Ambient sensor system simulation device and method for operating such simulation device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- DSPACE DIGITAL SIGNAL PROCESSING & CONTROL ENGINEERING GMBH
- Filing Date
- 2023-12-11
- Publication Date
- 2026-08-05
AI Technical Summary
Existing ambient sensor systems face challenges in accurately simulating realistic environments to test their functionality and performance due to ambiguous signal echoes caused by object movement or intervening air layers, which affect the plausibility and classification of detected objects.
A simulation device is developed to generate and manipulate signal echoes by varying signal parameters such as delay, frequency, and strength to simulate realistic objects, allowing for accurate testing of ambient sensor systems in controlled environments.
Enables cost-effective simulation of various scenarios for ambient sensor systems, enhancing their ability to recognize and classify objects accurately, particularly in automotive applications like assisted or automated driving.
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Abstract
Description
[Technical field]
[0001] The present application relates to a simulation device for an ambient sensor system and a method for operating such a simulation device. The ambient sensor system may for example be based on the radar or lidar principle. Radar sensors are based on electromagnetic waves in the radio frequency range and lidar sensors are based on electromagnetic waves in the laser frequency range. [Background technology]
[0002] From WO 2020 / 141151 a method is known for operating a simulator device for testing a distance sensor operating with electromagnetic waves. In this case, a desired reflected signal is generated corresponding to a signal received by the distance sensor, which is provided with a frequency shift. From the provided frequency shift, information about the relative speed can be obtained by the distance sensor. The simulator device can be used to test the distance sensor.
[0003] WO 2020 / 136279 A1 discloses a signal delay device for simulating spatial distances for distance sensors based on electromagnetic waves. In this case, a desired delayed reflected signal is generated in response to a signal received by the distance sensor. From the applied delay of the received signal, distance information can be obtained by the distance sensor. The simulator device can be used to test the distance sensor. Summary of the Invention [Means for solving the problem]
[0004] The ambient sensor system is configured to detect objects. The ambient sensor system is capable of detecting at least one respective object based on a respective signal echo. A simulation device for such an ambient sensor system is configured to generate signal echoes corresponding to the respective objects to be simulated. The simulation device comprises: a receiving device configured to receive a first signal transmitted by the ambient sensor system and convert it into a first operating signal; a signal path connected to the receiving device for receiving a first operating signal, the signal path being configured to generate, by means of a first signal processing unit, a second operating signal dependent on the first operating signal and a respective signal echo, each signal echo being characterized by at least one signal parameter, the second signal processing unit being configured to impart a variation to the at least one signal parameter, the simulation device further comprising: A transmitter configured to convert the second operating signal into a second signal and transmit the second signal to the ambient sensor system.
[0005] Furthermore, a method for operating a simulation device for an ambient sensor system is proposed, the ambient sensor system being arranged to detect at least one respective object on the basis of a respective signal echo. The method comprises the following method steps: receiving, by a receiving device, a first signal transmitted by an ambient sensor system; converting, by a receiving device, the first signal into a first operating signal; receiving a first operating signal via a signal path; generating, by a first signal processor, a second operating signal derived from each signal echo and the first operating signal, where each signal echo is characterized by at least one signal parameter, and applying, by a second signal processor, a variation to the at least one signal parameter; converting the second operating signal into a second signal and transmitting the second signal by a transmitting device.
[0006] A simulation device for an ambient sensor system or a method for operating such a simulation device for an ambient sensor system with the features of the independent claims has the advantage that this allows for an accurate simulation with appropriate validation and classification of radar sensors or alternative ambient sensors, such as lidar sensors. The underlying realization of the present application is that in reality, signal echoes have a certain degree of ambiguity. This is also called flicker. This is caused, for example, by the movement of objects or by the movement of an air layer located between the object and the sensor. Here, other influencing factors may also be involved. Such effects, such as flicker, can be used by an evaluation component for such ambient sensors to determine the validity of a signal echo and classify it into a certain object type, i.e., for example, a car, a motorcycle or a bicycle or a pedestrian. It is therefore advantageous if a simulation device for such sensors can simulate a realistic environment with realistic objects. In addition to the realism, the capabilities of the sensor with regard to the evaluation of such effects can also be tested.
