Test stand system for testing a driver assistance system using an audible sound sensor

Abstract

The invention relates to a test stand system for testing a driver assistance system using an acoustic audible sound sensor for a motor vehicle, wherein the driver assistance system has a control unit for processing sensor signals, which control unit is designed to process sensor signals from environmental sensors and to control the motor vehicle on the basis of these, wherein at least one of the environmental sensors is the audible sound sensor which is designed to detect audible sound, and wherein the test stand system has: • a test stand which is designed in such a way that the driver assistance system can be operated on the test stand; • a simulation device which is designed to simulate an environment of the motor vehicle, wherein the simulated environment comprises an acoustic audible sound environment; and • a first interface for providing the simulated environment, including the acoustic audible sound environment, to the driver assistance system.

Description

[0001] Test bench system for testing a driver assistance system with an audible sound sensor

[0002] The invention relates to a test bench system for testing a driver assistance system with an acoustic audible sound sensor for a motor vehicle, wherein the driver assistance system has a control unit for processing sensor signals, which is configured to process sensor signals from environmental sensors and to control the motor vehicle on the basis thereof, wherein at least one of the environmental sensors is the audible sound sensor, configured to detect audible sound.

[0003] The prevalence of Advanced Driver Assistance Systems (ADAS), which in future will enable autonomous driving (AD), is steadily increasing in both passenger cars and commercial vehicles. Driver assistance systems make an important contribution to increasing active road safety and enhance driving comfort.

[0004] In addition to systems that primarily serve to improve driving safety, such as ABS (anti-lock braking system) and ESP (electronic stability program), a wide range of driver assistance systems are offered in the passenger car and commercial vehicle sector.

[0005] Driver assistance systems already being used to increase active road safety include parking assistants and adaptive cruise control (ACC), which adaptively adjusts a desired speed selected by the driver to the distance to a vehicle ahead. Other examples of such driver assistance systems are ACC Stop & Go systems, which, in addition to ACC, automatically continue driving in traffic jams or when vehicles are stationary; lane keeping or lane assist systems, which automatically keep the vehicle in its lane; and pre-crash systems, which, in the event of a potential collision, prepare for or initiate braking to absorb the vehicle's kinetic energy and, if necessary, initiate further measures if a collision is unavoidable.

[0006] These driver assistance systems increase road safety by warning the driver in critical situations and by initiating autonomous intervention to avoid or mitigate accidents, for example, by activating an emergency braking function. Driving comfort is also enhanced through functions such as automatic parking, automatic lane keeping, and automatic distance control.

[0007] The safety and comfort gains of a driver assistance system will only be perceived positively by vehicle occupants if the support provided by the driver assistance system is safe, reliable and – as far as possible – comfortable.

[0008] In addition, each driver assistance system, depending on its function, must handle scenarios occurring in traffic with maximum safety for the vehicle itself and without endangering other vehicles or other road users.

[0009] The respective degree of automation of vehicles is divided into so-called automation levels 1 to 5 (see, for example, the SAE J3016 standard). The present invention particularly relates to vehicles with driver assistance systems of automation levels 3 to 5, which are generally considered (partially) autonomous driving.

[0010] The challenges of testing such systems are diverse. In particular, a balance must be struck between test effort and test coverage. The primary task of testing ADAS / AD functions is to demonstrate that the driver assistance system functions reliably in all conceivable situations, especially critical driving situations. Such critical driving situations exhibit a certain degree of criticality, as a lack of response or an incorrect response by the respective driver assistance system can lead to an accident.

[0011] Testing driver assistance systems therefore requires considering a large number of driving situations that can arise in different scenarios. The variation space of possible scenarios is generally spanned by many dimensions (e.g., different road characteristics, the behavior of other road users, weather conditions, etc.). From this almost infinite and multidimensional parameter space, it is particularly relevant for testing driver assistance systems to extract parameter constellations for critical scenarios that could lead to unusual or dangerous driving situations.

[0012] It is known from the state of the art to use real test driving data from a real fleet of test vehicles to validate and verify driver assistance systems.

