Environmental sensor testing device, testing system for environmental sensor and method for operating environmental sensor testing device

Abstract

The invention relates to an environment sensor testing device, and the device comprises a receiving device which is configured to receive a first environment signal of a to-be-tested environment sensor and convert the first environment signal into a first working signal; the digital part is configured to convert the first working signal into a first digital signal and change the first digital signal into a second digital signal according to a test scene, the digital part is configured to associate the second digital signal with a third digital signal to form a fourth digital signal, and the third digital signal depends on a preset rule; the digital part is configured to convert the fourth digital signal into a second working signal; and the transmitting device is configured to convert the second working signal into a second environment signal and transmit the second environment signal to the environment sensor, and the third digital signal corresponds to at least one interference signal of an interference source of the second working signal. The invention also relates to a test system for an environmental sensor and a method for operating an environmental sensor test device.

Description

Technical Field

[0001] The present application relates to an environmental sensor testing device and a method for operating the environmental sensor testing device. The present application also relates to a testing system for an environmental sensor. Background Art

[0002] The environmental sensor can be configured, for example, as a vehicle sensor operating with electromagnetic waves. Examples of such a vehicle sensor are radar sensors or lidar sensors. The environmental sensor test device can be used, for example, as an object simulator for such a vehicle sensor. Summary of the Invention

[0003] The environmental sensor test device has a receiving device, a digital part and a transmitting device.

[0004] The receiving device is configured to receive a first environmental signal from an environmental sensor to be tested and convert the first environmental signal into a first working signal.

[0005] The digital portion is configured to convert the first working signal into a first digital signal and change the first digital signal into a second digital signal based on a test scenario. The digital portion is further configured to associate the second digital signal with a third digital signal to form a fourth digital signal, where the third digital signal is determined based on a preset specification. The digital portion is further configured to convert the fourth digital signal into the second working signal.

[0006] The transmitting device is configured to convert the second working signal into a second environmental signal and transmit the second environmental signal to the environmental sensor.

[0007] The third digital signal corresponds to at least one interference signal of a source of interference with the second working signal. ie, the third digital signal is designed such that it modifies the second working signal as the interference source would behave in the environment of the environmental sensor.

[0008] The method for operating an environmental sensor test device comprises the following method steps:

[0009] Receive a first environmental signal from an environmental sensor to be tested;

[0010] Converting the first environmental signal into a first working signal;

[0011] Converting the first working signal into a first digital signal;

[0012] Changing the first digital signal to a second digital signal according to the test scenario;

[0013] Combining the second digital signal with the third digital signal to form a fourth digital signal, wherein:

[0014] The third digital signal depends on the preset regulations;

[0015] Converting the fourth digital signal into a second working signal;

[0016] Converting the second working signal into a second environmental signal;

[0017] Transmitting a second ambient signal to the ambient sensor.

[0018] The third digital signal is generated such that, after being combined with the second digital signal and converted into a fourth digital signal and a second working signal, it is reflected in the second working signal like at least one interference signal of an interference source. In other words, the third digital signal corresponds to at least one interference signal of an interference source in the environment of the environmental sensor.

[0019] In other words, the environmental sensor testing device and the corresponding method offer the following advantages: artificial digital interfering signals are added to the digital portion. This allows for simple addition of any combination of interfering or disturbing signals. In particular, the third digital signal can represent the environmental signals of one or more transmitters. This third digital signal can be added purely digitally, eliminating the need for an analog signal generator. This allows for realistic simulation of environmental sensors, which can improve the development quality of environmental sensors for vehicle applications.

[0020] Environmental sensor testing devices enable testing of environmental sensors, such as radar sensors or lidar sensors, in a variety of test scenarios in the laboratory. This eliminates the need for test drives of vehicles equipped with environmental sensors. To this end, the environmental sensor testing device can simulate the environment of the environmental sensor and / or vehicle by simulating the environment's response to environmental signals emitted by the environmental sensor as it would based on the test scenario.