[0007] Signal echoes, for example radar or lidar echoes, are reflections at the respective object of a signal transmitted by a surrounding sensor system. When an object is simulated, such signal echoes are simulated, i.e. imitated, by a simulation device.
[0008] According to the present application, a simulation device is understood to be a device in which an ambient sensor system is integrated or installed in order to test the ambient sensor system for functionality and performance in various situations, whereby it is possible to test a range of widely different situations without the ambient sensor system being integrated, for example, in a vehicle and experiencing these situations in real life. The ambient sensor system is a so-called device under test, which can be cost-effectively tested by the simulation device.
[0009] The surroundings sensor system may in the present invention be a radar sensor system or a lidar sensor system or a combination of the two, but also other surroundings sensor systems operating by signal echoes can be tested in the present invention according to the present application. With a radar sensor system, for example, microwaves are emitted and signal echoes reflected at the object as a result of such emitted microwaves are received. From measuring the propagation time or from a skilled evaluation of the emitted and received signals, distance information to the object can be obtained. Here, in applications in vehicles, a frequency shift based on the Doppler effect is often used, from which besides distance information, information can also be obtained, for example about the relative speed. Through evaluation of the signal strength of the echoes, characteristics can be obtained about the object from which the reflection has taken place. Instead of microwaves, a lidar sensor uses laser light, preferably in the infrared range.
[0010] The surroundings sensor system is configured to detect the respective object based on the respective signal echo, for example another vehicle, a pedestrian, a motorcycle or a bicycle. Such surroundings sensor systems can be used in particular for assisted or automated driving, as well as for emergency braking functions or driving assistance that are already in use.
[0011] A signal echo therefore means a reflection of a signal transmitted by the ambient sensor system, from which an object can be detected, for example by identifying its position and its movement vector.
[0012] The simulation device has a receiving device configured to receive a first signal transmitted by the surrounding sensor system and convert it into a first operating signal. For example, the signal transmitted by the radar is transmitted in the microwave range, for example at 77 GHz, and the receiving device then has a corresponding receiver capable of receiving and processing such microwave signals. The receiving device converts the received first signal into a first operating signal. The first operating signal is converted to a frequency lower than the frequency of the first signal in order to make it easier to process electronically. The first operating signal is then passed to a signal path connected to the receiving device to capture the first operating signal.
[0013] The signal path means a signal processing chain and additionally comprises a first signal processing section which forms a second operating signal derived from the respective signal echo and the first operating signal. Here, the desired signal echo should simulate a corresponding object and the reflection of the first signal at this object. This can be done, for example, by modulating at least one signal parameter of the first operating signal. By such a signal parameter the signal echo is characterized, which signal parameter is defined in more detail according to the dependent claims.
[0014] Information about the signal echo and values for the signal parameters of the signal echo can be supplied to the signal path, in particular via an interface. The information about the signal echo can be generated, for example, from a test program or can be entered manually.
[0015] The second operating signal can be generated by modulation of the first operating signal using at least one signal parameter of the signal echoes, as well as by a new generation of the second operating signal taking into account information from the first operating signal and the signal echoes.
[0016] The signal path further includes a second signal processing section configured to impart a variation to at least one signal parameter, i.e., the second signal processing section imparts a variation to the second operating signal by imparting a time variation to at least one signal parameter of the signal echo.
[0017] Thus, there is a two-stage signal processing section, where firstly the signal parameters of the desired signal echo are inserted into a first operating signal to generate a second operating signal. Here, this insertion can be performed, for example, by modulation. In a second step, then, in the second operating signal, a variation is imparted to at least one signal parameter of the signal echo. This then allows the desired jitter to be inserted into the second operating signal in the simulation device.
