Test bench system for testing driver assistance systems with audible sound sensors

Abstract

The present invention relates to a test bench system for testing a driver assistance system with an acoustic audible sound sensor of a motor vehicle, the driver assistance system having a control unit for processing sensor signals from environmental sensors and configured to control the motor vehicle based thereon, at least one of the environmental sensors being an audible sound sensor configured to detect an audible sound, the test bench system comprising a test bench configured to enable the driver assistance system to operate on the test bench, a simulation device configured to simulate an environment of the motor vehicle, the simulated environment comprising an acoustic audible sound environment, and a first interface for providing the simulated environment comprising the acoustic audible sound environment to the driver assistance system.

Description

[Technical field]

[0001] The present invention relates to a test bench system for testing a driver assistance system with acoustic audible sound sensors of a motor vehicle, the driver assistance system having a control unit for processing sensor signals, the control unit being configured to process sensor signals of environmental sensors and to control the motor vehicle based thereon, at least one of the environmental sensors being an audible sound sensor configured to detect audible sounds. [Background technology]

[0002] The widespread use of driver assistance systems (ADAS) that enable the further development of automated driving (AD) continues in both passenger and commercial vehicles. Driver assistance systems make a significant contribution to improving active road safety and driving comfort.

[0003] Besides systems which contribute in particular to safe driving, such as ABS (anti-lock braking systems) and ESP (electronic stability program), numerous driver assistance systems are offered in the passenger car and commercial vehicle sector.

[0004] Driver assistance systems already in use to increase active road safety include parking assistance systems and adaptive cruise control, also known as ACC, which adapts the desired speed selected by the driver to the distance to the vehicle in front. Other examples of such driver assistance systems, in addition to ACC, are ACC stop & go systems, which automatically continue to drive the vehicle in traffic jams or when the vehicle is stationary, lane keeping or lane assistance systems, which automatically keep the vehicle in its lane, and pre-crash systems, which for example prepare or initiate braking to remove kinetic energy from the vehicle in case of a possible collision and introduce further measures if necessary if a collision is unavoidable.

[0005] These driver assistance systems increase road safety by warning the driver in critical situations and even initiating autonomous interventions to avoid or mitigate accidents, such as activating emergency braking functions. Furthermore, they also improve driving comfort with functions such as automatic parking, automatic lane keeping and automatic distance control.

[0006] The safety and comfort benefits provided by a driving assistance system can only be perceived positively by the vehicle occupants if the assistance provided by the driving assistance system is safe, reliable and as comfortable as possible.

[0007] Furthermore, depending on its function, each driving assistance system must complete the scenarios that arise in traffic with maximum safety with regard to its own vehicle and without endangering other vehicles or other traffic participants.

[0008] In this case, the degree of automation of a vehicle is classified into so-called automation levels 1 to 5 (see, for example, the standard SAE J3016). The present invention particularly relates to a vehicle equipped with a driving assistance system of automation levels 3 to 5, which are generally regarded as (partially) automated driving.

[0009] The challenges for testing such systems are manifold. In particular, a balance must be found between test costs and test coverage. The main challenge when testing ADAS / AD functions is to clearly demonstrate that the functionality of the driver assistance system is guaranteed in all possible situations, especially in critical driving situations. Such critical driving situations have a certain degree of criticality, since a non-reaction or an incorrect reaction of the respective driver assistance system could result in an accident.

[0010] Therefore, in the testing of driver assistance systems, it is necessary to consider a large number of driving situations that may occur in various scenarios. In this case, the possible scenario variations generally cover many dimensions (e.g., different road characteristics, behaviors of other traffic participants, weather conditions, etc.). In particular, in order to test driver assistance systems, it is important to extract parameter configurations for important scenarios that may lead to abnormal or dangerous driving situations from this almost infinite multidimensional parameter space.

[0011] From the prior art it is known to use real test drive data from a real test vehicle fleet to validate and verify driver assistance systems.

[0012] US Patent No. 5,399,633 discloses a method for operating a driving simulator comprising the following steps: - detecting a braking request in the driving simulator, in particular based on the activation of a brake sensor; - converting the detected braking request into at least one braking signal suitable for characterizing the braking request; - transmitting at least one brake signal from the driving simulator to a test bench on which at least one part of a drive train of a vehicle is mounted, the drive train comprising at least one axle part, in particular an axle half, and at least one brake arranged on the at least one axle part; - rotating at least one axle section at a first wheel speed corresponding to a predetermined speed of the vehicle; - actuating at least one brake of the vehicle based on the at least one brake signal; - setting a predetermined torque or a predetermined second wheel speed for at least one axle section using at least one dynamometer based on characteristics of at least one component of the vehicle, in particular the drivetrain, the chassis and / or the entire vehicle, the characteristics being at least partially simulated; - detecting an actual wheel speed at a predetermined torque or an actual torque at a second predetermined wheel speed; and - Outputting actual wheel speed or actual torque data to a driving simulator.

