Dynamic echo signal simulation for automotive radar sensor configuration

Abstract

A system for testing an automotive radar sensor configuration includes a plurality of probe arrays, a plurality of enclosures, a channel emulator, and a test controller. The enclosures each surround one of the probe arrays and corresponding different automotive radar sensors. Each probe array is configured to receive a radar signal from the corresponding automotive radar sensor and to simulate an echo signal returned to the corresponding automotive radar sensor. The channel emulator is configured to supply the echo signal to each of the probe arrays. The test controller includes a memory storing instructions and a processor executing the instructions. The test controller controls the channel emulator and is configured to perform a performance test on an automotive radar sensor configuration, the automotive radar sensor configuration including the automotive radar sensor and an automotive drive controller, the automotive drive controller reacting to the echo signal received by each of the automotive radar sensors.

Description

Technical Field

[0001] The present application relates to a system for testing an automotive radar sensor configuration. Background Art

[0002] Millimeter waves are generated by oscillations at frequencies in a spectrum between 30 gigahertz (GHz) and 300 gigahertz. Millimeter wave (mmWave) automotive radar is a key technology for existing advanced driver assistance systems (ADAS) and planned autonomous driving systems. For example, millimeter wave automotive radar is used to warn of forward collisions or rear collisions in advanced driver assistance systems. In addition, millimeter wave automotive radar can be used to plan autonomous driving systems to implement adaptive cruise control and autonomous parking and ultimately for autonomous driving on streets and highways. The advantage of millimeter wave automotive radar over other radar systems is that millimeter wave automotive radar can work in most types of weather and in light and darkness. The adaptability of millimeter wave automotive radar has a reduced cost, to the extent that millimeter wave automotive radar can now be deployed in large quantities. Therefore, millimeter wave automotive radar is now widely used in long-range, medium-range and short-range environmental sensing in advanced driver assistance systems. In addition, millimeter wave automotive radar can be widely used in autonomous driving systems currently being developed.

[0003] Actual driving environments in which automotive radars may be deployed may vary widely and many such driving environments may be complex. For example, actual driving environments may contain numerous objects, and some objects encountered in actual driving environments have complex reflection and diffraction properties that affect the return signal. A direct consequence of not correctly sensing and / or interpreting the return signal may be that a false warning or inappropriate reaction is triggered, or that a warning or reaction that should be triggered is not triggered, which in turn may cause an accident.

[0004] Figure 1 shows known configurations of automotive radars in vehicles. Figure 1 In the embodiment of the present invention, four radar sensors send radar signals, receive echo signals and provide the received echo signals to the vehicle-mounted driving controller. The four radar sensors include a first radar sensor RS1, a second radar sensor RS2, a third radar sensor RS3 and a fourth radar sensor RS4, and are arranged near the four corners of the vehicle. Each of the four radar sensors may have a transmitting antenna array and a receiving antenna array. In the vehicle, the vehicle-mounted driving controller interprets the received echo signals and autonomously controls the vehicle or supports the control of the vehicle in response to the interpretation of the received echo signals, such as by autonomous braking, acceleration and / or steering or by limiting braking, acceleration and / or steering.

[0005] In recent years, companies testing autonomous vehicles in real driving environments have reported a series of accidents, showing the importance of comprehensive testing of automotive radars and onboard drive controllers. Automotive radars can be tested in different driving scenarios to avoid the types of accidents that companies have encountered when testing. The test environment for automotive radars can include a scenario simulator that simulates echo signals (multi-target echo signals) from multiple targets to different radar sensors on the vehicle in different driving scenarios. Different radar sensors are tested using the simulated echo signals. However, the use of scenario simulators has so far imposed difficulties in designing test schemes. For example, in order to simulate different scenarios, software that can simulate echo signals from multiple targets is required. In addition, the hardware setting must be able to replay the echo signals. Considering the need to dynamically simulate the echo signals from domains including the power domain, time domain, Doppler frequency domain, and spatial domain for each radar sensor, it is difficult to design the test environment to have the required flexibility and scalability. In addition, data from multiple radar sensors are fused to assist environmental sensing, and the scenario simulator therefore needs to simulate the echo signals of the multiple radar sensors simultaneously and synchronously.

[0006] One solution is a millimeter-wave automotive radar over-the-air (OTA) test solution in which an anechoic chamber is equipped with a single probe antenna. The probe antenna is connected to a radar target simulator, which in turn is connected to a scenario simulator. This test solution is able to simulate multiple targets in the same direction in all four domains (power domain, time domain, Doppler frequency domain, and spatial domain). However, this solution is typically used for single radar sensor radio frequency (RF) and functional testing and cannot simulate multiple targets with different signal directions. Due to the mechanical rotation speed of the single probe antenna, this solution is also limited in its ability to simulate high dynamic scenarios.

[0007] Another solution is a millimeter-wave automotive radar OTA test solution in which an anechoic chamber is equipped with multiple probe antennas. The probe antennas are connected to multiple radar target simulators, which are in turn connected to a scenario simulator. The use of multiple probe antennas and multiple radar target simulators allows multiple targets with different signal directions to be simulated. The signal direction is determined by the position of each probe relative to the corresponding radar sensor. By mechanically changing the position of the probe antenna or by electrically switching the signal between the probe antennas, the dynamic change of the target echo signal direction can be simulated. The power domain, time domain, and Doppler frequency domain characteristics of each target are simulated using a radar target simulator. However, the ability of this solution to simulate a certain number of targets with different signal directions is directly related to the number of probe antennas used in the system, and its expansion is not very good. In addition, due to the nature of the mechanical system (e.g., complexity), mechanically moving the probe antenna to dynamically change the signal direction limits the speed and flexibility of the system. Switching probe antennas can help solve speed limitations, but switching between a set of pre-positioned probe antennas also means that the dynamic scenarios that can be simulated are limited by, for example, the number of probe antennas and the position of the probe antennas.

[0008] The above two solutions do not fully meet the requirements of high dynamic scenarios. For example, for either solution, the anechoic chamber including the vehicle is relatively large and expensive. In addition, the test environment of these two solutions lacks the ability to simulate multiple targets with different echo signal directions that change dynamically. In addition, for each radar sensor, it is necessary to generate simulated signals for multiple targets, and the test environment of these two solutions does not properly provide for synchronizing and calibrating the radar sensors to compensate for differences between the positions of the radar sensors on the vehicle. In addition, the scalability of the number of targets in different signal directions is challenging, and multiple probe antennas may be required to simulate the echo of the same target in the latter solution. Summary of the invention

[0009] The present application relates to a system for testing an automotive radar sensor configuration, comprising:

[0010] multiple probe arrays;

[0011] a plurality of enclosures each enclosing a different one of the plurality of probe arrays and a corresponding different one of the plurality of automotive radar sensors, wherein each probe array is configured to receive a radar signal from the corresponding automotive radar sensor and to simulate a return signal back to the corresponding automotive radar sensor;

[0012] a channel emulator configured to supply the echo signal to each of the plurality of probe arrays; and

[0013] A test controller includes a memory storing instructions and a processor executing the instructions, wherein the test controller controls the channel emulator and is configured to perform a performance test on an automotive radar sensor configuration including the plurality of automotive radar sensors and an automotive drive controller that reacts to the return signal received by each of the automotive radar sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] When with Figure 1 The exemplary embodiments are best understood from the following detailed description when read together. It should be emphasized that the various features are not necessarily drawn to scale. In fact, the dimensions may be increased or decreased arbitrarily for the sake of clarity of discussion. Wherever applicable and practiced, similar reference numerals refer to similar elements.

[0015] Figure 1 A known configuration of a radar sensor in a vehicle is shown.

[0016] Figure 2 is a simplified block diagram illustrating a test system for dynamic return signal simulation of an automotive radar sensor configuration, according to a representative embodiment.

[0017] Figure 3 A flow chart for testing using dynamic return signal simulation of an automotive radar sensor configuration is presented according to a representative embodiment.