[0018] The first signal processing unit and the second signal processing unit may be implemented in a processor, but dedicated hardware may also be used. In particular, the first signal processing unit and the second signal processing unit may be implemented as software. In an advantageous embodiment, the first signal processing unit and the second signal processing unit are implemented in the same hardware, for example, further in the same processor. In this case, the first signal processing unit and the second signal processing unit may be executed in succession.
[0019] Here, a transmitting device is configured to convert a second operating signal, i.e. a second operating signal with a variation of at least one signal parameter of the signal echo, into a second signal. This second signal is then transmitted by the transmitting device to the surrounding sensor system. A reflection at an object is thereby generated by the present simulation device or the present method for operating such a simulation device, whereby the surrounding sensor system can simulate any desired object. According to this, the transmitting device converts the second operating signal, for example, into the frequency range in which the first signal was received. For this purpose, a transmitting device for a radar sensor can have, for example, corresponding microwave electronics. For a lidar sensor, the transmitting device can be embodied as an optical transmitting device.
[0020] The measures and developments set out in the dependent claims enable advantageous developments of the simulation device or of the corresponding methods for operating such a simulation device as set out in the independent claims.
[0021] In one embodiment, the second signal processing unit has an interface for receiving an input signal, the second signal processing unit being configured to generate a variation in dependence on the input signal, i.e. the variation is generated by the second signal processing unit in the second operating signal by applying a time variation to at least one signal parameter of a signal echo, the time variation being generated in dependence on an input signal, for example generated by a test program or entered manually, thereby making it possible to integrate the simulation device in a comprehensive test concept, in which a jitter is deliberately incorporated in the signal echo.
[0022] It is proposed in the present invention that the simulation device is configured such that the first signal processing unit generates a delay and / or a signal strength and / or a signal frequency as at least one signal parameter. These parameters can be used to modify the first operating signal, either individually or in combination. This means, for example, that a delay is inserted into the first operating signal in order to simulate a predefined distance between the simulated object and the sensor. Alternatively or additionally, the signal strength, i.e. the amplitude, of the first operating signal can be influenced in a targeted manner in order to simulate a specific property of the object, for example the surface quality and / or the size of the simulated object. That is, the amplitude and thus the signal strength are modulated in response to a desired radar cross section of the object. Alternatively or additionally, the signal echoes can have, for example, a different frequency than the first operating signal, i.e. the frequency of the first operating signal is changed, i.e. modulated, in order to simulate a relative movement of the simulated object with respect to the sensor. Thus, the movement of the respective simulated object towards the surrounding sensor system corresponds to the Doppler effect and can be simulated by increasing the frequency.
[0023] In one embodiment, the second signal processing unit is configured to generate the variations periodically and / or randomly and / or for a predefined duration. These alternatives, which are also applicable at the same time, allow different effects of the variations to be simulated. Periodically here means that the variations are repeated on a predefined time grid. Random means that the variations are generated at least approximately according to a random pattern. This can be determined, for example, by a pseudorandom generator. The variations may be provided for a predefined duration.
[0024] Furthermore, it is proposed that the second signal processing unit is configured to determine an absolute value for the fluctuation, i.e. the deviation of the fluctuation or how much it fluctuates. In particular, the determination of the absolute value of the fluctuation can be performed depending on the input signal. Alternatively or additionally, the repetition frequency of the fluctuation can be determined. In particular, the determination of the repetition frequency of the fluctuation can be performed depending on the input signal. This allows, for example, to take into account signal echoes or other effects by various objects.
[0025] The first signal processing section can be implemented digitally and / or analogically. In particular, the frequency and / or the signal strength of the signal echo, which are incorporated into the first operating signal, can therefore be generated digitally and / or analogically. In order to generate a time delay, the first signal processing section can have a switchable delay element in an analog implementation. The delay element can then have a line through which the second operating signal is sent. In this case, the second operating signal is time-delayed by passing through the delay element.