[0013] Patent Document 2 relates to a test device for a driving assistance system that is integrated into a vehicle and has a vehicle sensor system for receiving signals from the vehicle's environment, the test device comprising: - a simulator (2-6) for simulating the environment; a simulator transmitter connected to the simulator (2-6) for emitting an environment simulation signal representative of the simulated environment, which can be received by the vehicle sensor system to trigger a reaction of the driving assistance system; Contains:

[0014] Patent document 3 relates to a test system comprising a vehicle test bench, a vehicle arranged on the vehicle test bench, at least one signal unit arranged in or on the vehicle test bench and / or in or on the vehicle and / or separately from the vehicle test bench and the vehicle, the signal unit being able to output or display and / or operate at least one vehicle operation-specific signal and / or optical signal and / or acoustic signal and / or haptic signal and / or signal related to the driving situation and / or signal related to the environment, at least one measuring device and a data detection unit and / or evaluation unit with an evaluation module for data detected by the measuring device. [Prior art documents] [Patent documents]

[0015] [Patent Document 1] International Publication No. 2016 / 110488 [Patent Document 2] DE 102007031040 [Patent Document 3] European Patent Application Publication No. 3101404 Summary of the Invention [Problem to be solved by the invention]

[0016] The object of the present invention is to make it possible to test a driving assistance system under conditions that are as realistic as possible, in particular to reproduce the driving behavior of a vehicle equipped with such a driving assistance system as faithfully as possible to reality. [Means for solving the problem]

[0017] This problem is solved by the teaching of the independent claims. Advantageous embodiments are defined by the dependent claims.

[0018] A first aspect of the invention relates to a test bench system for testing a driver assistance system with acoustic audible sound sensors of a motor vehicle, the driver assistance system having a control unit for processing sensor signals, the control unit being configured to process sensor signals from environmental sensors and to control the motor vehicle based thereon, at least one of the environmental sensors being an audible sound sensor configured to detect an audible sound, the test bench system comprising: - a test bench, the test bench being configured so that the driver assistance system can be operated on the test bench, in particular together with the drive train of the motor vehicle; a simulation device configured to simulate an environment of a vehicle, the simulated environment including an acoustic audible sound environment; and a first interface for providing a simulated environment including an acoustic audible sound environment to a driver assistance system; has.

[0019] Preferably, the first interface is configured to describe a simulated environment including an acoustic audible sound environment from the perspective of each environmental sensor. Preferably, the test bench is configured as a hardware-in-the-loop test bench, a drivetrain test bench or a vehicle test bench.

[0020] A second aspect of the invention relates to a measurement arrangement having a test bench on which a vehicle equipped with a driving assistance system is arranged, the driving assistance system having a control unit for processing sensor signals, the control unit being configured to process sensor signals from environmental sensors and to control the vehicle based thereon, at least one of the environmental sensors being an acoustic audible sound sensor configured to detect an audible sound.

[0021] A third aspect of the invention relates to a measurement vehicle for generating sensor data of an environment of the measurement vehicle, the environment comprising an acoustic audible sound environment, the measurement vehicle comprising: environmental sensors, at least one of which is an audible sound sensor; and a data processing unit for processing sensor signals, the data processing unit being configured to process sensor signals of an environmental sensor, a data storage device configured to record sensor data at a frequency of at least 10 kHz, in particular at about 44.1 kHz or 48 kHz; and the data processing unit is further configured to synchronize sensor data of the at least one audible sound sensor with sensor data of the other environmental sensors.

[0022] A further aspect of the invention relates to a method for testing a driving assistance system with an acoustic audible sound sensor of a motor vehicle, the driving assistance system being configured to process sensor signals from environmental sensors and to control the vehicle based thereon, at least one of the environmental sensors being an audible sound sensor configured to detect an audible sound, the method comprising the following working steps: - simulating an environment of the vehicle, the simulated environment comprising an acoustic audible sound environment; - generating a data stream describing a simulated environment, including an acoustic sound environment, from the perspective of each environmental sensor; and outputting the data stream to a driver assistance system; has.

[0023] A further aspect of the invention relates to a computer program comprising instructions which, when executed by a computer, cause the computer to perform the steps of the method according to the fourth aspect of the invention, and to a computer readable medium having such a computer program stored thereon.