[0018] Figure 4 is another flow chart illustrating a method for testing using dynamic return signal simulation of an automotive radar sensor configuration according to a representative embodiment.

[0019] Figure 5 is a simplified block diagram illustrating the logical arrangement of a test system for dynamic return signal simulation of an automotive radar sensor configuration, according to a representative embodiment.

[0020] Figure 6 A signal flow diagram of a test system for dynamic return signal simulation of an automotive radar sensor configuration is presented according to a representative embodiment.

[0021] Figure 7 A mixed signal flow chart is presented for a simplified block diagram illustrating the logical arrangement of a test system for dynamic return signal simulation for an automotive radar sensor configuration, according to a representative embodiment. DETAILED DESCRIPTION

[0022] In the following detailed description, for the purpose of explanation rather than limitation, representative embodiments of the disclosure of specific details are set forth to provide a comprehensive understanding of the embodiments according to the present teachings. The description of known systems, equipment, materials, operating methods and manufacturing methods can be omitted to avoid blurring the description of the representative embodiments. However, systems, equipment, materials and methods within the capabilities of those of ordinary skill in the art are within the scope of the present teachings and can be used according to the representative embodiments. It should also be understood that the terms used herein are only used to describe specific embodiments and are not intended to be restrictive. The defined terms are supplements to the technical and scientific meanings of the defined terms as commonly understood and accepted in the technical field of the present teachings.

[0023] It should be understood that although the terms first, second, third, etc. can be used to describe various elements or components in this article, these elements or components should not be limited by these terms. These terms are only used to distinguish an element or component from another element or component. Therefore, without departing from the teaching of the present disclosure, the first element or component discussed below can be referred to as the second element or component.

[0024] The terms used herein are used only to describe specific embodiments and are not intended to be limiting. As used in this specification and the appended claims, the singular forms of the terms 'a', 'an' and 'the' are intended to include both the singular and the plural forms, unless the context clearly indicates otherwise. In addition, the terms "comprises / comprising" and / or similar terms when used in this specification specify the stated features, elements and / or components, but do not exclude the presence or addition of one or more other features, elements, components and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated enumerated items.

[0025] Unless otherwise indicated, when an element or component is referred to as being "connected to," "coupled to," or "adjacent to" another element or component, it is understood that the element or component may be directly connected or coupled to the other element or component, or there may be intervening elements or components. That is, these and similar terms cover situations where one or more intermediate elements or components may be employed to connect two elements or components. However, when an element or component is referred to as being "directly connected" to another element or component, this only covers situations where the two elements or components are connected to each other without any intermediate or intervening elements or components.

[0026] In view of the foregoing, the present disclosure is intended to bring one or more of the advantages as specifically noted below through one or more of its various aspects, embodiments and / or specific features or sub-components. For the purpose of explanation and not limitation, an example embodiment of the disclosure of specific details is set forth to provide a comprehensive understanding of the embodiments according to the present teachings. However, other embodiments consistent with the present disclosure that deviate from the specific details disclosed herein are still within the scope of the appended claims. In addition, the description of well-known devices and methods may be omitted so as not to obscure the description of the example embodiments. Such methods and devices are within the scope of the present disclosure.

[0027] Figure 2 is a simplified block diagram illustrating a test system for dynamic return signal simulation of an automotive radar sensor configuration, according to a representative embodiment.

[0028] Figure 2 The test system 200 includes a test controller 220, a scenario simulator 230, a radar target simulator 240, a channel simulator 250, a first enclosure 291, a second enclosure 292, a third enclosure 293, a first probe array 281 in the first enclosure 291, a second probe array 282 in the second enclosure 292, and a third probe array 283 in the third enclosure 293.

[0029] The first enclosure 291 also includes a first radar sensor RS1. The second enclosure 292 also includes a second radar sensor RS2. The third enclosure 293 also includes a third radar sensor RS3. The first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 each may include a transmitting antenna array and a receiving antenna array. The automotive radar sensor including the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 also includes Figure 2 However, rather than placing the entire vehicle on a test surface or in a test environment, a Figure 2 The test system 200 is tested in isolation on a test ground or in a test environment. Figure 2 In addition, although three enclosures with a single probe array and three radar sensors are shown, the automotive radar sensor configuration may have four or more radar sensors, and thus, the test system 200 may be configured as follows. Figure 2As shown, four or more corresponding enclosures, probe arrays and radar sensors may be included. For example, the automotive radar sensor configuration may have four radar sensors, six radar sensors, eight radar sensors or another number of multiple radar sensors, all of which are coordinated and / or controlled by the onboard drive controller. The first probe array 281, the second probe array 282 and the third probe array 283 are each connected to the channel simulator 250 and then connected to the radar target simulator 240 to form a setting for generating multi-target echo signals for the corresponding radar sensors.

[0030] The processing results from each of the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 are provided to or generated by the onboard drive controller, as long as each radar sensor is connected to the onboard drive controller. Figure 2 The tested automotive radar sensor configuration in the is provided to simulate the setup in the actual vehicle. The on-board drive controller fuses the radar sensor data and perceives the overall surrounding environment based on the radar sensor.

[0031] As described above, the first enclosure 291, the second enclosure 292, and the third enclosure 293 are each shielded boxes. Each enclosure may include one or more radio frequency (RF) ports connected to the probe array provided in each enclosure. The probe array is a coupled probe inside the enclosure. Each enclosure may also include a fixture for holding a radar sensor and a corresponding probe array. Each enclosure may also include one or more interfaces for connecting a radar sensor and an onboard drive controller to process data from the enclosure.

[0032] The test controller 220 and other test controllers described herein may include a memory storing instructions and a processor executing instructions to perform some or all aspects of the methods described herein. The test controller 220 controls the test of the automotive radar sensor configuration. For example, the test controller 220 coordinates the actions taken by the scenario simulator 230, the radar target simulator 240, and the channel simulator 250 to implement the test of the automotive radar sensor configuration. The test controller 220 also receives notification of the issuance of each simulated echo signal from the radar target simulator 240 or the channel simulator 250 and the reaction data of the echo from the vehicle-mounted drive controller.

[0033] In addition, the test controller 220 performs performance testing on a vehicle radar sensor configuration including different radar sensors and an onboard drive controller. The onboard drive controller reacts to the simulated echo received by each radar sensor from the corresponding probe antenna in the first enclosure 291, the second enclosure 292, and the third enclosure 293. The data received by the test controller 220 from the onboard drive controller indicates the reaction to each simulated echo signal from the onboard drive controller. The test controller 220 can analyze the data from the onboard drive controller for the characteristics of the reaction of the onboard drive controller. The performance test can test whether the onboard drive controller reacts appropriately to the simulated echo signal.

[0034] As described herein, the test controller 220 may include hardware and / or software control interfaces to other elements of the test system 200 so as to control and coordinate other elements of the test system 200 to perform the test. The test controller 220 may also receive feedback information from the vehicle-mounted drive controller. Feedback may include, but is not limited to, radar sensor fusion results about the surrounding environment, vehicle drive control information for updating the vehicle position in the driving test scene, vehicle state information, etc. Based on the feedback information, the test controller 220 may use, for example, radar sensor fusion results to compare the driving test scene to provide an estimated result about executing the radar sensor fusion algorithm under a given driving test scene. Based on the feedback information, the test controller 220 may also use, for example, position update information to update the position of the vehicle in the driving test scene and then generate and send updated radar echo and multi-target reflection information to the channel emulator 250 and the radar target emulator 240 for broadcasting, as this will form a closed loop test setting. Based on the feedback information, the test controller 220 may also use, for example, drive control information, the vehicle position in the driving test scene, and the configured driving test scene to estimate the failure probability of the vehicle drive control algorithm under the configured driving test scene.