[0026] The second signal processing section can be implemented digitally and / or analogically. In particular, the variations, also called jitter, of the frequency and / or the signal strength of the signal echo can therefore be generated digitally and / or analogically. In order to generate the variations, also called jitter, of the time delay, the second signal processing section can have a flexibly switchable delay element in the analog implementation. The delay element can then have a line through which the second operating signal is sent. In this case, the second operating signal is time-delayed by passing through the delay element. By flexibly additionally switching and disconnecting the delay element in this way, the desired variations can be generated.
[0027] In some embodiments, the signal parameters of the signal echo and the respective desired variations can be generated together. This is possible, for example, when the first signal processing section and the second signal processing section are realized together and the relatively long delay element and the relatively short delay element are alternatively additionally connected and disconnected. This allows the generation of a time delay with a variation.
[0028] The same applies to method claims.
[0029] An embodiment is shown in the figures and explained in more detail in the following description. [Brief description of the drawings]
[0030] [Figure 1] FIG. 1 is a diagram showing a schematic structure of a simulation device. [Diagram 2] Graph with schematic illustration of signal echoes. [Diagram 3] FIG. 2 is a block diagram of a signal processing chain. [Figure 4] FIG. 13 is a schematic diagram illustrating the use of a delay element. [Diagram 5] FIG. 1 illustrates a method of operating the simulation device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0031] In the drawings, the same reference symbols are used for the same or similar elements. The representations in the drawings may not be to scale.
[0032] The structure of the simulation device is shown diagrammatically in Fig. 1. The ambient sensor system US as the device under test transmits a first signal SG1 to the receiver RX, which converts the first signal SG1 into a first operating signal A1 and passes it on to a signal path SP with signal processing units SV1, SV2, which will be described later. The first signal SG1 is an electromagnetic wave and has a frequency, for example, in the microwave range or the optical infrared range (depending on the type of ambient sensor system US). The receiver RX is designed to convert the first signal SG1 into a baseband signal as the first operating signal A1 for easier further processing.
[0033] In the first signal processing unit SV1, the first operating signal A1 and a desired signal echo SE are used to generate a second operating signal A2, where the desired signal echo SE is a representation of the object to be simulated, for example in terms of distance, relative speed and / or further properties, such as size and / or surface quality, where the signal echo SE is characterized in particular by one or more signal parameters, such as the signal strength AMP, the frequency f and / or the time delay Δt.
[0034] The second operating signal A2 can be generated, for example, in the first signal processing unit SV1 by applying one or more desired parameters of the signal echo SE to the first operating signal A1. Here, signal parameters that depend on the signal echo SE with respect to the signal strength AMP and / or the frequency f and / or the delay Δt are written into the first operating signal A1. A modulation is thus performed. From this, i.e. from this modulation, the second operating signal A2 then results.
[0035] Alternatively or additionally, it is also possible to generate a second operating signal A2 as a new signal, whereby the first operating signal A1 and corresponding information of the desired signal echo SE are used for this purpose, from which a corresponding second operating signal A2 is generated.
[0036] The signal path SP further comprises a second signal processing unit SV2, by which a fluctuation SW is added to the first operating signal A1 or in this first operating signal A1, in particular to one or more contained signal parameters of the signal echo SE, in order to simulate the above-mentioned jitter. This fluctuation SW is determined via an input signal E, which is received by the second signal processing unit SV2 via an interface IF. The second operating signal A2 modified in this way is then transmitted to a transmitting device TX, which converts the second operating signal A2 further processed in this way into a second signal SG2, which is then transmitted via an antenna or beam source (not shown) to the surrounding sensor system US and can be received by the surrounding sensor system US. For this purpose, the transmitting device TX comprises a radio-frequency component for generating, in particular, radio-frequency waves, in particular in the microwave or infrared range. Thus, via the signal path SP, a corresponding signal echo SE for the surrounding sensor system US is generated, which signal echo SE can be received by the surrounding sensor system US as a constituent part of the second signal SG2, thus simulating the target object via the signal parameters of the signal echo SE.