[0013] The document WO 2016 / 110488 discloses a method for operating a driving simulator, which comprises the following steps:

[0014] • Detecting a braking request in the driving simulator, in particular on the basis of an actuation of a brake sensor;

[0015] • Converting the detected braking request into at least one braking signal which is suitable for characterising the braking request;

[0016] • Transmitting the at least one brake signal from the driving simulator to a test bench on which at least part of a drive train with at least one axle section, in particular an axle half, and at least one brake, which is assigned to the at least one axle section, of a vehicle is mounted;

[0017] • Rotating the at least one axle section at a first wheel speed which corresponds to a predetermined speed of the vehicle;

[0018] • Actuating the at least one brake of the vehicle based on the at least one brake signal;

[0019] • Setting a predetermined torque or a predetermined second wheel speed on the at least one axle section by means of at least one dynamometer based on properties of at least one component of the vehicle, in particular the drive train, the chassis and / or the entire vehicle, wherein the properties are at least partially simulated; • Detecting the real wheel speed at a predetermined torque or the real torque at a predetermined second wheel speed; and

[0020] • Output of real wheel speed or real torque data to the driving simulator.

[0021] The document DE 10 2007 031040 A1 relates to a test device for a driver assistance system which is integrated in a vehicle and has a vehicle sensor system for receiving a signal from the environment of the vehicle, the test device comprising:

[0022] • a simulator (2-6) to simulate the environment

[0023] • and a simulator transmitter connected to the simulator (2-6) for transmitting an environment simulation signal representing the simulated environment, which can be picked up by the vehicle sensors to trigger a reaction of the driver assistance system.

[0024] The document EP 3 101 404 A2 relates to a test system comprising a vehicle test bench, a motor vehicle located on the vehicle test bench, at least one signal unit provided in or on the vehicle test bench and / or in or on the motor vehicle and / or separately from the vehicle test bench and the motor vehicle, with which at least one vehicle operation-specific and / or optical and / or acoustic and / or haptic and / or driving situation-related and / or environment-related signal can be output or displayed and / or manipulated, at least one measuring device and a data acquisition and / or evaluation unit with an evaluation module for the data acquired by the measuring device.

[0025] It is an object of the invention to be able to test a driver assistance system under conditions that are as realistic as possible. In particular, it is an object of the invention to be able to simulate the ferry operation of a motor vehicle with such a driver assistance system as realistically as possible. This object is achieved by the teaching of the independent claims.

[0026] Advantageous embodiments are defined by the subclaims.

[0027] A first aspect of the invention relates to a test bench system for testing a driver assistance system with an acoustic audible sound sensor for a motor vehicle, wherein the driver assistance system has a control unit for processing sensor signals, which is configured to process sensor signals from environmental sensors and to control the motor vehicle on the basis thereof, wherein at least one of the environmental sensors is the audible sound sensor, configured to detect audible sound, and wherein the test bench system has:

[0028] • a test bench which is set up in such a way that the driver assistance system, in particular together with a drive train for the motor vehicle, can be operated on the test bench;

[0029] • a simulation device configured to simulate an environment of the motor vehicle, wherein the simulated environment comprises an acoustic audible sound environment; and

[0030] • a first interface for providing the simulated environment including the acoustic audible sound environment to the driver assistance system.

[0031] Preferably, the first interface is configured to map the simulated environment, including the acoustic audible environment, from the perspective of the respective environmental sensors. The test bench is preferably designed as a hardware-in-the-loop test bench, a powertrain test bench, or a vehicle test bench.

[0032] A second aspect of the invention relates to a measuring arrangement with a test bench on which a vehicle with a driver assistance system is arranged, wherein the driver assistance system has a control unit for processing sensor signals, which is configured to process sensor signals from environmental sensors and to control the vehicle on the basis thereof, wherein at least one of the environmental sensors is an acoustic audible sound sensor configured to detect audible sound.

[0033] A third aspect of the invention relates to a measuring vehicle for generating sensor data of an environment of the measuring vehicle, wherein the environment comprises an acoustic audible sound environment, comprising:

[0034] • Environmental sensors, wherein at least one of the environmental sensors is an audible sound sensor; and

[0035] • a data processing unit for processing sensor signals, which is configured to process sensor signals from the environmental sensors;

[0036] • a data memory configured to record sensor data, in particular at a frequency of at least 10 kHz, in particular approximately 44.1 kHz or 48 kHz; wherein the data processing unit is further configured to synchronize the sensor data of the at least one audible sound sensor with the sensor data of the remaining environmental sensors.