[0021] To this end, the environmental sensor testing device includes a receiving device that receives a first environmental signal from the environmental sensor to be tested. For example, if the environmental sensor is a radar sensor, a receiving antenna and an analog receiving section are provided for this purpose. The receiving device includes the analog receiving section. Corresponding high-frequency circuits, such as amplifiers, filters, and mixers, are provided. The first environmental signal is converted into a first operating signal in the receiving device. The first operating signal is an analog signal.

[0022] The receiving device is connected to the digital part via an analog-to-digital converter of the digital part, for example. The digital part has the analog-to-digital converter, which converts the first working signal into a first digital signal.

[0023] The digital part may be designed, for example, as a so-called Field Programmable Gate Array (FPGA), or may have digital circuits in combination with one or more processors, or may have only one or more processors.

[0024] The digital part then converts the first digital signal into a second digital signal based on a test scenario. For example, the test scenario specifies which objects should be within the field of view of the environmental sensor to be tested, where they are located, and what properties they possess. This serves as the basis for simulating these objects. Using the test scenario, the digital part then generates a signal reflected by the simulated object from the first digital signal as the second digital signal.

[0025] The second digital signal and the third digital signal are associated to form a fourth digital signal. The association can be a combination of the two signals, such as addition or multiplication. The third digital signal corresponds to an interference or interfering signal from one or more interference sources or (interfering) transmitters. The interference signal is virtually generated in the form of a third digital signal via a digital portion. Here, the third digital signal has at least a portion corresponding to the interference or interfering signal from one or more interference sources or (interfering) transmitters. It is also possible that the third digital signal also has other signal portions.

[0026] The third digital signal and the fourth digital signal are associated according to a predetermined rule. The predetermined rule can be changed dynamically during operation of the environmental sensor testing device, in particular during testing of the environmental sensor. The predetermined rule can be changed, in particular, independently of the test scenario.

[0027] If the environmental sensor includes a lidar sensor, the receiving device has a corresponding optical receiver. The first environmental signal correspondingly includes an optical signal emitted by the lidar sensor to be tested. The receiving device converts the received optical signal into an electrical signal as a first working signal, and then outputs the first working signal to the digital part via the analog-to-digital converter of the digital part. The analog-to-digital converter converts the first working signal into a first digital signal. The third digital signal then corresponds to an optical interference signal or an obstruction signal of one or more optical transmitters serving as interference sources. In the sense of the present application, this means that the third digital signal has a signal portion corresponding to at least one interference signal. These interference signals are virtually generated in the form of a third digital signal by the digital part. Therefore, the obstruction signal represents an optical signal from other lidar sensors or other optical transmitters, which output corresponding optical signals of the same or similar wavelength as the environmental sensor to be tested.

[0028] The environmental sensor testing device also includes a transmitter that converts the fourth digital signal into a second working signal. The digital part includes a digital-to-analog converter that converts the fourth digital signal into the second working signal. The second working signal is an analog signal. The transmitter can further process the second working signal using a frequency shifter, a mixer, and an amplifier before converting it into the second environmental signal. Changes to the fourth digital signal—which are made to the second working signal by the transmitter after the digital-to-analog converter—can be taken into account when correlating the third digital signal with the second digital signal to form the fourth digital signal. For example, changes in the analog transmitter can be considered in advance.

[0029] The second ambient signal is then transmitted by the transmitting device. In the case of a radar sensor as the ambient sensor, the second ambient signal is transmitted via a transmitting antenna, and in the case of a lidar sensor as the ambient sensor, the second ambient signal is transmitted via an optical transmitter, such as a laser or a light emitting diode.

[0030] In one embodiment, the third digital signal is generated by the digital component according to predefined specifications or loaded from a memory within the digital component according to predefined specifications. In other words, it is possible to load the third digital signal from the memory according to predefined specifications, wherein a library of such interfering signals has been created in advance and the third digital signal is loaded from the memory according to predefined specifications. It is also possible to generate the third digital signal by the digital component. While this requires computing power, it saves memory capacity. Furthermore, the third digital signal can correspond to any interfering signal, unlike a library, which is limited by its contents. Hybrid implementations are also conceivable, where, for example, the contents of the library are dynamically generated by the digital component.