[0035] Scenario simulator 230 and other scenario simulators described herein can include a memory storing instructions and a processor executing instructions to perform some or all aspects of the method described herein.Scenario simulator 230 provides radar target parameters to radar target simulator 240 and provides channel simulator parameters to channel simulator 250 for each of a plurality of different driving scenarios.Scenario simulator 230 can store data sets of tens, hundreds or even thousands of different driving scenarios.For example, different driving scenarios can involve driving through crowded urban areas or open highways, and different scenarios can involve the same driving situation (e.g., position and route) at different times of the day and under different weather conditions.Scenario simulator 230 can be based on the readings obtained in the actual test driver in the car in the driving scenario for the stored data sets of different driving scenarios, wherein the actual test driver is closely recorded and monitored to determine which reaction of the on-board drive controller at different times would be appropriate.

[0036] The driving test scenario is configured to test the radar sensor and the vehicle-mounted drive controller in the automobile radar sensor configuration using the scenario simulator 230. After configuration, the scenario simulator 230 can be the source of the simulated echo for simulating the multi-target reflection of each radar sensor under the driving test scenario. As described herein, the scenario simulator 230 can also load the antenna element complex antenna pattern of the radar sensor while simulating the multi-target echo to include the influence of the radar sensor antenna during the multi-target echo simulation. Then, the simulated radar echo and multi-target reflection information can be sent to the channel simulator 250 and the radar target simulator 240 for broadcasting to generate the simulated multi-target echo. The coupling matrix of the transmitting antenna array and the receiving antenna array of each automobile radar sensor can be measured as the complex antenna element pattern of the automobile radar sensor. The measured complex antenna element pattern of the radar sensor is loaded into the channel simulator 250 to include the influence of the antenna on each radar sensor in the multi-target reflection channel simulation. A probe antenna element subset can be selected for each in the probe array based on the measurement of the transmitting coupling matrix and the receiving antenna coupling matrix of the corresponding automobile radar sensor. The probe antenna array subset may be different for different automotive radar sensor configurations for different vehicles.

[0037] Radar target simulator 240 and other radar target simulators described herein are instruments that may include a memory storing instructions and a processor executing instructions to perform some or all aspects of the methods described herein. Radar target simulator 240 provides radar target simulations 241, 242, and 243 to channel simulator 250 for each of a plurality of driving scenarios. Radar target simulations 241, 242, and 243 represent multiple radar target simulations for different scenarios provided by scenario simulator 230. Radar target simulations 241, 242, and 243 represent the echo characteristics of objects encountered in each of the different scenarios when the radar signal from the radar sensor in the automotive radar sensor configuration is reflected from the object back to the radar sensor. In addition, radar target simulator 240 may receive, generate, send, and / or store data sets of any scenario provided by scenario simulator 230. Radar target simulations 241, 242, and 243 may be based on the actual test drive program performed by the test vehicle so that the simulated driving test scenario reflects the echo captured in the actual test drive program.

[0038] As described herein, the radar target simulator 240 and other radar target simulators can receive transmitted signals from different transmitters and Tx arrays of radar sensors and then generate corresponding echoes for each of the radar sensors. However, as also described herein, the corresponding echoes can also be generated in advance and timed based on the periodic understanding of the radar signal so that the echo set is arranged before the periodic radar signal that notifies the transmission of each driving scenario.

[0039] The number of radar target simulation 241,242 and 243 included and provided by radar target simulator 240 is not limited to three and can be the same as the number of radar sensors in the automobile radar sensor configuration. In an embodiment, the ratio of the number of radar target simulations provided by radar target simulator 240 to the number of radar sensors in the automobile radar sensor configuration being tested is one to one. In other embodiments, more or less radar simulations than the radar sensors present in the automobile radar sensor configuration can be provided. Radar target simulator 240 can also receive radar target parameters from scenario simulator 230 and provide radar target signals to channel simulator 250 based on the radar target parameters received. Channel simulator 250 uses radar target signals as input to generate the echo signals (echoes) simulated by probe array. Radar target simulator 240 changes radar target signals based on the different driving scenarios provided by scenario simulator 230.

[0040] The first probe array 281, the second probe array 282 and the third probe array 283 are each configured to receive radar signals from corresponding automobile radar sensors and to simulate the echo signals returned to corresponding automobile radar sensors. The first probe array 281, the second probe array 282 and the third probe array 283 can each include an array with individual antenna elements arranged into, for example, 16 by 16 matrices. Each individual antenna element in the array can be individually controllable, such as to be connected to an RF connector in an RF connector of instruments such as channel emulators 250 and / or radar target emulators 240. In addition, the energy signature (signature) of the signal emitted from each individual antenna element can be designed to be different from each other. For example, different signals emitted from different individual antenna elements in the probe array can have different polarizations. The individual antenna element in the probe array can also be specifically controlled to be connected to the RF connector of instruments such as channel emulators 250 and / or radar target emulators 240 to match the signature of the corresponding radar sensor in the enclosure. By selecting a number of probe antenna elements for the subset that is equal to the number of antennas in the Tx array of the radar sensor or the number of antennas in the Rx array of the radar sensor, the coupled radiation channel matrix H between the probe array and the corresponding Tx array or Rx array of the radar sensor is n is formed to couple the transmission of the radar sensor transmit signal out of the enclosure to the channel emulator 250 and to couple the output of the channel emulator 250 into the enclosure and back to the corresponding radar sensor.

[0041] A probe antenna array subset that produces the best coupling matrix for the radar sensor Tx array and the radar sensor Rx array can be selected for dynamic echo simulation testing, respectively. The dynamic echo simulation can begin with selecting the probe antenna array elements and connecting the selected probe antenna array elements to the RF connectors of the instrument (e.g., the channel emulator 250), respectively. An example probe antenna array that can ensure a good coupling matrix for the radar sensor Tx array and the radar sensor Rx array is an 8×8 array with an element spacing of 5 wavelengths or higher relative to the carrier frequency used by the 8×8 array. Adjacent elements in this example probe antenna array can have cross polarizations, and the distance from the probe antenna array can be 5 cm to 10 cm from the radar sensor in the enclosure.

[0042] The first enclosure 291, the second enclosure 292, and the third enclosure 293 can each be an anechoic chamber. The size of the first enclosure 291, the second enclosure 292, and the third enclosure 293 can be relatively small, because each enclosure does not need to be adapted to the vehicle, and can be small enough to adapt the radar sensor of the automotive radar sensor configuration and the corresponding probe array of the test system 200. The enclosures are each a shielding box and can include a radio frequency (RF) port, a fixture for holding the radar sensor and the corresponding probe array, and at least one interface. The RF port is connected to the probe array inside the enclosure. The fixture holds the radar sensor and the probe array. The interface connects the radar sensor to provide processed data from the enclosure to the on-board drive controller. The fixture can be adjusted to change the position of the coupled probe antenna and the radar sensor.

[0043] The probe array and the radar sensor in each enclosure can be coupled via near-field coupling. Before performing the driving test simulation, the coupling matrix can be measured as part of the test. The coupling matrix can include a radar sensor transmit (Tx) coupling matrix and a radar sensor receive (Rx) coupling matrix. The measurement is controlled by the test controller 220. For the radar sensor transmit coupling matrix, a channel emulator 250 is used to capture and measure the transmitted signal from the radar sensor. For receiving the coupling matrix measurement, the analog-to-digital converter on the radar sensor can be used to capture the raw data, convert the raw data to digital, and the converted data can be analyzed to measure the receive coupling matrix. Then, the coupling matrix can be used by the channel emulator 250 to simulate the channel parameters and radar target parameters provided for being transmitted by each probe antenna.