[0037] A further aspect of the invention relates to a method for testing a driver assistance system with an acoustic audible sound sensor for a motor vehicle, wherein the driver assistance system is configured to process sensor signals from environmental sensors and to control the vehicle on the basis thereof, wherein at least one of the environmental sensors is the audible sound sensor configured to detect audible sound, comprising the following working steps:

[0038] • Simulating an environment of the motor vehicle, wherein the simulated environment comprises an acoustic audible sound environment;

[0039] • Generating a data stream that depicts the simulated environment including the acoustic audible sound environment from the perspective of the respective environmental sensors; and

[0040] • Outputting the data stream to the driver assistance system. Further aspects of the invention relate to a computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of a method according to the fourth aspect of the invention, as well as to a computer-readable medium on which such a computer program is stored.

[0041] An audible sound within the meaning of the invention is the sound perceptible to humans, in particular in a spectrum from 16 Hz to 20 kHz.

[0042] An audible sound sensor in the sense of the invention is preferably a microphone and is further preferably suitable for stereophonic recordings.

[0043] Labeling in the sense of the invention is preferably an assignment of noise sources to a respective characteristic noise, which is stored as object data to the sensor data.

[0044] The invention is based on the assumption that future driver assistance systems will not only take into account the visual environment of a motor vehicle to control the vehicle, as well as data of the spatial environment obtained by means of camera, radar, lidar and ultrasonic sensors, but also information conveyed by audible sound.

[0045] Such audible information is usually not directly necessary for driving a motor vehicle, but rather provides information about future events. For example, a siren warns that an emergency vehicle is expected to arrive shortly.

[0046] Depending on the direction of origin, a tire squeal can also indicate a future impairment of the vehicle's roadway.

[0047] The detection and near-real-time analysis of acoustic environmental signals will therefore likely become an important function in reliable, highly automated vehicles in the future. As explained in the introduction, the acoustic environment is considered as an additional input variable for the control of the driver assistance system. This additional parameter also increases the requirements regarding the number of test kilometers to be completed for testing the driver assistance system.

[0048] The approach of the invention is to provide a test bench system for a driver assistance system with an audible sound sensor, which has both a test bench that is configured to operate a drive train of the motor vehicle and a simulation device that is configured to simulate the environment of the motor vehicle including the acoustic audible sound environment, as well as a first interface for providing the simulated environment including the acoustic audible sound environment to the driver assistance system.

[0049] By providing a test bench on which the powertrain is operated, as well as an interface for providing the audible sound environment, a driver assistance system with audible sound sensors can be tested particularly reliably and realistically. In particular, ferry operation of the vehicle can be simulated particularly realistically in this way.

[0050] In an advantageous embodiment of the test bench system, the simulation device is configured to track the movement of the vehicle in the simulated environment and adapt the environment, including the acoustic audible sound environment, accordingly. By taking the movement of the vehicle in the simulated environment into account, a particularly realistic representation of the environment can be achieved.

[0051] In a further advantageous embodiment of the test bench system, the first interface is a stimulation device which is configured to stimulate environmental sensors and has at least two sound transducers for audible sound, and is further configured to generate a surround sound by means of the at least two sound transducers, which reproduces the simulated acoustic environment on the vehicle test bench around the motor vehicle.

[0052] Preferably, such a stimulation device is a mono loudspeaker or several stereo or surround loudspeakers.

[0053] If only one loudspeaker is present, it can only be determined whether, for example, a siren or horn is sounding or not. If more than one loudspeaker is present, the driver assistance system can also be tested to determine whether it can determine the direction of the sound source, as well as its speed and direction of movement, if applicable.

[0054] In a further advantageous embodiment, the first interface is therefore configured to map the simulated environment, including the acoustic audible sound environment, from the perspective of the respective environmental sensors. This allows a particularly realistic simulation of the audible sound environment to be generated at the environmental sensors of the motor vehicle.

[0055] In a further advantageous embodiment of the test bench system, the first interface is a data interface which is configured to provide the driver assistance system, in particular the software of the audible sound sensor, with the simulated environment as a signal, in particular as an output signal of the audible sound sensor, or data stream.