[0031] In one embodiment, the interference source includes at least one additional environmental sensor, and / or the at least one interference signal includes at least one additional environmental signal from the at least one additional environmental sensor. This allows the virtual transmitter emitting the interference signal to be another environmental sensor, for example, one installed on another vehicle or infrastructure that may also have such an environmental sensor. However, other transmitted signals (e.g., emitted by a WiFi transmitter) can also be such an interference signal.

[0032] In one embodiment, a test scene includes at least one object to be simulated in the environment of the environmental sensor. The environmental sensor testing device simulates the at least one object in the environment of the environmental sensor, wherein the change from the first digital signal to the second digital signal depends on the test scene including the at least one object to be simulated. Alternatively, it is also possible that the test scene does not include an object and the second digital signal is therefore a zero signal, i.e., the first environmental signal emitted by the environmental sensor to be tested is not reflected by the object. In this case, only interference signals can be transmitted back to the environmental sensor.

[0033] In some embodiments, an input device for inputting input data may also be provided. The preset specifications depend on these input data. Thus, a user using the environmental sensor testing device to test environmental sensors can make corresponding inputs to configure the preset specifications according to which the interference signal of the transmitter should be formed. Input can also be automated, for example by inputting interference scenarios. This allows any interference scenario to be superimposed on the test scenario.

[0034] In some embodiments, a signal form may be pre-recorded by the environmental sensor test device or another environmental sensor test device in a real or simulated test scenario and may be predetermined as the interference signal.

[0035] In one embodiment, the preset provisions include the number of interference sources and / or at least one type of interference source and / or at least one corresponding signal parameter of the interference signal. The type of interference source may include whether the interference source is another environmental sensor or an infrastructure transmitter, etc. Signal parameters may include, for example, frequency, amplitude, phase, modulation type, etc. In particular, the number of (interfering) transmitters and / or at least one type of at least one (interfering) transmitter and / or at least one corresponding signal parameter of the corresponding other environmental signal can be predetermined by the preset provisions. Thus, the interfering signal of at least one transmitter can be precisely specified via the preset provisions. Signal parameters include, for example, the amplitude, frequency, phase, and modulation type of the signal. The type of at least one transmitter may be understood as a manufacturer-specific type of radar sensor or lidar sensor, for example. Furthermore, it may be provided that the at least one corresponding signal parameter defines the modulation type more precisely and, for example, includes parameters describing a chirp signal, in which the frequency of the signal changes over time.

[0036] Optionally, the preset rule may further include whether the interference source is moving or stationary. For example, movement may cause an impact due to the Doppler effect.

[0037] In some embodiments, the digital portion can be implemented as an FPGA. An FPGA is an integrated circuit into which logic circuits can be loaded. On the one hand, FPGAs can be flexibly programmed via gates. On the other hand, they generally offer faster computations than software solutions implemented via processors, for example.

[0038] Furthermore, a test system for an environmental sensor is provided, wherein the test system comprises the described environmental sensor test device and a receptacle for the environmental sensor. The receptacle is provided for receiving the environmental sensor to be tested during testing and for positioning it so that the environmental sensor is in a defined geometric arrangement relative to the environmental sensor test device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Embodiments of the present application are shown in the drawings and explained in detail in the following description.

[0040] Figure 1 A block diagram schematically illustrates a test system;

[0041] Figure 2 A block diagram schematically illustrating an environmental sensor testing device; and

[0042] Figure 3 A flow chart of a method for operating an environmental sensor testing device is schematically shown.

[0043] In the accompanying drawings, the same reference numerals are used for the same or similar elements. The illustrations in the accompanying drawings may not be drawn to scale. DETAILED DESCRIPTION

[0044] Figure 1 The block diagram of a test system TA is schematically shown. The test system TA has a receptacle AUF for an environmental sensor RUT, for example a radar sensor, and an environmental sensor test device DARTS.

