Object simulator for a sensor for object detection and method for simulating an object

Abstract

The application concerns an object simulator (10) for a sensor (14) for object detection. The object simulator (10) features: a receiver (RX) configured to receive a first signal (S1) emitted by the sensor (14) and to output a first operating signal (A1) dependent on the first signal (S1), an analysis unit (30, 32, 34) which is set up to analyze the first operating signal (A1) and to determine at least one parameter of the first signal (S1), a transmitter (TX) that is set up to generate and send a second signal (S2) depending on at least one parameter and depending on at least one object to be simulated, wherein the second signal (S2) is provided for reception by the sensor (14) and is designed such that it is perceptible by the sensor (14) as a reflection of the first signal (S1) on the at least one object to be simulated. The application further relates to a method for simulating an object for a sensor (14) for object detection.

Description

Technical field

[0001] The application relates to an object simulator for a sensor for object detection and a method for simulating an object for a sensor for object detection. background

[0002] An object detection sensor can, for example, be designed as a vehicle sensor that operates using electromagnetic waves. Examples of such vehicle sensors are radar sensors or LiDAR sensors. An object simulator for an object detection sensor can be used, for example, when testing such a vehicle sensor. Overview

[0003] An object simulator for an object detection sensor exhibits: • a receiver configured to receive an initial signal emitted by the sensor and to output an initial operating signal dependent on that initial signal, • an analysis unit that is set up to analyze the first operating signal and determine at least one parameter of the first signal, • a transmitter that is set up to generate and send a second signal depending on at least one parameter and depending on an object to be simulated, • wherein the second signal is intended for reception by the sensor and is designed in such a way that it is perceptible by the sensor as a reflection of the first signal on the at least one object to be simulated.

[0004] A method for simulating an object for a sensor for object detection exhibits: • Receiving an initial signal emitted by the sensor and outputting an initial operating signal dependent on the initial signal, • Analyzing the first operating signal and determining at least one parameter of the first signal, • Generating a second signal depending on at least one parameter and depending on at least one object to be simulated, and sending the second signal, • wherein the second signal is intended for reception by the sensor and is designed in such a way that it is perceptible by the sensor as a reflection of the first signal on the at least one object to be simulated.

[0005] The second signal is specifically designed to emulate a reflection of the first signal at the object being simulated.

[0006] The object simulator allows object detection sensors, such as radar or LiDAR sensors, to be tested in the laboratory under a wide variety of test scenarios. This eliminates the need for test drives of vehicles equipped with the sensor. The object simulator can be integrated into a test setup that simulates the sensor's and / or vehicle's environment. In this test environment, the object simulator reacts to the initial signals emitted by the sensor in a virtual setting, thus acting as a real-world environment for the sensor.

[0007] With the object simulator and the method for simulating an object for an object detection sensor, it is possible to determine at least one parameter of the signal emitted by the sensor during the simulation using the analysis unit. This parameter is preferably a modulation parameter. This eliminates the need to determine such a parameter before the simulation, resulting in greater efficiency. Furthermore, the parameter determination can optionally be automated. Manual signal measurement can be avoided, which can lead to cost savings.

[0008] The object simulator is, for example, a device that has the following components: a receiver for the first signal, a signal processing unit for the received signal, comprising the analysis unit and an object generator, and a transmitter for sending the second signal, the second signal emulating a reflection at the object to be simulated.

[0009] Optionally, an object generator can be provided that modifies the first operating signal into a second operating signal by manipulating the first operating signal. The modification of the first operating signal into the second operating signal preferably occurs such that the second signal generated from the second operating signal is perceived by the sensor for object detection as the described reflection from the at least one object.

[0010] If the sensor is a radar sensor, both the receiver and the transmitter each have a high-frequency section that converts the first signal into an intermediate frequency for the first operating signal and optionally transforms the second operating signal into a second signal within a transmission frequency range that lies in the high-frequency range. The second operating signal also lies within the intermediate frequency range. The high-frequency range for the first and second signals is higher than the intermediate frequency range. The intermediate frequency range is, for example, in the so-called baseband, but it can also lie in a higher frequency range than the baseband.

[0011] The first signal can, for example, be the emitted test signal of the sensor, such as a radar sensor. The test signal is modulated. The first and second operating signals, as described, are in a different frequency range than the first and second signals. The operating signals themselves can be modulated, for example, in the same way as the first and second signals.