[0044] The channel emulator 250 and other channel emulators described herein are instruments and may include a memory storing instructions and a processor executing instructions to perform some or all aspects of the method described herein. The channel emulator 250 applies a channel effect to the radar target signal based on the channel emulator parameters. The channel emulator 250 also provides the radar target signal with the applied channel effect to the probe array as an echo signal for simulating the echo of the radar signal to the radar sensor. The channel emulator 250 and / or the radar target emulator 240 may notify the test controller 220 of each echo signal, as long as the performance test performed by the test controller 220 may be based on the reaction to each echo signal. The channel emulator 250 receives the channel emulator parameters from the scenario simulator 230 and receives the radar target signal from the radar target emulator 240. The channel emulator 250 is loaded with the radar sensor transmitting antenna complex pattern and the radar sensor receiving antenna complex pattern of each of the radar sensors. The channel emulator 250 applies inversion to the radiation channel matrix of each of the radar sensors based on the radar sensor transmitting antenna complex pattern and the radar sensor receiving antenna complex pattern of each of the radar sensors. The channel emulator 250 provides an inverse matrix to the first probe array 281, the second probe array 282, and the third probe array 283. For example, the channel emulator 250 can measure the transmission coupling matrix of the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 by capturing the radar signals emitted by the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 automobile radar sensors. The signals of the reception coupling matrices of the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 can be directly captured from the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3, and the analog-to-digital conversion is performed by the analog-to-digital converters on the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3, and the digital representation of the signals of the reception coupling matrices of the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3 is measured. The inverse matrix provided by the channel emulator 250 or otherwise applied can be based on the measurement of the transmission coupling matrix and the reception coupling matrix of the first radar sensor RS1, the second radar sensor RS2, and the third radar sensor RS3. The channel emulator 250 receives the radar target signal from the radar target emulator 240. The channel emulator 250 changes the echo signal based on the driving scenario provided by the scenario simulator 230.

[0045] The test system 200 can be used in a variety of ways other than testing the reaction of the onboard drive controller. For example, a simplified setup of the test system 200 can be used to test each automotive radar sensor individually. In this example, each automotive radar sensor is subjected to a number of different simulated driving scenarios. The measurements can be used to build a radar sensor model specific to each automotive radar sensor.

[0046] In another example, the test system 200 can be used to optimize the position and configuration of the automotive radar sensors on the vehicle. For example, a plurality of different configurations can each be subjected to the same simulated driving scenario to identify which configuration produces the best signal reading and reaction of the onboard drive controller. The configuration can be changed by changing the number of automotive radar sensors and the position of the automotive radar sensors and / or the orientation of the automotive radar sensors. The position of the automotive radar sensors in the test system 200 (i.e., in each paddock) can be changed by changing the characteristics that affect the simulation, such as by adjusting the signal strength and / or relative position of the automotive radar sensors and the corresponding probe arrays in the paddock.

[0047] Figure 3 A flow chart for testing using dynamic return signal simulation of an automotive radar sensor configuration is presented according to a representative embodiment.

[0048] exist Figure 3 In the method, the method starts at S310, and the test controller configures and / or starts the scenario simulator, the radar target simulator and the channel simulator. Figure 3 The scenario simulator, radar target simulator and channel simulator in Figure 2 That would be three different devices or systems. Alternatively, Figure 3 The radar target simulator and channel simulator in can be a single device or system that implements the functions of the radar target simulator and channel simulator as described in other ways in the embodiments of this document. The configuration at S310 can involve providing instructions for implementation by the scenario simulator, such as a set of driving scenarios. Starting can involve providing instructions for turning on, activating or otherwise starting the scenario simulator, radar target simulator and channel simulator.

[0049] At S320, the scenario simulator generates radar target parameters and channel simulator parameters and provides radar target parameters to the radar target simulator and provides channel simulator parameters to the channel simulator. The scenario simulator can store the details of numerous different driving scenarios. The details reflect the characteristics of the echo received by the radar sensor in the test driver used as the basis of different driving scenarios. Therefore, the details reflect the different echoes received by the different radar sensors of each scene. Radar target parameters and channel simulator parameters are provided to simulate the echo received by the radar sensor in the test driver used as the basis of the simulated driving test scenario. In an embodiment, the scenario simulator can newly generate radar target parameters or channel simulator parameters, such as when there is an interval in the scene that otherwise includes a complete set of radar target parameters and channel simulator parameters. The scenario simulator can generate radar target parameters and channel simulator parameters in other ways by retrieving the stored set of radar target parameters and channel simulator parameters based on each driving scenario in the set provided from the scenario simulator at S310.

[0050] At S330, the radar target simulator generates a radar target signal and provides the radar target signal to the channel simulator. The radar target signal is used as an input by the channel simulator to provide an echo signal (echo) in response to the radar signal from the radar sensor. The generation of the radar target signal is based on the radar target parameters received from the scenario simulator at S320. The radar target parameters and the radar target signal are different for each driving scenario and can be composed of the details of the echo of one or more objects encountered by the radar sensor in the actual driving test that generates the driving scenario. The radar target signal can be isolable from a separate object or can be a composite signal pattern that reflects multiple or even all objects that contribute to the echo received by the radar sensor in the actual driving test.

[0051] although Figure 3, but the radar target signal can be provided at S330 based on receiving a notification of receiving a radar signal from a radar sensor in the automotive radar sensor configuration. For example, a radar target signal can be provided to the channel emulator each time based on each radar signal received from the radar sensor. The radar target signal can be dynamically generated based on the received radar signal or can be predetermined in advance as a set, so that the echo set is known in advance and provided in a predetermined order when it appears to react to each radar signal sent from the radar sensor. The radar target emulator will be notified to receive the radar signal at least one moment of providing the echo, but will usually be notified at any moment to receive the radar signal via the probe array and the channel emulator. When the radar target emulator has an echo in advance, the radar target emulator can solve the waiting time problem because the digital radar target emulator simulates the echo within a very short distance in the test system described herein. One method of providing the echo in advance is to utilize the fact that the radar signal is a periodic signal. The radar signal set can be captured and analyzed in advance to identify the period, and then, the echo can be supplied in advance at the radar target emulator before receiving the specific radar signal.

[0052] At S340, the channel simulator applies channel effects to the radar target signal and provides the radar target signal with the applied channel effects to the probe array as an echo. Examples of channel effects include radar sensor antenna pattern simulation, departure angle, arrival angle simulation, background interference and click simulation, inversion of the coupling matrix, etc. The channel simulator may have a functional block for applying an inverse matrix, where the inverse matrix is ​​related to the coupled radiation channel matrix H n As previously noted, the radar target simulator function and the channel simulator function may be implemented in one instrument or in two different instruments, and the functional distinction between the radar target simulator and the channel simulator may be flexible, so that various aspects may differ for different scenarios.

[0053] The channel effect for supplying to the probe array at S340 can be obtained based on the characteristics of the radar sensor tested before the test described in this article. For example, in order to incorporate the influence of the antenna in each radar sensor during channel simulation, the complex antenna pattern of the antenna element can be loaded into the channel emulator and simulated by the channel emulator when simulating the multi-target echo signal. If the multi-target echo signal has already incorporated the influence of the antenna in the radar sensor, the multi-target echo signal can be simulated directly with the channel emulator without loading the radar sensor antenna element pattern again. The complex antenna pattern of the radar sensor can be pre-measured in an over-the-air (OTA) test, such as in a compressed antenna test range (CATR) room, a far-field room, or a mid-field OTA room.

[0054] The receiver on the radar sensor is capable of measuring the received signal strength of each receiving element and the relative phase between different receiving channels. Each radar sensor can report the measurement results by responding to the measurement command via the interface described herein or by saving the measurement results in a data file. The transmitter on each radar sensor can be set to test mode so that each individual transmitter antenna pattern from the Tx array can be measured.

[0055] At S350, the probe array provides an echo to the radar sensor for each radar signal sent by the radar sensor. The echo responds to the radar signal. That is, the radar target signal with the channel effect is now transmitted to the probe array as one or more echoes to the radar sensor. In an embodiment, it can be Figure 3 The timing of the radar signal is established before the process in the embodiment, and the echo can be provided on a predetermined basis at set intervals based on the timing of establishing the radar signal. In other words, Figure 3 Some dynamic aspects of the process can be removed by establishing that the advance echoes are to be provided for a period of time rather than one echo at a time, so that the echoes from the probe array provided at S350 can be automatically timed in advance based on the periodicity of the established radar signal. Alternatively, the echoes can be generated and played one at a time based on each radar signal sent by the radar sensor.