[0045] The environmental sensor RUT outputs a first environmental signal U1, which is received by a receiving antenna A1 of the environmental sensor test device DARTS. The receiving antenna A1 can be configured as a horn antenna, a phased array antenna, or another antenna type. Furthermore, a wired connection, such as via a waveguide, is also conceivable.

[0046] The environmental sensor test device DARTS modifies the received first environmental signal U1 according to the test scenario and emits a second environmental signal U2 via a transmitting antenna A2. Transmitting antenna A2 can be configured as a horn antenna, a phased array antenna, or other antenna types. Receiving antenna A1 and transmitting antenna A2 can also be combined into a single antenna.

[0047] The second environmental signal U2 can be received by the environmental sensor RUT. The test scenario provides simulated objects, which reflect the first environmental signal. For example, the simulated objects can be other traffic participants in the environment of the environmental sensor RUT, such as vehicles or pedestrians. The simulated objects can also include the environment of the environmental sensor RUT itself, such as roads, buildings, and infrastructure.

[0048] Figure 2 The block diagram of the environmental sensor test device DARTS is schematically shown.

[0049] The environmental sensor test device DARTS converts the received first environmental signal U1 into a first operating signal AS1, then converts the first operating signal into a first digital signal D1. This first digital signal is then converted into a second digital signal D2 based on the test scenario. The second digital signal D2, derived from the first digital signal D1 and the test scenario, reproduces the signal reflected in the environment of the environmental sensor RUT. This environment is defined in the test scenario.

[0050] The second digital signal D2 is then combined with the third digital signal D3. This combination can be achieved, for example, by adding the second digital signal D2 and the third digital signal D3 or by multiplying the second digital signal D2 and the third digital signal D3. The third digital signal D3 corresponds to at least one other interference signal of at least one interference source according to a predetermined specification. In this context, "corresponding" means that the third digital signal D3 has signal components that, after the conversion step, act like interference signals in the emitted second ambient signal U2.

[0051] In addition to the environmental sensor RUT, interference sources, such as other environmental sensors, also emit interference signals, such as other environmental signals. These interference signals may constitute interfering signals for the environmental sensor RUT within the same frequency range as the first environmental signal U1. This may cause interference, which the environmental sensor RUT must account for in order to correctly detect the environment. Therefore, it is advantageous to identify these interfering signals and eliminate or at least reduce their influence.

[0052] Then, in the environmental sensor test device DARTS, a second working signal AS2 is generated from the fourth digital signal D4 composed of the second digital signal D2 and the third digital signal D3, and a second environmental signal U2 is generated from the second working signal. The second environmental signal U2 is transmitted to the environmental sensor RUT via the transmitting antenna A2.

[0053] The receiving antenna A1 and the transmitting antenna A2 can be integrated into a single antenna. It is possible that the antennas A1 and A2 can be horn antennas or antenna arrays. Other antenna types are also possible.

[0054] The environmental sensor test device DARTS has an analog high-frequency section consisting of a receiver RX and a transmitter TX. Both the receiver RX and the transmitter TX are connected to the digital section FPGA. This connection is ensured via an analog-to-digital converter ADC from the receiver RX to the digital section FPGA, and via a digital-to-analog converter DAC from the digital section FPGA to the transmitter TX. In the illustrated embodiment, these two converters, ADC and DAC, are part of the digital section FPGA. Alternatively, these converters can be assigned to the receiver RX and transmitter TX, respectively, or they can be considered separate components.

[0055] A first ambient signal U1 is received by antenna A1. In receiver RX, the first ambient signal is then down-converted into a first operating signal AS1 by a first mixer M1. For this purpose, a heterodyne or superheterodyne receiver can be used, for example. For simplicity, amplifiers, filters, and further mixers are not shown.

[0056] The first working signal AS1 enters the analog-to-digital converter ADC, and the analog-to-digital converter generates a first digital signal D1 from the first working signal.