[0012] Object detection by the sensor is achieved using the emitted first signal, e.g., the sensor's touch signal, and the received second signal. The second signal is perceived by the sensor as a reflection from an object. Object detection can then be performed by the sensor by evaluating the first and second signals. Object detection can include, for example, determining the object's location, but also its movement, i.e., its velocity, acceleration, and direction of movement. It can also refer to the object's size, which, in the case of a radar sensor, can be determined, for example, as a function of a radar cross-section.

[0013] The analysis unit includes, for example, an estimator that estimates at least one parameter of the first signal from the initial operating signal. The analysis unit can include digital and / or analog components. It can also include software and / or hardware. For estimating at least one modulation parameter, for example, analog or digital low-pass filtering, analog-to-digital conversion, and digital or analog determination of the at least one modulation parameter can be provided. For digital determination, an FPGA (Field Programmable Gate Array) and / or a processor can be used. In particular, a stepwise estimation of the at least one modulation parameter can be performed. The FPGA can first check for specific modulation methods, and then, for example, the processor can determine the at least one modulation parameter for the identified modulation method. For example, if...If an FMCW (Frequency Modulation Continuous Wave) modulation method is used in the radar, the FPGA can monitor the occurrence of a chirp, and then the FMCW modulation parameters can be determined by the processor and / or the FPGA using the chirp. This could include, for example, the chirp steepness (i.e., how long it takes to cycle through each frequency), the frequency range, and / or the chirp repetition rate.

[0014] The advantage of an analog analysis unit design is that it can save costs, as analog-to-digital converters (ADCs) can be omitted. High-quality ADCs with high sampling rates and low latency can be particularly expensive.

[0015] The analysis time can probably also be shortened by using an analog setup.

[0016] The object simulator adds a corresponding signal to the first signal, based on the number, movement, and, if applicable, shape of the objects to be simulated, representing the reflection or refraction that these objects would produce. Thus, the object or objects are emulated. The second signal is sent by the transmitter.

[0017] Object simulation allows sensors like radar to be virtually tested in various scenarios with a multitude of objects, without requiring a complex test setup. It also enables testing of object detection functions. Furthermore, it's possible to test how a vehicle reacts to detection, for example, in semi- or fully automated driving modes.

[0018] In one embodiment of the object simulator and the method, the first and second signals each consist of a high-frequency signal in the microwave range. This is particularly relevant for using the sensor as a radar sensor. The microwave range refers, for example, to electromagnetic waves that propagate at a frequency of 1–300 GHz.

[0019] It is further proposed that the first signal is frequency-modulated and that at least one parameter relates to the modulation of the first signal. For a radar signal, frequency modulation such as FMCW (continuous-wave radar) is possible. In this case, the first signal, with, for example, a constant amplitude, is transmitted as a chirp signal, periodically sweeping through a frequency range. This sweeping through the frequency range is called a chirp. At least two chirps can follow each other immediately, or a pause can be provided between them.

[0020] In one embodiment of the object simulator, the analysis unit is configured to determine at least one modulation parameter of the first signal, wherein the at least one modulation parameter comprises a center frequency, a frequency range, a slope, a ramp duration, a number of ramps, a frame duration, and / or a repetition rate. These are modulation parameters that can occur, in particular, with FMCW modulation. In one embodiment of the method, the analysis of the first signal includes determining the described at least one modulation parameter of the first signal.

[0021] The center frequency of a chirp's ramp is the average frequency of the frequency range around which the chirp oscillates. The frequency range is the frequency range traversed by the chirp during a single ramp pass. The slope is the frequency range divided by the duration of a chirp. The duration of a chirp is referred to here as the ramp duration. The number of ramps indicates the number of chirps processed per frame. The frame duration is the duration of a frame. The repetition rate can refer to the frequency of frames or the frequency of chirps. A frame corresponds to a key signal.

[0022] In one embodiment of the object simulator, the analysis unit includes an analog circuit for analyzing the first operating signal and / or for determining at least one parameter. Examples of analog circuits include a low-pass filter, an analog-to-digital converter, other filter circuits for parameter estimation, and / or an analog computer.