[0056] The selected interface depends on the components of the driver assistance system to be tested. For example, it may be possible to test only the software of the audible sound sensor, or only the driver assistance system itself, while omitting the hardware and software of the audible sound sensor.

[0057] In a further advantageous embodiment, the test bench system has a second data interface configured to provide object data or a so-called ground truth for the simulated environment. By providing object data and / or ground truth, an environment determined by the driver assistance system can be compared with the originally simulated environment as a reference value.

[0058] In an advantageous embodiment of the measuring vehicle, a data processing unit is further configured to determine characteristic noises from the sensor data of the at least one audible sound sensor and to recognize their acoustic source and to label the characteristic noises accordingly.

[0059] This allows data recorded in real test drives to be identified with respect to an audible sound environment and the data to be prepared for use in a test bench system according to the invention.

[0060] In a further advantageous embodiment of the measuring vehicle, the data processing unit is further configured to filter the sensor data of the at least one audible sound sensor in order to remove disturbing noises, in particular wind noises, preferably up to a measuring speed of approximately 50 km / h.

[0061] In this way, an audible sound environment recorded by the measuring vehicle can be applied to other driving situations, regardless of the recorded driving situation.

[0062] In a further advantageous embodiment of the measuring vehicle, the data processing unit is further configured to determine the distance of an acoustic source, the direction relative to the measuring vehicle from which the characteristic noises originate, and / or a differential speed of the acoustic source relative to the measuring vehicle, and to record this information in the sensor data. In this way, the recorded sensor data can be provided with ground truth regarding the directions of movement and speeds of acoustic sources.

[0063] In an advantageous embodiment of the method, the data stream is output in such a way that the audible sound sensor can generate sensor data on the basis of the data stream, which is then output to the driver assistance system.

[0064] In this way, the driver assistance system can be tested together with the associated audible sound sensor.

[0065] In a further advantageous embodiment of the method, the data stream is output as surround sound, which reproduces the simulated acoustic environment on the vehicle test bench around the vehicle.

[0066] As already explained above, surround sound allows for a particularly realistic reproduction of the environment.

[0067] In a further advantageous embodiment, the method comprises the following steps:

[0068] • Monitoring a driver assistance system activity; and

[0069] • Adapting the simulation of the vehicle’s environment based on detected activity.

[0070] This, in turn, results in a change in sound emissions. In particular, transmission paths change. Sound sources can also change; for example, a person may initially "scream" instead of "speak." Furthermore, the Doppler effect can be taken into account. The information content of the sound emissions can also change, for example, when a person calls for emergency assistance. In a further advantageous embodiment, the method further comprises the following step:

[0071] • Deteriorating, in particular distorting, a data stream, in particular that part which depicts the acoustic audible sound environment from the perspective of the respective environmental sensors, preferably taking into account weather conditions and / or deficiencies in the hardware of the respective environmental sensor.

[0072] By degrading the data stream, data processing software of the audible sound sensor and also of the driver assistance system can be tested, in particular their ability to handle degraded sensor data.

[0073] In a further advantageous embodiment, the method further comprises the following work step:

[0074] • Operate a powertrain for the motor vehicle based on the simulated environment.

[0075] By operating the drive train, the simulation of reality on the test bench can be even more realistic.

[0076] They show at least partially schematically:

[0077] Figure 1: an embodiment of a test bench system for testing a driver assistance system and a measuring arrangement from the test bench system with a motor vehicle;

[0078] Figure 2: an embodiment of a method for testing a driver assistance system; and

[0079] Figure 3: an embodiment of a measuring vehicle for generating sensor data of an environment.

[0080] Figure 1 shows a first embodiment of a test bench system 1 for testing a driver assistance system 10 with an acoustic audible sound sensor 23a for a motor vehicle 20, wherein the test bench system 1 in the illustration is part of a measuring arrangement 40 which further comprises the motor vehicle 20.

[0081] The test bench system 1 preferably comprises a data processing device 7. The data processing device 7, in turn, preferably comprises a simulation device 2, which is configured to simulate an environment of the motor vehicle. Such a simulated environment comprises at least one acoustic audible sound environment around the motor vehicle 20.