[0056] At S360, the test controller is notified of the timing of each echo provided by the probe array. The test controller also receives a notification of the reaction from the on-board drive controller in response to each echo signal received by the radar sensor in the automotive radar sensor configuration being tested. The timing of each echo is used to coordinate the information received from the on-board drive controller so that the reaction of the on-board drive controller can be synchronized with the echo in the analysis performed in the test. Similar to the driving test scenario described immediately above, the timing with the periodicity of the radar sensor can be established in advance, so the correlation between the echo and the reaction of the on-board drive controller can be partially established in advance by the test controller. In other words, the test controller can be provided with a predetermined set of echo identification and expected reactions, and then simply analyzes the reaction at the predetermined timing. Based on identifying the periodicity of the radar sensor before the test begins, the predetermined timing can be known before the test begins.

[0057] At S370, the test controller is notified of the onboard drive controller response to each echo received by the radar sensor. The onboard drive controller response may be the subject or even the main subject of the radar sensor configuration of the test vehicle, so that how the onboard drive controller responds to the echo received by each radar sensor can be systematically analyzed to identify faults that may cause accidents.

[0058] Figure 4 is another flow chart illustrating a method for testing using dynamic return signal simulation of an automotive radar sensor configuration according to a representative embodiment.

[0059] exist Figure 4 In the method, the method starts at S410, measuring one or more radar sensor transmit and receive antenna complex patterns inside an air chamber. The measurement can be performed inside an anechoic chamber, and an example of an anechoic chamber can include the enclosure described herein, but the measurement of one or more radar sensor transmit and receive antenna complex patterns can also be performed in another enclosure that protects the signal from external interference.

[0060] At S420, a coupled probe antenna is placed near the radar sensor inside the shielding box. The shielding box can be a paddock as described herein. The coupled probe antenna can be a probe array described elsewhere herein. Moreover, the placement at S420 can be repeated for each pair of coupled probe antenna arrays and radar sensor. The radar sensor configuration of the vehicle can include four or more radars and an on-board drive controller. When in use, the vehicle can have radars arranged around the periphery of the vehicle such as the four corners of the vehicle, and the radar radar provides a function for near-field, mid-field and far-field detection of nearby objects that may cause an accident.

[0061] At S430, the measured radar sensor transmitting antenna complex pattern and radar sensor receiving antenna complex pattern are loaded into the channel emulator. That is, Figure 4 The method includes: loading a channel simulator with a radar sensor transmit antenna complex pattern and a radar sensor receive antenna complex pattern for each of the radar sensors in the automotive radar sensor configuration being tested. The radar sensor transmit antenna complex pattern and the radar sensor receive antenna complex pattern are used by the channel sensor as a basis for providing channel parameters to the probe antenna when communicating with the radar sensor.

[0062] At S440, the radiation channel matrix H n The inverse of is applied to each radar sensor by the channel simulator so that each probe array interacts properly with the corresponding radar sensor. The antenna array is in the reaction field of each radar sensor in the enclosure described herein so that the coupled radiation matrix between the radar sensor and the corresponding coupled probe antenna array is stable and well-conditioned. In addition, the inverse of the radiation channel matrix is ​​applied to the radiation channel matrix H n To decouple the radiation channel and form a wireless cable connection.

[0063] At S450 , a driving test scenario is configured on a scenario simulator, and a radar sensor configuration is configured on a radar target simulator.

[0064] At S460 , a simulation is performed by a channel simulator to generate simulated radar sensor return signals and reflection channel characteristics.

[0065] At S470, a channel simulator and a radar target simulator are used to broadcast simulated radar sensor echo signals and reflection channel characteristics, that is, the simulated radar sensor echo signals and reflection channel characteristics are provided to individual probe arrays in the enclosure as signals for transmission to corresponding radar sensors in the enclosure.

[0066] At S480, feedback is collected from the onboard drive controller. Feedback can be collected by a test controller as described herein. Feedback is based on signals received by the radar sensor and provided to the onboard drive controller for interpretation and reaction. For example, the signal may reflect an object on the road ahead or a vehicle merging from the side, so that the onboard drive controller is expected to appropriately interpret the signal from the radar sensor and react to any danger reflected in the signal. The interpretation and / or reaction is provided to the test controller as feedback at S480.

[0067] At S491, the radar sensor fusion result is estimated using the feedback and the configured driving test scenario. In other words, the performance of the fusion of the radar sensors in the configuration is estimated using the feedback and the configured driving test scenario, such as whether the radar sensors collectively accurately detect objects presented during the driving scenario.

[0068] At S492, feedback is used to form a simulated closed loop test. That is, the channel simulator and the radar target simulator are updated using feedback information from the onboard drive controller to form a simulated closed loop test. Then, additional tests can be performed based on the updates to the channel simulator and the radar target simulator.

[0069] At S493, the risk probability of the driving algorithm under a given driving test scenario is estimated using the feedback and the configured driving test scenario. That is, the fusion algorithm of each radar sensor can be estimated based on the feedback from the onboard driving controller and the configured driving test scenario. Alternatively, the performance of the autonomous driving algorithm can be estimated based on the feedback from the onboard driving controller and the configured driving test scenario.

[0070] The functions at S491, S492, and S493 are examples of uses of one or more test systems described herein. Feedback can be used to estimate radar sensor performance, improve testing, and estimate onboard drive controller performance. These are examples of ultimate uses of one or more test systems described herein, but the ultimate benefit can be better performance in avoiding accidents and reducing deaths and injuries caused by such accidents.

[0071] Figure 5is a simplified block diagram illustrating the logical arrangement of a test system for dynamic return signal simulation of an automotive radar sensor configuration, according to a representative embodiment.

[0072] Figure 5 The test system 500 in FIG. 5 includes a test controller 520, a scenario simulator 530, a radar target simulator 540, a channel simulator 550, an enclosure 590, and a probe array 59x in the enclosure 590. The enclosure 590 and the probe array 59x represent a plurality of such enclosures and probe arrays but are shown in isolation for clarity. Figure 5 in the implementation scheme.

[0073] A radar sensor RSx is also provided in the enclosure 590 having the probe array 59x, and the vehicle radar configuration including the radar sensor RSx also includes an onboard drive controller. The vehicle radar configuration including the radar sensor RSx and the onboard drive controller is provided by Figure 5 The test system 500 in the vehicle radar configuration is tested. The number of radar sensors RSx in the vehicle radar configuration and the number of probe arrays 59x in the test system 500 can be more than three. For example, the number of radar sensors RSx and probe arrays 59x can be four or more. However, the radar sensors RSx and enclosures such as enclosure 590 are not necessarily arranged in the same physical configuration as in the vehicle. Instead, enclosures such as enclosure 590 can be arranged closely together, stacked on top of each other, adjacent to each other, and in other arrangements because the testing of radar sensors RSx in the enclosure does not necessarily reflect the physical proximity of the radar sensors RSx to each other.

[0074] The radar target simulator 540 includes radar target simulations 541, 542, 543 as representative examples of radar target simulations that can be provided to a probe array such as the probe array 59x to provide an echo in response to a radar signal of a radar sensor including the radar sensor RSx. The channel simulator 550 implements a function for simulating a channel of the echo provided from the probe array 59x to the radar sensor RSx. The inverse matrix is ​​a function implemented inside the channel simulator 550.

[0075] exist Figure 5In the embodiment of the present invention, the scenario simulator 530 configures the channel simulator 550 and the radar target simulator 540. The radar target simulator 540 provides radar target simulation to the channel simulator 550, and the channel simulator provides echoes to the probe array 59x based on the radar target simulation. The echoes are received by the radar sensor RSx and transmitted to the on-board drive controller. The on-board drive controller executes instructions for reacting to the echoes to reduce or eliminate potential accidents. The test controller 520 receives a signal indicating the reaction of the on-board drive controller, and the test may include analyzing whether the on-board drive controller is reacting appropriately to the dangers encountered in any characteristic scenario generated by the scenario simulator 530.

