Method and device for simulating a motor vehicle

Abstract

Method for simulating a motor vehicle with the following characteristics: - Motor vehicle malfunctions are indicated by external fault indicators (1) which include a fault light and a horn, - Torques caused by the malfunctions are applied via a force-feedback steering wheel (2) and - Braking and acceleration processes of the motor vehicle resulting from malfunctions and from faulty shifting operations or a complete takeover of the pedal assembly (3) by an autonomous longitudinal control system of the motor vehicle, which include unintentional acceleration or braking, are initiated by a virtual control unit for the pedal assembly (3), characterized by the following features: - the malfunctions manifest themselves in the warning light or horn switching on or off, - the torques result from a complete takeover of the steering wheel by an autonomous lateral control system of the vehicle, - the incorrect steering or takeover can be controlled by manual steering intervention, - faulty shifting operations, unintentional acceleration or braking or autonomous longitudinal control are deactivated as required by the pedals (3) and the external fault indicators (1), the force feedback steering wheel (2) and the pedals (3) are deactivated as required by an emergency shutdown.

Description

[0001] The present invention relates to a method for simulating a motor vehicle. The present invention further relates to a corresponding device, a corresponding computer program, and a corresponding storage medium. State of the art

[0002] State-of-the-art driver assistance systems (DAS) encompass a wide range of technologies designed to support, enhance, or partially automate the human operation of motor vehicles. The functionality of these systems ranges from simple warning functions like parking assistance to complex adaptive controls such as autonomous longitudinal and lateral vehicle guidance.

[0003] The development process for ADAS (Advanced Driver Assistance Systems) includes numerous tests and validations to ensure the safety and reliability of these systems. Traditionally, such trials are conducted using real vehicles on test tracks or in public traffic. The vehicle prototypes used are often equipped with numerous sensors and measuring devices to collect comprehensive data on the system's behavior under various conditions.

[0004] A critical aspect of ADAS development is safeguarding against malfunctions. In practice, a driver assistance system may exhibit unexpected or faulty reactions that can lead to critical driving situations. To handle such scenarios safely, it is essential that those responsible for testing not only possess technical knowledge of the systems but are also able to react appropriately to malfunctions.

[0005] To train drivers' ability to react to malfunctions, special training programs have previously been conducted in real vehicles. These trainings offer the advantage of taking place under realistic conditions and providing direct physical feedback to the driver. However, such training is expensive because it interrupts the actual vehicle development process and can create potentially dangerous situations for test drivers and other road users.

[0006] In addition to physical testing, driving simulators have established themselves as a useful tool in vehicle development. A driving simulator is a computer-based system that allows driving behavior and vehicle reactions to be simulated in a controlled environment. Modern driving simulators range from simple desktop systems to sophisticated systems with motion platforms that create an immersive environment and reproduce a wide variety of driving scenarios.

[0007] A key advantage of driving simulators is the ability to reproduce dangerous or rare traffic situations without compromising the safety of those involved. They allow for the continuous repetition of specific scenarios and the precise control of environmental conditions, which is invaluable for the analysis of ADAS (Advanced Driver Assistance Systems). Furthermore, they reduce the need for physical prototypes, thereby saving costs and development time.

[0008] The hardware components of a driving simulator, such as a force-feedback steering wheel and corresponding pedals, are crucial for realistically replicating the driving experience. A force-feedback steering wheel, for example, is able to simulate, via motors, the resistances and forces that would act on the steering wheel during driving. This includes normal steering forces as well as potential disturbances.

[0009] CN 117 456 796 A discloses the subject matter of the preamble of claim 1.

[0010] CN 110 930 812 A discloses a simulator with a module that indicates whether it is operating normally or in a fault state. In the latter case, the fault type can be displayed and an alarm sounds. Another module can be started manually to initiate an emergency shutdown.

[0011] CN 107 871 418 A teaches how to override automated (even faulty) steering, braking and acceleration processes by manually intervening at the steering wheel or pedals.

[0012] DE 10 2010 003 210 A1, for example, describes a method for simulating a critical driving condition in a motor vehicle caused by a disturbance such as a gust of wind or an uneven road surface. An instruction regarding the disturbance is converted into one or more signals and transmitted to vehicle components such as the steering, braking system, or chassis to simulate the disturbance. These signals can generate additional torque at the steering wheel or an additional angle at the wheels. A control unit in the vehicle is responsible for converting the instruction into the signals and transmitting them. Additionally, a user interface, such as a joystick or a graphical user interface, is presented through which the instructions can be entered.