[0082] To test the driver assistance system 10, the motor vehicle 20 is arranged and preferably fixed on a test bench 5. The test bench 5 is preferably a powertrain or vehicle test bench and has at least two dynamometers 6c, 6d to simulate driving operation on a powertrain 21 of the motor vehicle 20.

[0083] Furthermore, the test bench 5 preferably has steering actuators 8a, 8b to simulate the steering of the vehicle 20 in a simulated ferry operation. Furthermore, non-driven axles of the vehicle are preferably also driven by dynamometers 6a, 6b.

[0084] In order to output the simulated audible sound environment of the motor vehicle 20 on the test bench 5, the test bench 5 preferably has loudspeakers 3a, 3b configured to output audible sound. Furthermore, the test bench 5 preferably has additional interfaces to supply data to or stimulate additional sensors of the vehicle. In particular, a display is preferably provided, which is configured to stimulate a camera 23c (not shown) of the driver assistance system 10.

[0085] The motor vehicle 20 has at least the drive train 21 and a driver assistance system 10, which includes a control unit 11 for processing sensor signals. The motor vehicle 20 preferably also has environmental sensors 23a, 23b, 23c, which are configured to detect the simulated environment around the motor vehicle 20. In particular, the motor vehicle 20 preferably has a microphone 23a for detecting audible sound.

[0086] The individual devices of the test bench 5 are preferably controlled by the data processing device 7, which preferably comprises a test bench controller. Further preferably, the data processing device 7 has a data interface 9 configured to read operating data of the motor vehicle 20, in particular with respect to an activity of the driver assistance system 10.

[0087] Preferably, the data processing device 7 further comprises a second interface 4 configured to read in object data and / or a so-called ground truth of the simulated environment. The environment detected by the driver assistance system 10 can be compared with this ground truth. In this way, the quality of the environment detected by the driver assistance system 10, in particular an audible sound environment, can be assessed.

[0088] As an alternative to the loudspeakers 3a, 3b, the first interface can also be designed as a data interface. In this case, environmental data can be provided directly to the software of the audible sound sensor, in particular to software for processing sensor signals.

[0089] Alternatively, a simulated transmission signal from an audible sound sensor can be provided directly to the driver assistance system 10. Depending on the device to which the simulated signal is output, the corresponding components can be tested.

[0090] Figure 2 shows an exemplary embodiment of a method for testing a driver assistance system 10 with an acoustic audible sound sensor. Preferably, the method 100 is carried out by a test bench system 1 according to Figure 1.

[0091] The method 100 preferably comprises the following work steps: In a first work step 101, an environment of the motor vehicle 20 is simulated, wherein the simulated environment comprises an acoustic audible sound environment.

[0092] • In a second work step 102, the drive train 21 is operated based on the simulated environment. For this purpose, the motor vehicle 20 is preferably arranged on the test bench 5.

[0093] • In a third work step 103, a data stream is generated which depicts the simulated environment including the acoustic audible sound environment from the perspective of the respective environmental sensors 23a, 23b, 23c.

[0094] • In a fourth step 104, the data stream is degraded, in particular distorted. This particularly affects that part of the data stream that depicts the acoustic audible sound environment from the perspective of the respective audible sound sensors.

[0095] • In a fifth step 105, this data stream is output to the driver assistance system 10. The data stream can be output in such a way that the audible sound sensor 23a, 23b can generate sensor data based on the data stream, which is then output to the driver assistance system 10.

[0096] Alternatively, the data stream is output as surround sound, which reproduces the simulated acoustic environment on the vehicle test bench 1 around the motor vehicle 20 and by means of which audible sound sensors 23a, 23b are stimulated.

[0097] • In a sixth work step 106, an activity of the driver assistance system 10 is preferably monitored. Further preferably, the simulation of the environment of the motor vehicle 20 is adapted based on the detected activity of the driver assistance system 10. An activity can be characterized by an action of the driver assistance system 10, but also by the omission of an action.

[0098] Adapting the simulation of the environment in turn results in a change in the environment of the motor vehicle 20, in particular the audible sound environment. For example, transmission paths for emitted sound change. Sound sources change depending on how the environment reacts to an action of the driver assistance system 10, for example, people on the road who issue warning calls. The Doppler effect is also preferably taken into account in the adapted simulation with regard to shifts in the frequency range caused by a movement of the motor vehicle 20 in a certain direction. The information content of the simulation also changes, for example, if the driver assistance system 10 causes an accident, or further, for example, due to interactions with people.