[0023] In one embodiment of the object simulator, the analysis unit is configured to determine at least one parameter using a spectrogram and / or artificial intelligence. When using artificial intelligence, it can be pre-trained on the modulation methods used in order to recognize the corresponding modulation parameters from the initial operating signal. Neural networks, which can be implemented on suitable processors such as graphics processing units (GPUs), can be used for the artificial intelligence. Accordingly, in one embodiment of the method, the analysis is performed using a spectrogram and / or artificial intelligence.

[0024] In some embodiments, the analysis unit includes at least one gate array, e.g., an FPGA (Field Programmable Gate Array). Such programmable gate arrays allow for flexible design and rapid execution.

[0025] In one embodiment, the object generator is configured to modify the first operating signal with respect to phase, amplitude, and / or frequency and output it as the second operating signal. Similarly, in another embodiment of the method, the modification of the first operating signal to the second operating signal is performed with respect to phase, amplitude, and / or frequency.

[0026] In one embodiment, the object generator is configured to modify the first operating signal with respect to an amplitude and output it as the second operating signal. Alternatively or additionally, the carrier signal generator is configured to generate a second carrier signal that emulates the object to be simulated with respect to a phase and / or a frequency. The second signal is then generated from the second operating signal and the second carrier signal and transmitted as the second signal. Accordingly, the second signal then emulates the reflection at the object to be simulated.

[0027] In embodiments of the object simulator, the receiver is configured to combine the first signal with a first carrier signal to form the first working signal, while the transmitter is configured to combine the second working signal with a second carrier signal to form the second signal. The generation of the second carrier signal can depend on at least one parameter determined by the analysis unit and, optionally, additionally on the object to be simulated. Thus, using the modulation parameters determined by the analysis unit, the second carrier signal can be determined so that the second signal, equipped with the correct modulation parameters, can be transmitted. The combination with the corresponding carrier signals can be performed, for example, by suitable mixers, such as a heterodyne principle. Nonlinearities such as diodes or transistors can also be used as mixers.Accordingly, in embodiments of the method, the first signal can be received and the second signal can be sent.

[0028] The emulation of the object to be simulated can therefore optionally be performed by the object generator and / or the carrier signal generator. List of characters

[0029] Examples of the application's implementation are shown in the figures and are explained in more detail in the following description.

[0030] They show Fig. 1 schematically a test setup, Fig. 2. Schematic block diagram of a first embodiment of an object simulator, Fig. 3. Schematic block diagram of a second embodiment of the object simulator, Fig. 4 schematically a block diagram of a third embodiment of an object simulator, Fig. 5 a frequency-time diagram for the schematic representation of chirps and Fig. 6 schematically a flowchart of a procedure for simulating an object for a sensor for object detection.

[0031] The same reference symbols are used in the figures for identical or similar elements. The representations in the figures cannot be to scale. Character description

[0032] Fig. Figure 1 shows a test setup 20 with an object simulator 10, which simulates at least one object for a sensor 14 for object detection. The sensor 14 is arranged in a mount 12. The mount 12 can hold the sensor 14 in a predefined space for testing with the object simulator 10, or the mount 12 can be attached to a vehicle and hold the sensor 14 in its intended position. The mount 12 indicates the location where the sensor 14 can be positioned in the test setup 20 for testing. The mount 12 can be, as shown in Fig. Figure 1 depicts the environment as being designed to at least partially surround sensor 14. The image 12 can also be designed differently and, for example, simply indicate the spatial location within the test environment 20 where sensor 14 can be positioned.

[0033] The sensor 14 may include a radar. The mounting 12 may be made of plastic, metal, and / or other materials. Furthermore, the mounting 12 may also have electrical interfaces for connecting the sensor 14 for its operation.

[0034] The sensor 14 emits a first signal S1, e.g., in the form of a touch signal, which is received by the object simulator 10 via its first antenna 16. If the sensor 14 is configured as a radar sensor, the first antenna 16 can be configured to receive high-frequency signals.

[0035] The object simulator 10 converts the signal S1 into a first working signal A1. For sensors 14 that operate with electromagnetic waves, e.g., radar, the frequency of this first working signal A1 is lower than the frequency of the first signal S1. The first working signal A1 is fed, on the one hand, to an analysis unit 30, 32, 34, which extracts at least one parameter from the first working signal A1 that characterizes the modulation method of the first signal S1. On the other hand, the first working signal A1 is fed to an object generator 22, which manipulates the first working signal A1 and converts it into a second working signal A2. The manipulation by the object generator 22 into the second working signal A2 is such that a reflection from at least one object is emulated. From the second working signal A2, the object simulator 10 then generates a second signal S2, depending on the at least one parameter, which is transmitted via the second antenna 18.For sensors 14 that operate with electromagnetic waves, e.g. radar, the frequency of this second signal S2 is greater than the frequency of the second working signal A2.