[0013] EP 2 439 718 A1 describes a method for computer-aided instruction in the properties, functions, and operation of a vehicle. The method includes the simulation of vehicle characteristics, behavior, interaction results, and fault scenarios, as well as the storage of teaching materials such as vehicle diagrams, operating protocols, and training examples. During a training session, the vehicle simulation is placed in a predefined state, and user inputs representing interaction with the vehicle are accepted and their effects on the vehicle are simulated. The system checks whether the interaction conforms to a predefined protocol, and the simulation is adjusted accordingly if there are deviations. If the user deviates from the protocol, the simulation unit informs a teaching instance, which then stops the simulation and presents the user with teaching materials relating to the relevant part of the training session or protocol.

[0014] DE 10 2018 111 016 A1 describes a method for operating a semi-autonomous or autonomous motor vehicle in which a virtual obstacle or a simulated fault is displayed by means of an AR display device. The method includes recording the reaction of an occupant, in particular the driver, to this display. It serves to train the occupant in handling the autonomous driving mode and to gather insights into the occupant's reactions in various situations. The display device can be implemented as a so-called video see-through or optical see-through and is capable of supplementing the perception of reality by superimposing or overlaying virtual information. The autonomous operating mode can be overridden by driving interventions of the occupant during or after the display of the virtual obstacle or the simulated fault.

[0015] US 2023 / 401974 A1 describes a procedure for training drivers to take over control in semi-autonomous vehicles. It includes creating a database of takeover scenarios, developing virtual training scenarios and device models, developing a teaching model, conducting the actual takeover training, and evaluating and analyzing the driver's takeover capability. An example takeover scenario involves a six-lane highway with a speed limit of 120 km / h, where typical takeover events such as roadworks or obstacles are announced seven seconds in advance. The training can be conducted online or using immersive VR equipment, with eye movements, physiological characteristics, and driving behavior being recorded during the training. Finally, the collected data is analyzed to assess the driver's takeover capability.

[0016] WO 2012 / 122009 A1 describes a mobile, self-powered simulator mounted on a trailer, incorporating a fully functional control system for Caterpillar 35 and 36 series engines. The simulator is powered on via a master PLC, allowing the user to select various training modules and faults via a user interface and initiate the training. A second PLC, along with other electronics, simulates the engine and operational processes interacting with the control system. During training, the instructor can manipulate the system physically, electronically, or programmatically to generate faults, which can then be addressed during the training without interrupting actual equipment. Upon completion of the training, the faults can be reset using a reset button on a control panel to repeat the training.

[0017] US 2020 / 126442 A1 describes a fault simulation system consisting of a server, a terminal with a user interface, and a control unit. This system is used for the remote training and assessment of practical knowledge for automotive maintenance personnel. It enables the replication or simulation of faults by manipulating the signals of the vehicle's electronic system. The system is designed to simulate a wide variety of defects in various vehicle systems, such as the fuel injection computer, air conditioning system, CAN bus system, dynamic stability control, or ABS. By manipulating the signals of the vehicle's electronic communication system, a realistic fault scenario is generated. Disclosure of the invention

[0018] The object of the invention is to effectively and safely prepare developers of driver assistance systems (ADAS) as well as test drivers for dealing with malfunctions in prototypes. Prototype ADAS are in an early stage of their development and are therefore susceptible to unforeseen errors that can lead to dangerous situations while driving. These malfunctions can be varied, ranging from simple system failures to complex errors that affect the overall vehicle behavior.

[0019] One challenge lies in the need to create a training method that allows these malfunctions to be experienced in a controlled, risk-free environment and appropriate response strategies to be developed without compromising the physical safety of individuals or the integrity of the prototypes. While existing training methods in real vehicles are effective in providing realistic experience, they carry the risk of accidents and are also time-consuming and expensive. Furthermore, it is difficult to conduct such training in heavy traffic or under specific, rarely occurring conditions.

[0020] Another aspect of the problem is the limitation imposed by the availability of the prototypes themselves. Often, only a limited number of prototypes are available for testing, and any prototype failure can lead to significant delays in the development process. Furthermore, physical test drives can only cover a limited number of scenarios, restricting the ability to be prepared for a wide range of potential failures.