[0099] Figure 3 shows an embodiment of a measuring vehicle 20 for generating sensor data of an environment of the measuring vehicle 20.

[0100] The measuring vehicle 20 preferably has a drive train 21. Furthermore, the measuring vehicle 20 preferably has environmental sensors, in particular two microphones 23a, 23b, which are configured to detect audible sound. Preferably, one or more microphones are present that can monitor the entire surroundings of the vehicle with regard to audible sound. The audible sound environment in Figure 3 is formed in particular by an excavator 50, which is performing roadwork and emits sound as a sound source.

[0101] Preferably, a data processing unit 22 of the measuring vehicle 20 can determine the direction and / or distance and / or type of the sound source 50, as well as preferably its speed and direction of movement, from the sensor data collected by the microphones 23a, 23b. This information is preferably stored in a data memory 24, which is configured to record sensor data, in particular at a frequency of at least approximately 10 kHz. Preferably, the data processing unit 22 is further configured to synchronize the sensor data of the at least one microphone 23a, 23b with the sensor data of other environmental sensors.

[0102] Such a further environmental sensor is, for example, a camera 23c, which captures the visual surroundings, particularly in the direction of travel of the vehicle 20. Further preferably, the data processing unit 22 of the measuring vehicle 20 is configured to determine characteristic noises from the sensor data of the at least one audible sound sensor 23a, 23b, to identify their acoustic source 50, and to label the characteristic noises accordingly.

[0103] For example, emergency vehicle sirens, horns, signals from reversing trucks, and bicycle bells can be detected based on the frequency spectra. Acoustic sources are preferably prioritized according to their general relevance to a vehicle's operation. For example, emergency vehicle sirens and horns are given higher priority than reversing trucks or bicycle bells.

[0104] Preferably, the data processing unit 22 is further configured to filter the sensor data of the at least one microphone 23a, 23b in order to remove noise, in particular wind noise.

[0105] It should be noted that the embodiments are merely examples and are not intended to limit the scope of protection, application, or structure in any way. Rather, the preceding description provides the skilled person with a guide for implementing at least one embodiment. Various modifications, particularly with regard to the function and arrangement of the described components, may be made without departing from the scope of protection as defined by the claims and equivalent combinations of features.

[0106] List of reference symbols

[0107] Test bench system

[0108] Simulation device a, 3b, 3c first interface second interface

[0109] Test bench a, 6b, 6c, 6d Dynamometer

[0110] Data processing device a, 8b Steering actuator 0 Driver assistance system 1 Control unit 0 Motor vehicle 1 Drive train 2 Data processing unit 3a, 23b, 23c Sensors 4 Data storage 0 Measuring arrangement 0 Sound source

