the screen <NUM>. With the aid of the optical representation provided on the screen <NUM>, for instance, optical tracking systems of the vehicle <NUM> for driving autonomously may be tested.

In this context and by way of example, the training system <NUM> may additionally comprise means for manipulating also other systems, respectively sensors, of the autonomous vehicle <NUM> such as laser, ultrasonic, and infrared sensors or the like. For instance, such sensors may be manipulated with the aid of moveable reflection plates, which are dynamically positioned in accordance with the at least one traffic scenario.

Further, the feedback unit <NUM> of the training system <NUM> is connected to the electronic control unit (ECU) <NUM> of the autonomous vehicle <NUM>. The ECU <NUM> gathers data from the sensors, respectively from the radar sensor <NUM>, of the autonomous vehicle <NUM> in order to calculate control information with respect to accelerating, decelerating, steering, or any combination thereof. The feedback unit <NUM> connected to the ECU <NUM> is configured to receive said control information and to simultaneously feedback the control information to the radar scenario simulator32 and to the optical scenario simulator <NUM>.

Now, with the aid of the control information fed back, the radar scenario simulator <NUM> and the optical scenario simulator <NUM> can simultaneously adapt the radar representation and the optical representation of the at least one traffic scenario correspondingly.

Furthermore, with special respect to the radar representation provided by the radar scenario simulator <NUM>, weather conditions such as rain, snow, wind, or the like may advantageously be simulated. For instance, whereas rain and snow may be expressed by noise superposing the manipulated radar signals sent back to the autonomous vehicle <NUM>, wind may be expressed by fading of the manipulated radar signals. In addition to this, for training the autonomous vehicle <NUM>, respectively its self-driving algorithm, with special respect to safety aspects, interferers such as radar sensors of other vehicles, radar of traffic management systems, or the like should be taken into account and therefore also be simulated.

As it can be seen, the inventive training systems advantageously allows for training autonomous vehicles, respectively their self-driving algorithms, realistically in laboratory. Therefore, with the aid of the inventive training system, expensive and dangerous tests in the field, respectively in the streets, can advantageously be avoided.

Claim 1:
A training system (<NUM>) for training an autonomous vehicle (<NUM>) with the aid of at least one traffic scenario, comprising:
a memory (<NUM>);
a radar scenario simulator (<NUM>);
at least two antennas (33a, 33b);
an optical scenario simulator (<NUM>); and
a screen (<NUM>); and
wherein the memory (<NUM>) is configured to store the at least one traffic scenario and to simultaneously provide the at least one traffic scenario to the radar scenario simulator (<NUM>) and the optical scenario simulator (<NUM>),
wherein the radar scenario simulator (<NUM>) is configured to provide a radar representation of the at least one traffic scenario by receiving a first number of radar signals from at least one radar sensor (<NUM>) of the autonomous vehicle (<NUM>) via the at least two antennas (33a, 33b), by simulating the at least one traffic scenario by manipulating the first number of radar signals according to the at least one traffic scenario and generating a second number of manipulated radar signals, and by transmitting the second number of manipulated radar signals to the at least one radar sensor (<NUM>) of the autonomous vehicle (<NUM>) via the at least two antennas (33a, 33b), and
wherein the optical scenario simulator (<NUM>) is configured to simultaneously provide an optical representation of the at least one traffic scenario on the screen (<NUM>), whereby the screen (<NUM>) is located between the radar sensor (<NUM>) and the at least two antennas (33a, 33b), wherein the screen (<NUM>) is transparent with respect to the first and the second number of radar signals.