[0076] Within enclosure 590, the interaction between probe 59x and radar sensor RSx is based on pre-measurement of the transmit coupling matrix of radar sensor RSx and the receive coupling matrix of radar sensor RSx. Channel emulator 550 measures the transmit coupling matrix of each radar sensor RSx by capturing the radar signal emitted by each of radar sensors RSx. The receive coupling matrix is ​​measured by first capturing the signal of the receive coupling matrix of each radar sensor and then measuring a digital representation of the signal of the receive coupling matrix of each radar sensor under test. The measured radar sensor transmit antenna complex pattern and radar sensor receive antenna complex pattern are loaded into channel emulator 550, and the radiation channel matrix H is converted into the radiated channel matrix H. n The inverse of is applied to each of the radar sensors. That is, Figure 5 The test system 500 is prepared for testing by loading a channel emulator 550 with a radar sensor transmit antenna complex pattern and a radar sensor receive antenna complex pattern for each of the radar sensors in the automotive radar sensor configuration being tested, so that once the testing of the automotive radar sensor configuration begins, the impact of the antenna complex patterns can be taken into account.

[0077] Figure 6 A signal flow diagram of a test system for dynamic return signal simulation of an automotive radar sensor configuration is presented according to a representative embodiment.

[0078] exist Figure 6 In the embodiment of the present invention, signals flow between the test controller 620, the scenario simulator 630, the radar target simulator 640, the channel simulator 650, at least one probe array 69x, at least one radar sensor RSx and the on-board drive controller. The test system 600 includes the test controller 620, the scenario simulator 630, the radar target simulator 640, the channel simulator 650 and at least one probe array 69x. The system under test includes the at least one radar sensor RSx and the on-board drive controller.

[0079] At S601, the test controller 620 starts the scenario simulator 630. At S602, the test controller 620 starts the radar target simulator 640. At S603, the test controller 620 starts the channel simulator 650. The test controller 620 can start the scenario simulator 630, the radar target simulator 640, and the channel simulator 650 by sending an initial instruction for switching on, and subsequent instructions for supplying any information to the scenario simulator 630, the radar target simulator 640, and the channel simulator 650 are provided by the test controller 620 for testing.

[0080] At S604, the scenario simulator 630 configures the radar target simulator 640, such as by informing the radar target simulator 640 of one or more scenarios to be used in the test sequence. The scenario simulator 630 may inform the radar target simulator 640 of a single radar target to be simulated (e.g., echo characteristics of a single radar target) or a composite radar target to be simulated (e.g., echo characteristics of a composite). Alternatively, the radar target simulator 640 may receive instructions and identify a single radar target or a composite radar target based on the instructions. The configuration of the radar target simulator 640 produces a separate configuration for each radar sensor RSx used in the test.

[0081] At S605, the scenario simulator 630 configures the channel emulator 650. The configuration at S605 may be information such as the timing of the scenario, identification of the scenario, characteristics that may change during the scenario, and other forms of information that the channel emulator 650 may use to emulate the channel when supplying echoes to the at least one probe array 69x to provide to the corresponding radar sensor RSx.

[0082] At S606, the radar target simulator 640 provides echoes to the channel simulator 650. For example, the radar target simulator 640 may provide echoes for a period of time, such as 30 seconds or 5 minutes, during each scenario. The radar target simulator 640 may provide a different set of echoes for each probe array 69x and each corresponding radar sensor RSx.

[0083] At S607 , the test controller 620 configures each of the probe arrays 69 x . For example, the test controller 620 may turn on each of the probe arrays 69 x at S607 .

[0084] Next, the test begins, and a series of radar emissions from the radar sensor RSx are detected, and a series of echoes are provided to the radar sensor RSx in response to each radar emission. As described below, each sequence of actions may be performed separately for each radar emission during a scenario or multiple scenarios. However, it should be understood that the five sets of actions of S610A to S654 represent the content of thousands of sets of actions for one or more scenarios being tested. The test described herein may be performed one scenario at a time, but may also involve switching between scenarios after each scenario is completed.

[0085] At S610A / S610B, each probe array 69x receives a radar emission from a corresponding radar sensor RSx (S610A), and each probe array 69x individually notifies the radar target simulator 640 via the channel simulator 650 (S610B). At S611A, the radar target simulator 640 supplies each probe array 69x via the channel simulator 650, and at S611B, each probe array 69x provides an echo signal to the corresponding radar sensor RSx. At S612A, the timing of the supply is reported to the test controller 620 by the channel simulator, and at S612B, each radar sensor RSx reports the received echo signal to the on-board drive controller. At S613, the on-board drive controller reports the reaction to the echo to the test controller 620. At S614, the on-board drive controller reports the reaction to the echo to the scene simulator 630.

[0086] At S620A / S620B, each probe array 69x receives a radar emission from a corresponding radar sensor RSx (S620A), and each probe array 69x individually notifies the radar target simulator 640 via the channel simulator 650 (S620B). At S621A, the radar target simulator 640 supplies each probe array 69x via the channel simulator 650, and at S621B, each probe array 69x provides an echo signal to the corresponding radar sensor RSx. At S622A, the timing of the supply is reported to the test controller 620 by the channel simulator, and at S622B, each radar sensor RSx reports the received echo signal to the on-board drive controller. At S623, the on-board drive controller reports the reaction to the echo to the test controller 620. At S624, the on-board drive controller reports the reaction to the echo to the scene simulator 630.

[0087] At S630A / S630B, each probe array 69x receives a radar emission from a corresponding radar sensor RSx (S630A), and each probe array 69x individually notifies the radar target simulator 640 (S630B) via the channel simulator 650. At S631A, the radar target simulator 640 supplies each probe array 69x via the channel simulator 650, and at S631B, each probe array 69x provides an echo signal to the corresponding radar sensor RSx. At S632A, the timing of the supply is reported to the test controller 620 by the channel simulator, and at S632B, each radar sensor RSx reports the received echo signal to the on-board drive controller. At S633, the on-board drive controller reports the reaction to the echo to the test controller 620. At S634, the on-board drive controller reports the reaction to the echo to the scene simulator 630.

[0088] At S640A / S640B, each probe array 69x receives a radar emission from a corresponding radar sensor RSx (S640A), and each probe array 69x individually notifies the radar target simulator 640 via the channel simulator 650 (S640B). At S641A, the radar target simulator 640 supplies each probe array 69x via the channel simulator 650, and at S641B, each probe array 69x provides an echo signal to the corresponding radar sensor RSx. At S642A, the timing of the supply is reported to the test controller 620 by the channel simulator, and at S642B, each radar sensor RSx reports the received echo signal to the on-board drive controller. At S643, the on-board drive controller reports the reaction to the echo to the test controller 620. At S644, the on-board drive controller reports the reaction to the echo to the scene simulator 630.

[0089] At S650A / S650B, each probe array 69x receives a radar emission from a corresponding radar sensor RSx (S650A), and each probe array 69x individually notifies the radar target simulator 640 via the channel simulator 650 (S650B). At S651A, the radar target simulator 640 supplies each probe array 69x via the channel simulator 650, and at S651B, each probe array 69x provides an echo signal to the corresponding radar sensor RSx. At S652A, the timing of the supply is reported to the test controller 620 by the channel simulator, and at S652B, each radar sensor RSx reports the received echo signal to the on-board drive controller. At S653, the on-board drive controller reports the reaction to the echo to the test controller 620. At S654, the on-board drive controller reports the reaction to the echo to the scene simulator 630.

[0090] As described above, the test controller 620 receives notification of the reaction from the onboard drive controller in response to each of the return signals received by the radar sensor. When whether or how the onboard drive controller reacts can be the primary mechanism for avoiding an accident, the reaction can be the main subject of the test described herein.