[0024] Audible sounds within the meaning of the present invention are sounds that are perceptible by humans, in particular sounds in the spectrum from 16 Hz to 20 kHz.

[0025] An audible sound sensor in the sense of the present invention is preferably a microphone, more preferably suitable for stereo recording.

[0026] Labelling in the sense of the present invention is the assignment of a noise source to each characteristic noise which is preferably stored as object data for the sensor data.

[0027] The invention is based on the assumption that future driver assistance systems will not only take into account the vehicle's visual environment, data on the spatial environment obtained using cameras, radar, lidar and ultrasonic sensors, but also information conveyed by audible sound in order to control the vehicle.

[0028] In most cases, such audible information is not directly necessary for driving a vehicle, but rather provides information about upcoming events, for example, a siren may signal the impending arrival of an emergency vehicle.

[0029] Also, the sound of screeching tires can indicate an upcoming roadway obstruction for motorists, depending on the direction it is coming from.

[0030] Therefore, detection and near real-time evaluation of acoustic environmental signals is likely to become a key feature in reliable and highly automated vehicles of the future.

[0031] As explained at the beginning, the consideration of the audible sound environment is added as an additional input parameter when controlling the driver assistance system. This additional parameter to be taken into account increases the requirements for the number of test kilometers that must be completed to test the driver assistance system.

[0032] The approach of the present invention is to provide a test bench system for a driver assistance system with an audible sound sensor, the test bench system comprising a test bench configured to operate a drivetrain of a motor vehicle, a simulation device configured to simulate an environment of the motor vehicle including 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.

[0033] By providing a test bench on which the drive train operates and an interface for providing an audible sound environment, driving assistance systems with audible sound sensors can be tested in a particularly reliable and realistic manner, in particular in this way the driving behavior of a motor vehicle can be represented in a particularly realistic manner.

[0034] In an advantageous embodiment of the test bench system, the simulation device is configured to track the movements of the vehicle in the simulated environment and to adapt the environment, including the acoustic sound environment, accordingly. By taking into account the movements of the vehicle in the simulated environment, a particularly realistic depiction of the environment can be obtained.

[0035] In a further advantageous embodiment of the test bench system, the first interface is a stimulator, which is configured to stimulate the environmental sensor and has at least two sound transducers for audible sound and is further configured to generate surround sound using the at least two sound transducers, which reproduces a simulated acoustic environment around the vehicle on the vehicle test bench.

[0036] Preferably, such a stimulator is a mono speaker or a number of stereo or surround speakers.

[0037] If only one speaker is present, it is only possible to check whether, for example, a siren or a horn is sounding, If there is more than one speaker, the driver assistance system can furthermore test whether it is able to determine the respective direction of the sound source and possibly its speed and direction of movement.

[0038] In a further advantageous embodiment, the first interface is therefore configured to depict the simulated environment, including the acoustic sound environment, from the point of view of each environmental sensor, such that a particularly realistic reproduction of the sound environment can be performed at the environmental sensors of the vehicle.

[0039] In a further advantageous embodiment of the test bench system, the first interface is a data interface which is configured to provide the simulated environment as a signal, in particular an output signal of an audible sound sensor, or as a data stream to software of a driving assistance system, in particular of an audible sound sensor.

[0040] In this case, the interface selected in each case is adapted to the component of the driving assistance system to be tested, whereby, for example, it is also possible to omit the hardware and software of the audible sound sensor and test only the software of the audible sound sensor or only the driving assistance system itself.

[0041] In a further advantageous embodiment, the test bench system comprises a second data interface which is arranged to provide object data or so-called ground truth regarding the simulated environment.

[0042] By providing object data and / or ground truth, the environment determined by the driver assistance system can be compared to an initially simulated environment, which is a reference variable.

[0043] In an advantageous embodiment of the measurement vehicle, the data processing unit is further configured to determine characteristic noises from sensor data of the at least one audible sound sensor, recognize their acoustic sources and correspondingly label the characteristic noises.

[0044] This allows data recorded during real test drives to be identified in relation to the audible sound environment and for the data to be processed for use in the test bench system according to the invention.

[0045] 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 noise, in particular wind noise, preferably up to a measuring speed of approximately 50 km / h.

[0046] In this way, the audible sound environment recorded by the measurement vehicle can be applied to other driving situations, independently of the driving situation in which it was recorded.