[0036] In certain embodiments, the object generator 22 can change the amplitude of the first operating signal A1, which emulates a property of the object to be simulated, namely the so-called radar cross-section (RCS) of a radar sensor. Alternatively or additionally, properties of the simulated object relating to distance and velocity can be emulated by mixing the second operating signal A2 with the second carrier signal TS2. The second carrier signal TS2 can be adjusted depending on the parameters determined by analyzing the first signal S1 and on the object properties to be simulated.

[0037] The second antenna 18, when used as sensor 14 with a radar sensor, is an antenna for transmitting high-frequency signals, e.g., a horn, parabolic, or patch antenna. In particular, antennas 16 and 18 can also be configured as a single monostatic antenna.

[0038] The first and second antennas 16, 18 can also be monostatic. In this case, the first and second antennas 16, 18 are the same single antenna, which – in the case of a radar sensor – is connected to a circulator or coupler.

[0039] Fig. Figure 2 schematically shows a block diagram of a first embodiment of the object simulator 10, which in the illustrated embodiment simulates at least one object for a radar sensor as sensor 14.

[0040] The first signal S1 is received by the first antenna 16. A first mixer M1 converts the first signal S1 into the first working signal A1 via a combination, e.g., a multiplicative combination, of the first signal S1 with a first carrier signal TS1.

[0041] The first antenna 16 and the mixer M1 are components of a receiver RX. Other components, not shown, may be present, such as filters (e.g., bandpass filters) and amplifiers to process the received first signal S1 for further processing. These components are omitted here for the sake of simplicity.

[0042] The first mixer M1 uses, for example, a diode or a transistor for the interconnection. Combinations of active and passive, or purely active, electrical and electronic components are also possible. The use of a non-linear characteristic curve is advantageous, which may involve a single component such as a diode or a transistor, or several such and / or other components combined.

[0043] The first mixer M1 serves to convert the frequency of the first signal S1 into an intermediate frequency, also called an intermediate frequency range or intermediate frequency plane. This conversion corresponds to the conversion into the first operating signal A1. In the illustrated embodiment with a radar sensor as sensor 14, the intermediate frequency is lower than the frequency at which the first signal S1 is transmitted. The intermediate frequency can lie in the so-called baseband, where the lower limit is at or near 0 Hz.

[0044] The first carrier signal TS1 is generated by a carrier signal generator 26, which may, for example, include a local oscillator and / or a phase-locked loop (PLL). The first mixer M1 comprises one or more diodes and / or transistors and performs a multiplicative combination of the first signal S1 and the first carrier signal TS1 to produce the first operating signal A1. Undesired byproducts of this mixing are subsequently filtered out, for example, by low-pass or band-pass filtering. The first mixer M1 can also perform the mixing in a more complex manner, for example, with so-called IQ mixing.

[0045] The first operating signal A1 is transmitted to an object generator 22 and to an analysis unit 30. The object generator 22 adds a modification to the first operating signal A1, such that the resulting second operating signal A2 is configured to indicate the reflection of the first signal S1 from at least one object. This simulates at least one object. In an FMCW radar, this is achieved, for example, by a frequency shift. The second operating signal A2 is transmitted from the object generator 22 to the transmitter TX and thus to the second mixer M2.

[0046] The object generator 22 is optionally fed with object information 24 from an external source. This allows additional object information not contained in the object simulator 10 to be used for simulating the object and, optionally, other objects. This provides flexibility. In particular, it allows the simulation of objects that are not already stored in the object simulator 10. Optionally, the object generator 22 can receive information about at least one determined parameter from the analysis unit 30.

[0047] The analysis unit 30 extracts at least one parameter, such as a modulation parameter, from the first operating signal A1. Optionally, the analysis unit can obtain information 24 about the object to be simulated from an external source to determine this at least one parameter.

[0048] The analysis unit 30 includes a device for extracting at least one parameter, which can be entirely analog. The analysis unit 30 can optionally also include digital components or be entirely digital. The analysis unit 30 transmits the at least one parameter to the carrier signal generator 26 and optionally to the object generator 22.