[0091] The radar transmission received at S610A, S620A, S630A, S640A and S650A may be the same signal received repeatedly. Accordingly, an important aspect of the notifications at S610B, S620B, S630B, S640B and S650B is the timing of the notifications, as long as each notification generates the next echo in the echo sequence.

[0092] Figure 7 A mixed signal flow chart is presented for a simplified block diagram illustrating the logical arrangement of a test system for dynamic return signal simulation for an automotive radar sensor configuration, according to a representative embodiment.

[0093] Figure 7 The test system 700 includes a test controller 720, a scenario simulator 730, a radar target simulator 740, a channel simulator 750, a first enclosure 791, a second enclosure 792, a third enclosure 793, a first probe array 796 in the first enclosure 791, a second probe array 797 in the second enclosure 792, and a third probe array 799 in the third enclosure 793.

[0094] Radar target simulator 740 includes and provides radar target simulation RTE 741, RTE 742 and RTE 743, and this radar target simulation represents multiple radar target simulations of different scenes provided by scenario simulator 730.The quantity of radar target simulation included and provided by radar target simulator 740 is not limited to three, and radar target simulator can provide tens, hundreds or even thousands of different radar targets for any scene provided by scenario simulator 730. Radar target simulation RTE 741, RTE 742 and RTE 743 represent the object encountered in the driving scene of simulation separately. Radar target simulation RTE 741, RTE 742 and RTE 743 can be based on the actual test driver performed by the test vehicle, so that the simulated driving test scene reflects the echo captured in the actual test driver.

[0095] exist Figure 7In the embodiment, radar sensor RS1 is arranged in a first enclosure 791 together with a first probe array 796, radar sensor RS2 is arranged in a second enclosure 792 together with a second probe array 797, and radar sensor RS3 is arranged in a second enclosure 793 together with a third probe array 798. The onboard driving controller receives echoes from radar sensor RS1, radar sensor RS2, and radar sensor RS3, and reacts to the received echoes to control the vehicle by braking, accelerating, moving, or restricting movement. Radar sensors RS1, RS2, RS3, and the onboard driving controller are subjected to Figure 7 700 are representative elements of a vehicle to be tested. Instead, only radar sensors RS1, RS2, RS3 and the onboard drive controller may be tested, which results in a relatively small test space, compared to requiring the entire vehicle. Figure 7 The test system 700, including each of the automotive radar sensor configurations in the paddock and the onboard drive controller, can be quickly tested under numerous simulated driving scenarios, which in turn are based on actual test drive programs performed by the test vehicle.

[0096] exist Figure 7 In the embodiment, the test of the test system 700 starts by starting the scenario simulator 730 at step 1, starting the radar target simulator 740 at step 2, and starting the channel simulator 750 at step 3. The scenario simulator 730 supplies the radar target simulator 740 at step 4 and provides the channel simulator 750 at step 5. At step 6, the radar target simulator provides radar target simulation RTE 741, RTE 742, RTE 743 to the channel simulator. The channel simulator provides radar target simulation RTE 741, RTE 742, RTE 743 as echoes to the first probe array 796 at step 7, to the second probe array 797 at step 8, and to the third probe array 798 at step 9. At step 10, the radar sensor RS1 in the first enclosure 791 provides echoes to the vehicle-mounted drive controller. At step 11, the radar sensor RS2 in the second enclosure 792 provides echoes to the vehicle-mounted drive controller. At step 12, the radar sensor RS3 in the third enclosure 793 provides an echo to the on-board drive controller. The on-board drive controller executes a routine and determines whether or how to control the vehicle in response to the received echo in response to the echo received at steps 10, 11, and 12. The on-board drive controller provides a control instruction to the test controller 720.

[0097] It should be clear that one of the direct benefits of the dynamic echo signal simulation of the automotive radar sensor configuration is that it can be analyzed whether the on-board drive controller is responding in a manner that minimizes accidents and injuries. The error detected in the test can reflect the failure of a part of the on-board drive controller or the failure of an unsatisfactory configuration of the vehicle system including the radar sensors RS1, RS2, RS3 and the on-board drive controller. The unsatisfactory configuration may be due to, for example, too few radar sensors, poor placement of the radar sensors RS1, RS2, RSE relative to each other in the vehicle, poor coverage of the radar sensors RS1, RS2, RS3, or other concerns that can be addressed to reduce the probability of accidents.

[0098] In each of the first enclosure 791, the second enclosure 792, and the third enclosure 793, the probe array and the radar sensor emit radar signals and echoes sensed by each other. The probe array and the radar sensor are placed close to each other in each enclosure, and the relative positions of the probe array and the radar sensor are adjusted to form a stable and well-conditioned coupled radiation matrix H n . One aspect of the test is that the channel emulator 750 measures the transmit coupling matrix of each of the radar sensors RS1, RS2, and RS3 by capturing the radar signal emitted by each of the radar sensors RS1, RS2, and RS3. The channel emulator 750 stores and applies the inverse matrix of the measured transmit coupling matrix of each of the radar sensors RS1, RS2, and RS3 as a function so that each probe array optimally emits echoes to the radar sensors RS1, RS2, and RS3 based on the measured transmit coupling matrix measured by the channel emulator 750. In addition, the analog signals of the receive coupling matrices of the radar sensors RS1, RS2, and RS3 are captured directly from the radar sensors RS1, RS2, and RS3, converted to digital form by analog-to-digital conversion, and the digital representations of the signals of the receive coupling matrices of the radar sensors RS1, RS2, and RS3 are measured. The channel emulator 750 stores and applies the inverse matrix of the measured receive coupling matrix of each of the radar sensors RS1, RS2, and RS3.

[0099] As should be clear from the above, the inverse matrix is ​​the only function inside the channel emulator 750. In addition, although Figure 7 , three radar sensors RS1, RS2, RS3 are shown, but a vehicle configuration subject to the tests described herein may include four or more radar sensors that are all tested together in the tests described herein. Figure 7741, RTE 742, RTE 743 are shown in FIG, but the radar target simulator 740 can provide different radar target simulations for four or more radar sensors. The radar target simulations RTE 741, RTE 742, RTE 743 are signal sets representing driving scenarios in which numerous different echoes can be received by the radar sensors RS1, RS2, RS3 from different objects at any time.

[0100] Accordingly, the dynamic echo signal simulation of the automotive radar sensor configuration enables dynamic testing of the automotive radar sensor configuration without the need for a vehicle or a room with sufficient space to defend the vehicle. The dynamic echo signal simulation of the automotive radar sensor configuration described herein also enables dynamic testing of driving scenarios without changing the location, time, weather conditions, or other environmental characteristics of the test environment including the test system. The dynamic echo signal simulation of the automotive radar sensor configuration described herein also enables testing with multiple driving scenarios without having to physically move any probe array during a driving scenario or between two driving scenarios.

[0101] The dynamic echo signal simulation of the automotive radar sensor configuration described herein solves various problematic aspects of the background technology. For example, the test system described herein can support multi-target dynamic echo signal simulation of multiple radar sensors and can be extended beyond those test systems described in the example embodiments of this article for other radar sensors. In addition, the test system described herein can include probes in a one-to-one correspondence with the radar sensor to simulate the echo as described herein. In addition, the signal simulator as described herein can be used to support different types of channel scenarios, because the target echo simulation is performed in the radar target simulator and the channel simulator and is independent of the spatial simulation inside the room or another test environment of the test system.

[0102] Although the dynamic echo signal simulation of the automotive radar sensor configuration has been described with reference to a number of exemplary embodiments, it should be understood that the terms that have been used are descriptive and illustrative terms, rather than limiting terms. Changes may be made within the scope of the appended claims as presently stated and as amended without departing from the scope and spirit of the dynamic echo signal simulation of the automotive radar sensor configuration in various aspects. Although the dynamic echo signal simulation of the automotive radar sensor configuration has been described with reference to specific methods, materials, and embodiments, the dynamic echo signal simulation of the automotive radar sensor configuration is not intended to be limited to the disclosed details; on the contrary, the dynamic echo signal simulation of the automotive radar sensor configuration extends to all functionally equivalent structures, methods, and uses within the scope of the appended claims.