[0057] The second digital signal D2 is formed from the first digital signal D1 according to the test scenario by the processing module V. The processing module can be a delay path A module or frequency shifting device for influencing the amplitude. This test scenario provides a simulated environment for the environmental sensor RUT. This environment determines whether and how the first environmental signal U1 is reflected. If the environment is empty, the second digital signal D2 is a zero signal because no signal is reflected by the object. The test scenario can be loaded from the memory and can be replaced multiple times during the test of the environmental sensor RUT. In particular, the test scenario can be changed by input (e.g., via an input unit).

[0058] The second digital signal D2 is combined with the third digital signal D3, for example, in an additive or multiplicative manner. The third digital signal D3 is loaded from a memory B. The memory B may include a library from which a specific third digital signal D3 is loaded according to a preset specification. The preset specification can be input and / or changed by input (e.g., via an input unit). The preset specification is particularly independent of the test scenario and can be changed regardless of the test scenario.

[0059] The library contains various interference scenarios, which specifically reflect obstruction scenarios and, for example, specify the number of obstructing emission sources, their types, and their signal parameters. This is then reflected in the obstruction signal and, therefore, in the third digital signal D3. Alternatively or additionally, the digital part FPGA can also generate the third digital signal D3 according to predefined specifications in order to combine it with the second digital signal D2 to form the fourth digital signal D4.

[0060] The fourth digital signal D4 is then converted by the digital-to-analog converter DAC into a second operating signal AS2. The second operating signal AS2 is shaped by the amplifier AMP and the frequency shift device F, and then up-converted into a second ambient signal U2 in the second mixer M2 so that it can be transmitted as the second ambient signal U2 via the transmitting antenna A2.

[0061] Figure 3 A flow chart showing a method for operating an environmental sensor test device DARTS.

[0062] In method step 300 , a first ambient signal U1 of the ambient sensor RUT to be tested is received by the ambient sensor testing device DARTS by means of a receiving antenna A1 .

[0063] In method step 301 , a first ambient signal U1 is converted into a first operating signal AS1 via a first mixer M1 .

[0064] In method step 302 , the first operating signal AS1 is converted into a first digital signal D1 by an analog-to-digital converter ADC.

[0065] In method step 303 , the first digital signal D1 is changed into a second digital signal D2 according to a test scenario.

[0066] In method step 304, the third digital signal D3 is loaded from the memory B according to a predetermined specification, or generated by the digital part FPGA according to a predetermined specification. The third digital signal D3 corresponds to at least one interference signal of at least one interference source.

[0067] In method step 305 , the second digital signal D2 and the third digital signal D3 are combined to form a fourth digital signal D4 .

[0068] In method step 306 , the fourth digital signal D4 is converted into a second working signal AS2 . Optionally, the second working signal AS2 is amplified by an amplifier Amp and manipulated in frequency by a frequency shifting device F.

[0069] In method step 307 , the second operating signal AS2 is converted into a second ambient signal U2 by a second mixer M2 .

[0070] In method step 308 , a second ambient signal U2 is transmitted via antenna A2 to the ambient sensor RUT.