[0049] Depending on at least one parameter received by the analysis unit 30, the carrier signal generator 26 generates at least one second carrier signal TS2. The second carrier signal TS2 is a local oscillator signal, for example, a sine wave. Optionally, the second carrier signal TS2 can be generated by the carrier signal generator 26 in such a way that it emulates certain properties of the object being simulated. The carrier signal generator 26 transmits the second carrier signal TS2 to the second mixer M2 in the transmitter TX.

[0050] Optionally, the second carrier signal can also be manipulated by the carrier signal generator 26 so that certain properties of the object to be simulated, e.g., distance and / or speed, are emulated by the manipulation, e.g., by means of a frequency shift. For this purpose, the carrier signal generator 26 can receive the object information 24.

[0051] The second mixer M2 multiplies the second operating signal A2 by the second carrier signal TS2. This transforms the second operating signal A2 into the high-frequency range, allowing it to be sent as a second signal S2 to sensor 14. The second mixer M2 is constructed analogously to the first mixer M1.

[0052] After the second mixer M2, the second signal S2 can optionally be filtered, e.g. with a bandpass filter, and amplified. It is then transmitted via the second antenna 18.

[0053] The second mixer M2, the second antenna 18, and optional additional components not shown, such as filters and amplifiers, form the transmitter TX. The object simulator 10 may be housed in a single enclosure or distributed across multiple enclosures.

[0054] Depending on at least one parameter, the carrier signal generator 26 can also influence the first carrier signal TS1, especially if it turns out that a change in the frequency and / or phase of the first carrier signal TS1 would lead to an improved first operating signal A1.

[0055] It is also possible that the frequency shift is implemented by the object generator 22. The frequency shift depends on the object to be simulated and on at least one determined parameter, the distance between the sensor 14 (i.e., the recording 12) and the object simulator 10. For the manipulation of the first operating signal A1 by a frequency shift, the object generator 22 receives information about the at least one determined parameter, in particular about the chirp parameters, from the analysis unit 30. In such an embodiment, the second carrier signal TS2 can be the same as the first carrier signal TS1.

[0056] Fig. Figure 3 schematically shows a block diagram of a second embodiment of the object simulator 10. Also in the Fig. In the embodiment shown in Figure 3, at least one object is simulated for a radar sensor as sensor 14 by the object simulator 10. The same or similar components are used as in Figure 3. Fig. 2 with the same reference symbol.

[0057] In Fig. Figure 3 shows the structure of the analysis unit 32. The first operating signal A1 is received by the analysis unit 32 through a filter 28. The filter 28 can be, in particular, a low-pass filter that filters out unwanted mixing products still present in the first operating signal A1, as well as noise, so that, for example, the baseband component is fed into the subsequent component, an analog-to-digital converter (ADC). It is possible that subsampling is performed via this ADC if the sampling rate needs to be reduced. This reduces hardware costs.

[0058] The digital data output by the analog-to-digital converter (ADC) is processed by a digital data processing unit (DPU) 36 to extract at least one parameter from the first operating signal A1. The DPU 36 can include an FPGA and / or one or more processors to perform the extraction. It is possible that, in a first stage, the DPU 36 checks whether a chirp has been received at all in the case of the FMCW signal. Only if this is confirmed can the processor(s) then proceed with the further determination to extract at least one parameter. This can save processing power.

[0059] Using at least one parameter, the digital data processing 36 then determines the second carrier signal TS2. This second carrier signal TS2 is converted by a digital-to-analog converter DAC into an analog second carrier signal TS2 and transmitted to the transmitter TX.

[0060] The analysis unit 32 can obtain information 24 about the object to be simulated in order to extract at least one parameter and generate the second carrier signal. Certain properties of the object to be simulated, e.g., a frequency shift, can then be emulated by the analysis unit in the second carrier signal TS2.

[0061] The object generator 22 can emulate the object to be simulated, in particular by changing the amplitude of the first operating signal A1 in the second operating signal A2. Optionally, the object generator 22 can also emulate further properties of the object to be simulated in the second operating signal A2. For this purpose, the object generator 22 can receive information about at least one parameter from the analysis unit 32.

[0062] The remaining functions of Object Simulator 10 can be used as follows: Fig. 2 described above.