Claims

Claims Test bench system (1 ) for testing a driver assistance system (10) with an acoustic sound sensor (23a) for a motor vehicle (20), wherein the driver assistance system (10) has a control unit (11 ) for processing sensor signals, which is configured to process sensor signals from environmental sensors (23a, 23b, 23c) and to control the motor vehicle (20) on the basis thereof, wherein at least one of the environmental sensors (23a, 23b, 23c) is the sound sensor, configured to detect audible sound, and wherein the test bench system (1 ) comprises: a test bench (5) which is configured in such a way that the driver assistance system, in particular together with a powertrain (21 ) for the motor vehicle (20), can be operated on the test bench (1 ); a simulation device (2) configured to simulate an environment of the motor vehicle (20), wherein the simulated environment includes an acoustic audible sound environment;and a first interface (3; 3a, 3b) for providing the simulated environment, including the acoustic sound environment, to the driver assistance system (10). Test bench system (1) according to claim 1, wherein the first interface (3a, 3b) is a stimulation device configured to stimulate environmental sensors and preferably comprises at least two transducers (3a, 3b) for audible sound, further configured to generate spatial sound by means of the at least two transducers (3a, 3b) which reproduces the simulated acoustic environment on the vehicle test bench around the motor vehicle (3). Test bench system (1) according to claim 1 or 2, wherein the first interface is a data interface configured to provide the driver assistance system; (10), in particular the software of the audible sound sensor, to provide the simulated environment as a signal, in particular as an output signal of the audible sound sensor, or as a data stream. Measurement arrangement (40) with a test bench system (1) according to one of claims 1 to 3, on which a motor vehicle (20) with a driver assistance system (10) is arranged, wherein the driver assistance system (10) has a control unit (11) for processing sensor signals, which is configured to process sensor signals from environmental sensors (23a, 23b, 23c, 23d, 23e) and to control the motor vehicle (20) on the basis thereof, wherein at least one of the environmental sensors (23a, 23b, 23c, 23d, 23e) is an acoustic audible sound sensor, configured to detect audible sound. Measuring vehicle (20) for generating sensor data of an environment of the measuring vehicle (20), wherein the environment comprises an acoustic audible sound environment, comprising: Environmental sensors (23a, 23b, 23c, 23d, 23e), wherein at least one of the environmental sensors is an audible sound sensor; and a data processing unit (22) for processing sensor signals, which is configured to process sensor signals from the environmental sensors (23a, 23b, 23c, 23d, 23e); a data storage device (24), configured to record sensor data, in particular at a frequency of about 10 Hz, wherein the data processing unit (22) is further configured to synchronize the sensor data of the at least one audible sound sensor (23a, 23b) with the sensor data of the other environmental sensors (23c). Measuring vehicle (20) according to claim 5, wherein the data processing unit (22) is further configured to determine characteristic sounds from the sensor data of the at least one audible sound sensor (23a, 23b). and its acoustic source (50) and label the characteristic sounds accordingly. Measuring vehicle (20) according to claim 5 or 6, wherein the data processing unit (22) is further configured to filter the sensor data of the at least one audible sound sensor (23a, 23b) in order to remove background noise, in particular wind noise, preferably up to a measuring speed of about 50 km / h. Measuring vehicle (20) according to any one of claims 5 to 7, wherein the data processing unit (22) is further configured to determine and record in the sensor data the distance of an acoustic source (50), the direction relative to the measuring vehicle (20) from which the characteristic sounds originate, and / or a differential velocity of the acoustic source (50) to the measuring vehicle (20).Method (100) for testing a driver assistance system (10) with an acoustic sound sensor (23a, 23b, 23c, 23d, 23e) for a motor vehicle (20), wherein the driver assistance system (10) is configured to process sensor signals from environmental sensors (23a, 23b, 23c, 23d, 23e) and to control the vehicle (20) on the basis thereof, wherein at least one of the environmental sensors (23a, 23b, 23c, 23d, 23e) is the sound sensor, configured to detect audible sound, comprising the following steps: Simulating (101) an environment of the motor vehicle (20), wherein the simulated environment includes an acoustic audible sound environment; Generating (103) a data stream that maps the simulated environment including the acoustic audible sound environment from the perspective of the respective audible sound sensors (23a, 23b); and Output (105) of the data stream to the driver assistance system (10). Method (100) according to claim 9, wherein the data stream is output in such a way that the audible sound sensor (23a, 23b) can generate sensor data based on the data stream, which are then output to the driver assistance system (10). Method (100) according to claim 9, wherein the data stream is output as spatial sound, which reproduces the simulated acoustic environment on the vehicle test bench (1) around the motor vehicle (3) and by means of which audible sound sensors (3a, 3b) are stimulated. Method (100) according to any one of claims 9 to 11, further comprising the following steps: Monitoring (106) an activity of the driver assistance system (10); and Adapting (107) the simulation of the environment of the motor vehicle (20) based on a detected activity. Method (100) according to any one of claims 9 to 12, further comprising the following step: Deterioration (104), in particular distortion, of the data stream, especially that part which represents the acoustic audible environment from the perspective of the respective environmental sensors (23a, 23b, 23c, 23d, 23e), preferably taking into account weather conditions and / or defects in the hardware of the respective environmental sensor (23a, 23b, 23c, 23d, 23e). Method (100) according to any one of claims 9 to 13, further comprising the following step: Operating (102) a powertrain (21) for the motor vehicle (20) based on the simulated environment. Computer program or computer program product, wherein the computer program or computer program product contains instructions, in particular stored on a computer-readable and / or non-volatile storage medium, which, when executed by a computer, cause the computer to perform the steps of a method (100) according to any one of claims 9 to 14.

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