[0037] In Fig. 2, an example of a signal echo SE of an object is plotted in a schematic manner with respect to delay Δt or frequency f. Similarly, possible variations SW of the delay Δt and / or frequency f are shown. This variation SW in the horizontal direction of Fig. 2 corresponds to a change in the delay Δt and / or frequency f. Similarly, possible variations SW of the signal strength AMP, i.e. the amplitude, are also shown. This variation SW in the vertical direction of Fig. 2 corresponds to a change in the signal strength AMP.
[0038] In FIG. 3, a part of the method for operating the simulation device is shown in a block diagram as a block circuit diagram of part of the signal processing chain. The first operating signal A1 is changed in amplitude, i.e. the signal strength AMP, in the first signal processing section SV1 in the block B-AMP. In the block Bf, the first operating signal A1 is changed in frequency f and in the block B-Δt, a time delay Δt is added to the signal. It is also possible to insert all three of these parameters into the first operating signal A1 or only one or two of these parameters. With these parameters, a signal echo SE is incorporated. From this, a second operating signal A2 is then generated. Alternatively, it is also possible to generate the second operating signal A2 anew and to do so use the information of the first operating signal A1 and the signal echo SE.
[0039] This second operating signal A2 is influenced by the fluctuation SW in the second signal processing section SV2, and moreover, the signal strength AMP in the block SW-AMP, its signal frequency f in the block SW-f, and its delay in the block SW-Δt. It is also possible to apply the fluctuation SW only to the applied parameters in the first signal processing section SV1. In both the first signal processing section SV1 and the second signal processing section SV2, the changes in the respective operating signals A1 and A2 are made based on pre-set parameters, for example from a simulation program. It is possible for the processing blocks in the first signal processing section SV1 and the second signal processing section SV2 to be executed in parallel with each other. It is also possible for the first signal processing section SV1 and the second signal processing section SV2 to be implemented together as one signal processing section, and for the above-mentioned steps to be executed in parallel or in succession.
[0040] 4 shows diagrammatically the analogue addition of a delay Δt by means of delay elements VZ1, VZ2 or VZ3. The second operating signal A2 is supplied to only one of the delay elements VZ1, VZ2 or VZ3, or to all or to none or to only two of the delay elements VZ1, VZ2 and VZ3, depending on the input signal E. The delay elements VZ1, VZ2 or VZ3 are arranged to insert different delays Δt, so that a variation SW of the delay Δt can be produced.
[0041] In FIG. 5, the method is shown in a flow chart. In method step 500, a first signal SG1 is received by the receiver RX. In method step 501, a first operating signal A1 derived from the first signal SG1 is converted by the receiver RX. In method step 502, this first operating signal A1 is captured by the signal path SP. In method step 503, the signal parameters of the signal echo SE are incorporated into the first operating signal A1, for example by modifying the signal parameters signal strength AMP, frequency f and / or time delay Δt. This results in a second operating signal A2 in this case. Following this, a variation SW is applied by the second signal processing unit SV2 to the modified signal parameters AMP,f,Δt in method step 504. In method step 505, the second operating signal A2 modified in this way is then converted into a second signal SG2, which is then transmitted to the surrounding sensor system US. [Explanation of symbols]
[0042] US Ambient Sensor System SP signal path SE Signal Echo SG1 First signal SG2 Second signal RX Receiver A1 First operating signal A2 Second operating signal SV1 First signal processing section SV2 Second signal processing section E Input signal IF Interface TX transmitter SW fluctuation Δt delay f signal frequency AMP signal strength B-Δt signal processing block Bf Signal processing block B-AMP signal processing block B-SW-Δt Signal processing block B-SW-f Signal processing block B-SW-AMP signal processing block VZ1, VZ2, VZ3 delay elements 500~504 Method steps
Claims
1. A simulation device for an ambient sensor system (US) configured to detect at least one object based on each signal echo (SE), wherein the simulation device is A receiving device (RX) configured to receive a first signal (SG1) transmitted by the surrounding sensor system (US) and convert it into a first operation signal (A1), A signal path (SP) connected to the receiving device (RX) for receiving the first operation signal (A1), Transmitter (TX), It has, The signal path (SP) is configured to generate a first operation signal (A1) and a second operation signal (A2) that depends on each of the signal echoes (SE) using a first signal processing unit (SV1), wherein each of the signal echoes (SE) is characterized by at least one signal parameter (Δt, f, AMP), and the second signal processing unit (SV2) is configured to impose a variation (SW) on at least one of the signal parameters (Δt, f, AMP). The transmitting device (TX) is configured to convert the second operation signal (A2) into a second signal (SG2) and transmit the second signal (SG2) to the ambient sensor system (US). Simulation device.