[0063] Fig. Figure 4 schematically shows a block diagram of a third embodiment of the object simulator 10. The analysis unit 34 comprises the filter 28, the analog-to-digital converter (ADC), and the digital data processing unit 36. Optionally, the analysis unit 34 can receive information 24 about the object to be simulated from an external source and use it for analysis to determine at least one parameter.

[0064] Unlike Fig. 3 The second carrier signal TS2 is again output by the carrier signal generator 26 (local oscillator) to the transmitter TX.

[0065] The digital data processor 36 sends a control signal to the carrier signal generator 26, depending on at least one parameter, in order to generate the second carrier signal TS2. Such a control signal can, for example, be an analog control signal, which is output via an analog output of the digital data processor 36. It is also possible to provide a digital-to-analog converter (DAC). It is also possible for the local oscillator 26 to process a digital control signal.

[0066] Optionally, the second carrier signal TS2 can also be manipulated by the carrier signal generator 26 so that certain properties of the object to be simulated, e.g., distance and / or speed, are emulated by the manipulation, e.g., by means of a frequency shift. For this purpose, the carrier signal generator 26 can receive the object information 24.

[0067] The object generator 22 can emulate the object to be simulated, in particular by changing the amplitude of the first operating signal A1 in the second operating signal A2. Optionally, the object generator 22 can also emulate further properties of the object to be simulated in the second operating signal A2. For this purpose, the object generator 22 can, in particular, receive information about at least one parameter from the analysis unit 34.

[0068] Fig. Figure 5 shows a frequency-time diagram to represent chirps, which are used in an FMCW signal, e.g. from a corresponding radar sensor.

[0069] The abscissa represents the time axis t. The ordinate shows the frequency f. The first operating signal A1 is shown with a solid line and the second operating signal A2 with a dashed line as examples.

[0070] A time offset Δt and / or a frequency offset Δf between the operating signals A1 and A2 can be inserted by the object generator 22. This simulates at least one simulated object or creates the simulated reflection of the first signal S1 at the at least one simulated object. The displayed chirps have the slope 52, the ramp duration 58, the center frequency 54, and the traversed frequency range 56.

[0071] If the object is simulated, for example, using the frequency offset Δf, then in some embodiments it may be provided to compensate for any existing time offset Δt using at least one of the determined parameters, i.e., to remove it. This eliminates the need for a separate, controllable delay element, thus saving costs.

[0072] Fig.Figure 6 schematically shows in a flowchart the procedure for simulating an object for sensor 14 for object detection.

[0073] In process step 60, the first signal S1, which was emitted by the sensor 14, is received and demodulated by the object simulator 10 using the receiver RX.

[0074] In process step 61, the receiver RX of the object simulator 10 outputs the first working signal A1 generated by demodulation.

[0075] In process step 62, the analysis unit 30, 32, 34 analyzes the first working signal A1 and in process step 63 determines at least one parameter, e.g. a modulation parameter, of the first signal S1.

[0076] In optional process step 64, the first operating signal A1 in the object generator 22 is modified to a second operating signal A2 depending on at least one object to be simulated. Data for the at least one object to be simulated can be stored in the object simulator and / or supplied externally as object information 24.

[0077] In process step 65, the second signal S2 is generated depending on at least one parameter. Optionally, the generation of the second signal can depend on the at least one object to be simulated. Data for the at least one object to be simulated can be stored in the object simulator and / or supplied externally as object information 24.

[0078] In process step 66, the second signal S2 is then sent. This second signal S2 represents a reflected first signal S1 at the simulated object or objects. Reference symbol list 10 Object Simulator 12 recording 14 Sensors for object detection 16 first antenna 18 second antenna 20 Test setup 22 Object Generator 24 Object Information 26 Carrier signal generator 28 filters 30, 32, 34 Unit of analysis 36 digital data processing 52 gradient 54 Central frequency 56 Frequency range 58 ramp duration 60-66 process steps S1 first signal S2 second signal A1 first work signal A2 second work signal M1 first mixer M2 second mixer RX receiver TX Transmitter TS1 first carrier signal TS2 second carrier signal ADC Analog-to-Digital Converter DAC Digital-to-Analog Converter t time f frequency Δt time shift Δf frequency shift