[0071] Reference Signs List

[0072] TA Test System

[0073] DARTS Environmental Sensor Test Set

[0074] FPGA digital part

[0075] AUF accommodation unit

[0076] RUT Environmental Sensor

[0077] A1 First Antenna

[0078] A2 Second Antenna

[0079] U1 First ambient signal

[0080] U2 Second ambient signal

[0081] M1 first mixer

[0082] M2 Second mixer

[0083] RX receiving device

[0084] TX transmitter

[0085] AS1 first working signal

[0086] AS2 Second working signal

[0087] Amp

[0088] V Processing Module

[0089] F Frequency Shift Device

[0090] D1 first digital signal

[0091] D2 Second digital signal

[0092] D3 third digital signal

[0093] D4 Fourth digital signal

[0094] B Memory

[0095] ADC analog-to-digital converter

[0096] DAC Digital-to-Analog Converter

[0097] 300-308 Methods and Steps

Claims

1. Ambient Sensor Test Set (DARTS) with: a receiving device (RX) configured to receive a first environmental signal (U1) of an environmental sensor to be tested (RUT) and convert the first environmental signal (U1) into a first working signal (AS1); a digital part (FPGA), the digital part being configured to convert the first working signal (AS1) into a first digital signal (D1) and to change the first digital signal (D1) into a second digital signal (D2) according to a test scenario, wherein The digital part (FPGA) is configured to associate the second digital signal (D2) with the third digital signal (D3) to form a fourth digital signal (D4), wherein the third digital signal (D3) depends on a preset regulation, and the digital part (FPGA) is configured to convert the fourth digital signal (D4) into a second working signal (AS2); a transmitting device (TX) configured to convert the second operating signal (AS2) into a second environmental signal (U2) and transmit the second environmental signal to the environmental sensor (RUT); The third digital signal (D3) corresponds to at least one interference signal of an interference source of the second working signal (AS2).

2. The environmental sensor test device (DARTS) according to claim 1, wherein: The digital part (FPGA) is configured to generate the third digital signal (D3) according to the preset regulation or load the third digital signal from the memory (B) according to the preset regulation.

3. The environmental sensor test device (DARTS) according to claim 1 or 2, wherein: The interference source has at least one further ambient sensor and / or the at least one interference signal has at least one further ambient signal of the at least one further ambient sensor.

4. The environmental sensor test device (DARTS) according to any one of the preceding claims, wherein The test scenario has at least one object to be simulated in the environment of the environmental sensor (RUT), the environmental sensor test device (DARTS) is designed to simulate the at least one object in the environment of the environmental sensor (RUT), and the change from the first digital signal (D1) to the second digital signal (D2) depends on the at least one real object to be simulated.

5. The environmental sensor test device (DARTS) according to any one of the preceding claims, wherein An input device is provided for inputting input data, wherein the predefined specification depends on the input data.

6. The environmental sensor test device (DARTS) according to any one of the preceding claims, wherein The predefined requirements include the number of interference sources and / or at least one type of interference source and / or at least one corresponding signal parameter of the interference signal.

7. The environmental sensor test device (DARTS) according to any one of the preceding claims, wherein The preset regulations include whether the interference source is moving or stationary.

8. The environmental sensor test device (DARTS) according to any one of the preceding claims, wherein The environmental sensor testing device is configured to test a radar sensor and / or a lidar sensor.

9. The environmental sensor test device (DARTS) according to any one of the preceding claims, wherein: The digital part is constructed as a field programmable gate array.

10. A test system (TA) for an environmental sensor, wherein: The test system (TA) comprises an environmental sensor test device (DARTS) according to any one of the preceding claims and a receptacle (AUF) for an environmental sensor (RUT).

11. A method for operating a device for testing environmental sensors (DARTS), comprising: receiving a first environmental signal (U1) from an environmental sensor under test (RUT); converting the first environmental signal (U1) into a first working signal (AS1); converting the first working signal (AS1) into a first digital signal (D1); changing the first digital signal (D1) into a second digital signal (D2) according to a test scenario; The second digital signal (D2) and the third digital signal (D3) are combined into a fourth digital signal (D4), wherein The third digital signal (D3) depends on a preset regulation; converting the fourth digital signal (D4) into a second working signal (AS2); converting the second working signal (AS2) into a second environmental signal (U2); transmitting the second environmental signal (U2) to the environmental sensor (RUT); The third digital signal (D3) corresponds to at least one interference signal of an interference source of the second working signal (AS2).

12. The method according to claim 11, wherein The third digital signal (D3) is generated according to the preset specification or loaded from the memory (B) according to the preset specification.

13. The method according to claim 11 or 12, wherein: The interference source has at least one further ambient sensor and / or the at least one interference signal has at least one further ambient signal of the at least one further ambient sensor.

14. The method according to any one of claims 11 to 13, further comprising: receiving input data via an input device, wherein The preset specification depends on the input data.

15. The method according to any one of claims 11 to 14, wherein The predefined requirements include the number of interference sources and / or at least one type of interference source and / or at least one corresponding signal parameter of the interference signal.

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