2. The second signal processing unit (SV2) has an interface (IF) for receiving an input signal (E), The second signal processing unit (SV2) is configured to generate the fluctuation (SW) depending on the input signal (E). The simulation apparatus according to claim 1.
3. The first signal processing unit (SV1) is configured to generate a delay and / or signal intensity (AMP) and / or signal frequency as at least one of the signal parameters. The simulation apparatus according to claim 1.
4. The second signal processing unit (SV2) is configured to generate the fluctuation (SW) periodically and / or randomly and / or for a predetermined period of time. The simulation apparatus according to claim 1.
5. The second signal processing unit (SV2) is configured to determine the absolute value of the fluctuation (SW) and / or the repetition frequency of the fluctuation (SW), and the determination is performed in particular in accordance with the input signal (E). The simulation apparatus according to claim 1.
6. The first signal processing unit (SV1) is configured to be digital and / or analog. The second signal processing unit (SV2) is formed digitally and / or analogously. The simulation apparatus according to claim 1.
7. Switchable delay elements (VZ1 to VZ3) are provided for the formation of the analog type, and the signal echo and / or the fluctuation can be generated via the delay elements (VZ1 to VZ3). The simulation apparatus according to claim 6.
8. A method for operating a simulation device for an ambient sensor system (US) configured to detect at least one object based on each signal echo (SE), the method comprising the following steps: The steps include receiving a first signal (SG1) transmitted by the surrounding sensor system (US) with a receiving device (RX), The receiving device (RX) performs the step of converting the first signal (SG1) into a first operation signal (A1), The first operation signal (A1) is received via a signal path (SP), A first signal processing unit (SV1) generates a second operation signal (A2) derived from each of the signal echoes (SE) and the first operation signal (A1), wherein each of the signal echoes (SE) is characterized by at least one signal parameter (Δt, f, AMP), and a second signal processing unit (SV2) applies a variation (SW) to at least one of the signal parameters (Δt, f, AMP). The steps include converting the second operating signal (A2) into a second signal (SG2) and transmitting the second signal (SG2) by the transmitting device (TX), A method of having.
9. The second signal processing unit (SV2) generates the fluctuation (SW) depending on the input signal (E). The method according to claim 8.
10. The first signal processing unit (SV1) generates at least one of the signal parameters: delay (Δt) and / or signal intensity (AMP) and / or signal frequency (f). The method according to claim 8.
11. The second signal processing unit (SV2) generates the fluctuation (SW) periodically and / or randomly and / or for a predetermined period of time. The method according to claim 8.
12. The second signal processing unit (SV2) determines the absolute value of the fluctuation (SW) and / or the repetition frequency of the fluctuation (SW), and in particular, performs the determination depending on the input signal (E). The method according to claim 8.
13. Delay elements (VZ1 to VZ3) are switched to form the analog versions of the first signal processing unit and / or the second signal processing unit (SV2). The method according to claim 8.