Claims

[1] Object simulator (10) for a sensor (14) for object detection, wherein the object simulator (10) comprises: a receiver (RX) configured to receive a first signal (S1) emitted by the sensor (14) and to output a first operating signal (A1) dependent on the first signal (S1), an analysis unit (30, 32, 34) which is set up to analyze the first operating signal (A1) and to determine at least one parameter of the first signal (S1), a transmitter (TX) that is set up to generate and send a second signal (S2) depending on at least one parameter and depending on at least one object to be simulated, wherein the second signal (S2) is provided for reception by the sensor (14) and is designed such that it is perceptible by the sensor (14) as a reflection of the first signal (S1) on the at least one object to be simulated. [2] Object simulator according to claim 1, wherein the first and second signals (S1, S2) each comprise a high-frequency signal in the microwave range. [3] Object simulator according to claim 1 or 2, wherein the first signal (S1) is frequency modulated and the at least one parameter relates to the modulation of the first signal (S1). [4] Object simulator according to claim 3, wherein the analysis unit (30, 32, 34) is configured to determine at least one modulation parameter of the first signal (S1), wherein the at least one modulation parameter comprises a central frequency (54), a frequency range (56), a slope (52), a ramp duration (58), a number of ramps, a frame duration and / or a repetition rate. [5] Object simulator according to one of the preceding claims, wherein the analysis unit (30) comprises an analog circuit for analyzing the first operating signal (A1) and / or for determining the at least one parameter. [6] Object simulator according to one of the preceding claims, wherein the analysis unit (32, 34) is configured to determine the at least one parameter using a spectrogram and / or using artificial intelligence. [7] Object simulator according to one of the preceding claims, wherein the analysis unit (32, 34) comprises at least one gate arrangement. [8] Object simulator according to one of the preceding claims, wherein the object simulator (10) is configured to modify the first operating signal (A1) with respect to the phase, amplitude and / or frequency (f) and to send it as a second signal (S2). [9] Object simulator according to one of the preceding claims, wherein the object simulator (10) comprises an object generator (22) which is configured to modify the first working signal (A1) to a second working signal (A2) depending on the object to be simulated, wherein the receiver (RX) is configured to combine the first signal (S1) with a first carrier signal (TS1) to form the first working signal (A1), wherein the transmitter (TX) is configured to combine the second working signal (A2) with a second carrier signal (TS2) to form the second signal (S2), wherein the generation of the second carrier signal (TS2) depends on the at least one parameter determined by the analysis unit (30, 32, 34) and optionally on the object to be simulated. [10] Method for simulating an object for a sensor (14) for object detection, wherein the method comprises: Receiving a first signal (S1) emitted by the sensor (14), and outputting a first operating signal (A1) dependent on the first signal (S1), Analyzing the first operating signal (A1) and determining at least one parameter of the first signal (S1), Generating a second signal (S2) depending on at least one object to be simulated and depending on at least one parameter, and sending the second signal (S2). wherein the second signal (S2) is provided for reception by the sensor (14) and is designed such that it is perceptible by the sensor (14) as a reflection of the first signal (S1) on the at least one object to be simulated. [11] Method according to claim 10, wherein the first and second signals (S1, S2) each comprise a high-frequency signal in the microwave range. [12] Method according to claim 10 or 11, wherein the first signal (S1) is frequency modulated and the at least one parameter relates to the modulation of the first signal (S1). [13] Method according to claim 12, wherein at least one modulation parameter of the first signal (S1) is determined, wherein the at least one modulation parameter comprises a central frequency (54), a frequency range (56), a slope (52), a ramp duration (58), a number of ramps, a frame duration and / or a repetition rate. [14] Method according to any one of claims 10 to 13, wherein the at least one parameter is determined using a spectrogram and / or using artificial intelligence. [15] Method according to any one of claims 10 to 14, wherein the first operating signal (A1) is modified with respect to the phase, amplitude and / or frequency and is sent as the second signal (S2). [16] Method according to any one of claims 10 to 15, wherein the first working signal (A1) is changed to a second working signal (A2) depending on at least one object to be simulated, wherein the first signal (S1) is linked with a first carrier signal (TS1) to the first working signal (A1), wherein the second working signal (A2) is linked with a second carrier signal (TS2) to the second signal (S2), and wherein the generation of the second carrier signal (TS2) depends on the determined at least one parameter and optionally on the object to be simulated.

Images