[0103] For example, several figures in the accompanying drawings of this article show that an echo is provided once based on the confirmation of the received radar signal. However, as described herein, the echo can also be pre-arranged into a collection spaced apart in a regular manner based on the periodicity of the radar signal received, so that before providing the echo expected to respond to each individual radar signal, it is not necessary to confirm that each individual radar signal is received. In addition, several figures of this article show three different devices or systems for a scenario simulator, a radar target simulator, and a channel simulator. However, two of these three different devices or even all of these three can be combined in a single device or system, which simultaneously runs multiple different software programs to implement the functions provided by these three different devices or systems in other ways.

[0104] The description of the embodiments described herein is intended to provide a general understanding of the structure of each embodiment. The description is not intended to be used as a complete description of all elements and features described herein. After reading this disclosure, many other embodiments will be apparent to those skilled in the art. Other embodiments may also be utilized and derived from this disclosure, so that structural and logical replacements and changes may be made without departing from the scope of this disclosure. In addition, the diagram is merely representative and may not be drawn to scale. Some ratios in the diagram may be exaggerated, while other ratios may be minimized. Accordingly, this disclosure and the accompanying drawings should be considered illustrative, rather than restrictive.

[0105] One or more embodiments of the present disclosure may be referred to herein independently and / or collectively as the term "invention", which is merely for convenience, and is not intended to actively limit the scope of the present application to any particular invention or inventive concept. In addition, although specific embodiments have been shown and described herein, it should be understood that any subsequent arrangements designed to achieve the same or similar purposes can replace the specific embodiments shown. The present disclosure is intended to cover any and all subsequent adaptations or variations of each embodiment. After reading this specification, it will be apparent to those skilled in the art that the combination of the above embodiments and other embodiments not specifically described herein will be apparent.

[0106] An abstract of the present disclosure is provided to comply with 37 CFR § 1.72 (b), and an abstract of the present disclosure is submitted with the understanding that the abstract of the present disclosure will not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing detailed description, various features may be combined together or described in a single embodiment for the purpose of linking the present disclosure as a whole. The present disclosure should not be interpreted as reflecting the intention that the claimed embodiments require more features than those explicitly recited in each claim. On the contrary, as reflected in the claims below, the subject matter of the present invention may involve less than all features of any one of the disclosed embodiments. Therefore, the following claims are incorporated into the detailed description, and each claim itself represents a separate definition of the subject matter claimed.

[0107] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to practice the concepts described in the present disclosure. As such, the subject matter disclosed above should be considered illustrative rather than restrictive, and the appended claims are intended to cover all such modifications, enhancements, and other embodiments that fall within the true spirit and scope of the present disclosure. Therefore, to the maximum extent permitted by law, the scope of the present disclosure should be determined by the broadest permissible interpretation of the following claims and their equivalents and should not be restricted or limited by the foregoing detailed description.

Claims

1. A system for testing an automotive radar sensor configuration, comprising: multiple probe arrays; a plurality of enclosures each enclosing a different one of the plurality of probe arrays and a corresponding different one of the plurality of automotive radar sensors, wherein each probe array is configured to receive a radar signal from the corresponding automotive radar sensor and to simulate a return signal back to the corresponding automotive radar sensor; a channel emulator configured to supply the echo signal to each of the plurality of probe arrays, wherein the channel emulator is loaded with a radar sensor transmit antenna complex pattern and a radar sensor receive antenna complex pattern of each of the plurality of automotive radar sensors, and wherein the channel emulator applies an inversion to a radiation channel matrix of each of the plurality of automotive radar sensors based on a measurement of a coupling matrix of each of a transmit antenna array and a receive antenna array of the corresponding automotive radar sensor; A test controller includes a memory storing instructions and a processor executing the instructions, wherein the test controller controls the channel emulator and is configured to perform a performance test on an automotive radar sensor configuration including the plurality of automotive radar sensors and an automotive drive controller that reacts to the return signal received by each of the automotive radar sensors.

2. The system according to claim 1, further comprising: A radar target simulator provides the channel simulator with a radar target signal simulating a target of the radar signal from the plurality of vehicle radar sensors, and is used by the channel simulator as an input to generate the echo signal simulated by the plurality of probe arrays.

3. The system according to claim 2, further comprising: A scenario simulator that provides radar target parameters to the radar target simulator and provides channel simulator parameters to the channel simulator for each of a plurality of different driving scenarios, wherein the radar target simulator causes the radar target signal to be different for the different driving scenarios and the channel simulator causes the echo signal to be different for the different driving scenarios.

4. The system according to claim 3, wherein a subset of probe antenna elements is selected for each of the plurality of probe arrays based on measurements of a transmit coupling matrix and a receive coupling matrix of a corresponding vehicle radar sensor, The channel emulator applies a channel effect to the radar target signal and provides the radar target signal with the applied channel effect to the multiple probe arrays as the echo signal simulated by the multiple probe arrays; the radar target simulator or the channel simulator notifies the test controller of a timing of providing each of the echo signals to the corresponding automotive radar sensor, The test controller receives notification of a reaction from the vehicle drive controller in response to each of the return signals received by the plurality of vehicle radar sensors, and Each of the plurality of probe arrays is coupled to the corresponding automotive radar sensor within a reaction field of the corresponding automotive radar sensor.

5. A method for testing an automotive radar sensor configuration, comprising: enclosing within each of the plurality of enclosures a different one of the plurality of probe arrays and a corresponding different one of the plurality of vehicle radar sensors, wherein each probe array is configured to receive a radar signal from the corresponding vehicle radar sensor and to simulate a return signal back to the corresponding vehicle radar sensor; receiving, by the channel emulator, channel emulator parameters; The channel simulator receives a radar target signal; applying a channel effect to the radar target signal by the channel simulator; The channel emulator provides the radar target signal with the applied channel effect to the plurality of probe arrays as an echo signal for simulating an echo to the radar signal; performing, by a test controller, a performance test on a vehicle radar sensor configuration including the plurality of vehicle radar sensors and a vehicle drive controller responsive to the return signal received by each of the vehicle radar sensors; The channel emulator measures a transmit coupling matrix of each of the automotive radar sensors by capturing radar signals emitted by each of the automotive radar sensors, and A signal of a receive coupling matrix of each of the automotive radar sensors is captured and a digital representation of the signal of the receive coupling matrix of each of the automotive radar sensors is measured.

6. The method according to claim 5, further comprising: The channel emulator or the radar target emulator providing the radar target signal to the channel emulator notifies the test controller each time the echo signal is sent; as well as The test controller receives a notification of the issuance of each echo signal from the radar target simulator or the channel simulator and receives a response to each echo signal from the vehicle drive controller, wherein the performance test is performed based on the response to each echo signal.

7. The method according to claim 5, further comprising: receiving radar target parameters by a radar target simulator, wherein the radar target simulator provides the radar target signal to the channel simulator, and The scenario simulator provides radar target parameters to the radar target simulator and provides channel simulator parameters to the channel simulator for each of a plurality of different driving scenarios, wherein the radar target simulator causes the radar target signal to be different for the different driving scenarios and the channel simulator causes the echo signal to be different for the different driving scenarios.

8. The method according to claim 5, further comprising: loading the channel emulator with a radar sensor transmit antenna complex pattern and a radar sensor receive antenna complex pattern for each of the plurality of automotive radar sensors, and An inversion is applied, by the channel emulator, to a radiation channel matrix for each of the plurality of automotive radar sensors based on the radar sensor transmit antenna complex pattern and the radar sensor receive antenna complex pattern for each of the plurality of automotive radar sensors.

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