[0021] Furthermore, the objectivity and reproducibility of training pose a challenge. In a real vehicle, test drives can be subject to subjective influences, and the repeatability of specific error scenarios is often not guaranteed. This hinders systematic analysis and learning from errors.

[0022] Finally, one problem lies in the efficient use of resources. Conducting training in real vehicles requires considerable material and personnel resources and can place a significant burden on development departments. The costs of using test tracks, maintaining and modifying the vehicles, and the logistical organization of the training sessions present further challenges in this context.

[0023] The problem described is solved by a method for simulating a motor vehicle, a corresponding device, a corresponding computer program and a corresponding storage medium according to the independent claims.

[0024] This approach has the advantage of creating a risk-free and controlled environment in which a wide variety of error conditions can be simulated without endangering the physical safety of those involved or the material integrity of prototypes.

[0025] The implementation of the invention, independent of a driving simulator, opens up the possibility of reproducing realistic ADAS error scenarios in a variety of traffic environments. This enables a systematic examination of potential malfunctions and thus promotes the understanding and responsiveness of those involved in the development and testing of driver assistance systems.

[0026] The integration of external fault indicators, a force-feedback steering wheel, and a virtually controlled pedal assembly makes it possible to simulate the vehicle's reaction to a wide range of fault conditions. Drivers can thus practice the correct behavior in unexpected events under safe conditions, which in turn contributes to improved safety in real-world ADAS applications.

[0027] The ability to design error states and their effects in a reproducible and variable way also offers the advantage that training programs can be objectively evaluated and optimized. This leads to a standardized training methodology and contributes to consistent quality in development and testing.

[0028] Further advantageous embodiments of the invention are specified in the dependent patent claims. Brief description of the drawing The single figure shows in tabular form the main components of a system according to the invention as well as the possibilities for controlling or deactivating them. Embodiments of the invention

[0029] The figure illustrates a system consisting of three main components that make it possible to simulate a vehicle and its reactions to malfunctions within a training program.

[0030] The external fault indicators (1), such as the warning lights controlled by the ADAS and the horn, are implemented using hardware. The same applies to the force-feedback steering wheel (2), which forms the interface between the driver and the simulated vehicle. It is equipped with motors capable of generating torques that give the driver the feeling of actually steering a vehicle. These torques can simulate both normal steering responses of the vehicle and faulty steering torques caused by malfunctions. For example, the steering wheel can generate a sudden, unexpected steering torque that prompts the driver to react by manually steering to maintain control.

[0031] The pedal assembly (3) allows the driver to control acceleration and braking. These actions are performed using virtual controllers that manipulate the control signals generated by the physical actuation of the simulator's accelerator and brake pedals. The pedal assembly can thus represent both intentional and unintentional accelerations and decelerations, which may result, for example, from faulty gear changes or a complete takeover of control by an autonomous system.

[0032] During the training, drivers are presented with scenarios in which they must decide whether to activate an emergency stop switch or intervene directly by steering, braking or accelerating to react to the simulated dangerous situation. Reference symbol list 1 external error indicators 2 Force feedback steering wheel 3 Pedals

Claims

[1] Method for simulating a motor vehicle with the following features: - Motor vehicle malfunctions are indicated by external fault indicators (1) which include a fault light and a horn, - Torques caused by the malfunctions are applied via a force-feedback steering wheel (2) and - Braking and acceleration processes of the motor vehicle resulting from malfunctions and from faulty shifting operations or a complete takeover of the pedal assembly (3) by an autonomous longitudinal control system of the motor vehicle, which include unintentional acceleration or braking, are initiated by a virtual control unit for the pedal assembly (3), characterized by the following characteristics: - the malfunctions manifest themselves in the warning light or horn switching on or off, - the torques result from a complete takeover of the steering wheel by an autonomous lateral control system of the vehicle, - the incorrect steering or takeover can be controlled by manual steering intervention, - faulty shifting operations, unintentional acceleration or braking or autonomous longitudinal control are deactivated as required by the pedals (3) and the external fault indicators (1), the force feedback steering wheel (2) and the pedals (3) are deactivated as required by an emergency shutdown. [2] Device, characterized by the following characteristics: - the device includes external fault indicators (1), a force-feedback steering wheel (2) and a pedal assembly (3) and - the device is configured to carry out a method according to claim 1. [3] Computer program configured to perform all steps of a method according to claim 1. [4] Machine-readable storage medium with a computer program stored thereon according to claim 3.

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