[0047] In a further advantageous embodiment of the measurement vehicle, the data processing unit is further configured to determine and record in the sensor data the distance of the sound source, the direction from which the characteristic noise comes relative to the measurement vehicle and / or the speed difference of the sound source relative to the measurement vehicle.

[0048] In this way, it is possible to provide a ground truth to the recorded sensor data with regard to the direction and speed of movement of the acoustic source.

[0049] In an advantageous embodiment of the method, the data stream is output so that the audible sound sensor can generate sensor data based on the data stream, which sensor data is output to a driving assistance system.

[0050] In this manner, the driver assistance system may be tested along with the associated audible sound sensor.

[0051] In a further advantageous embodiment of the method, the data stream is output as surround sound, which reproduces a simulated acoustic environment around the vehicle on a vehicle test bench.

[0052] As already explained, surround sound allows in particular to realistically recreate an environment.

[0053] In a further advantageous embodiment, the method comprises the following working steps: - the task step of monitoring the activity of driver assistance systems; and -Adjusting the simulation of the car's surroundings based on detected activity.

[0054] This leads to changes in the acoustic radiation. In particular, the transmission path changes. The acoustic source may also change, e.g. a person may initially "shout" instead of "speak". Furthermore, the Doppler effect may be taken into account. For example, when a person makes an emergency call, the information content of the acoustic radiation may also change.

[0055] In a further advantageous embodiment, the method further comprises the following work steps: - a working step of degrading, in particular distorting, the data stream, in particular the part that describes the acoustic sound environment from the point of view of each environmental sensor, Preferably, weather conditions and / or hardware imperfections of each environmental sensor are taken into account.

[0056] By degrading the data stream, it is possible to test the data processing software of the audible sound sensor and the data processing software of the driver assistance system, in particular its ability to process degraded sensor data.

[0057] In a further advantageous embodiment, the method further comprises the following working steps: -The work step of operating the vehicle drivetrain based on a simulated environment.

[0058] By operating the drive train, the reality can be reproduced even more realistically on the test bench. This is shown, at least partially, in a schematic representation: [Brief description of the drawings]

[0059] [Figure 1] 1 shows an embodiment of a test bench system for testing a driver assistance system and a measurement arrangement consisting of the test bench system together with a vehicle. [Diagram 2] FIG. 1 illustrates an embodiment of a method for testing a driver assistance system. [Diagram 3] FIG. 2 illustrates an embodiment of a measurement vehicle for generating sensor data of an environment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0060] FIG. 1 shows a first embodiment of a test bench system 1 for testing a driving assistance system 10 equipped with an acoustic audible sound sensor 23a in a motor vehicle 20, in which the test bench system 1 is part of a measurement arrangement 40 which further includes the motor vehicle 20.

[0061] The test bench system 1 preferably comprises a data processing device 7. The data processing device 7 preferably comprises a simulation device 2, which is configured to simulate an environment of a motor vehicle. Such simulated environment includes at least one acoustic audible sound environment surrounding the motor vehicle 20.

[0062] For testing the driving assistance system 10, the motor vehicle 20 is placed, preferably fixed, on a test bench 5. The test bench 5 is preferably a drivetrain or vehicle test bench and comprises at least two dynamometers 6c, 6d for simulating driving behavior in the drivetrain 21 of the motor vehicle 20.

[0063] Furthermore, the test bench 5 preferably comprises steering actuators 8a, 8b in order to reproduce the steering of the vehicle 20 in a simulated driving maneuver. Furthermore, the non-driven axles of the vehicle are preferably also actuated by dynamometers 6a, 6b.

[0064] In order to be able to output a simulated audible sound environment of the motor vehicle 20 on the test bench 5, the test bench 5 preferably comprises speakers 3a, 3b which are arranged to output audible sounds. Furthermore, the test bench 5 preferably comprises further interfaces for supplying data to or stimulating further sensors of the vehicle. In particular, a display is preferably present which is arranged to stimulate the camera 23c (not shown) of the driver assistance system 10.

[0065] The vehicle 20 comprises at least a drivetrain 21 and a driving assistance system 10 including a control unit 11 for processing sensor signals. Furthermore, the vehicle 20 preferably comprises further environmental sensors 23a, 23b, 23c, which are configured to sense a simulated environment around the vehicle 20. In particular, the vehicle 20 preferably comprises a microphone 23a for detecting audible sounds.

[0066] The individual devices of the test bench 5 are controlled by a data processing device 7 which preferably comprises a test bench control. Furthermore preferably, the data processing device 7 has a data interface 9 which is arranged to read out operational data of the motor vehicle 20, in particular data relating to the activity of the driver assistance system 10.

[0067] Preferably, the data processing device 7 further comprises a second interface 4, which is configured to read in object data and / or a so-called ground truth of the simulated environment. The environment detected by the driving assistance system 10 can be compared with this ground truth. In this way, the quality of the environment detected by the driving assistance system 10, in particular the audible sound environment, can be evaluated.

[0068] As an alternative to speakers 3a, 3b, the first interface may also be configured as a data interface, in which case environmental data may be provided directly to the software of the audible sound sensor, in particular to the software processing the sensor signal.

[0069] Alternatively, the simulated emission signal of the audible sound sensor can be directly fed to the driver assistance system 10. Depending on the device from which the simulated signal is output, the corresponding component can be tested.

[0070] 2 shows an embodiment of a method for testing a driver assistance system 10 equipped with an acoustic audible sound sensor. Preferably, the method 100 is implemented by a test bench system 1 according to FIG.

[0071] In this regard, the method 100 preferably comprises the following working steps: In a first working step 101, the environment of the motor vehicle 20 is simulated, the simulated environment including an acoustic audible sound environment. In a second work step 102, the drive train 21 is operated on the basis of a simulated environment. Preferably, for this purpose the motor vehicle 20 is arranged on a test bench 5. In a third operational step 103, a data stream is generated which describes the simulated environment, including the acoustic sound environment, from the point of view of each environmental sensor 23a, 23b, 23c. - A fourth operational step 104 consists in degrading, and in particular distorting, the data stream, which in particular concerns the part of the data stream which describes the acoustic sound environment from the point of view of each sound sensor. In a fifth operational step 105, the data stream is output to the driving assistance system 10. In this case, the data stream can be output so that the audible sound sensors 23a, 23b can generate sensor data based on the data stream, which are output to the driving assistance system 10. Alternatively, the data stream is output as surround sound, which recreates a simulated acoustic environment around the automobile 20 on the vehicle test bench 1 and which is used to stimulate the audible sound sensors 23a, 23b. In a sixth operational step 106, preferably the activity of the driving assistance system 10 is monitored. Further preferably, the simulation of the environment of the motor vehicle 20 is adjusted based on the detected activity of the driving assistance system 10. In this regard, the activity can be characterized by an action of the driving assistance system 10, but also by the absence of an action.

[0072] By adjusting the simulation of the environment, again changes of the environment of the motor vehicle 20, in particular the audible sound environment, occur. For example, the transmission paths of the emitted sound are changed. The sound sources change depending on the reaction of the environment to the operation of the driving assistance system 10, for example people sounding warnings on the roadway. The Doppler effect is also preferably taken into account in the adjusted simulation, with regard to shifts in the frequency range due to the movement of the motor vehicle 20 in a certain direction. The information content of the simulation changes, for example, if the driving assistance system 10 causes an accident, and also for example due to interactions with people.

[0073] FIG. 3 shows an embodiment of the measurement vehicle 20 for generating sensor data of the environment of the measurement vehicle 20 .

[0074] The measurement vehicle 20 preferably has a drive train 21. Furthermore, the measurement vehicle 20 preferably has environmental sensors, in particular two microphones 23a, 23b, which are set up to detect audible sounds. In this case, there are preferably one or more microphones that can monitor the entire environment of the vehicle with regard to audible sounds. The audible sound environment in Fig. 3 is formed in particular by an excavator 50 performing road construction and emitting sound as an acoustic source.

[0075] Preferably, the data processing unit 22 of the measurement vehicle 20 is able to determine the direction and / or distance and / or type of the acoustic source 50, 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 storage device 24, which is preferably configured to record the sensor data, in particular at a frequency of at least about 10 kHz. Preferably, the data processing unit 22 is further configured to synchronize the sensor data of at least one microphone 23a, 23b with the sensor data of other environmental sensors.

[0076] Such other environmental sensors are for example cameras 23c, which detect the visual environment, particularly in the direction of travel of the vehicle 20.

[0077] Further preferably, the data processing unit 22 of the measurement vehicle 20 is configured to determine characteristic noises from the sensor data of the at least one audible sound sensor 23a, 23b, recognise their sound sources 50 and label the characteristic noises accordingly.

[0078] For example, based on the frequency spectrum, it is possible to recognize emergency vehicle sirens, horns, wrong-way truck signals, and bicycle bells. Preferably, the sound sources are prioritized according to their general importance with respect to the driving behavior of the vehicle. For example, emergency vehicle sirens and horns have a higher priority than wrong-way trucks or bicycle bells.

[0079] Preferably, the data processing unit 22 is further configured to filter the sensor data of the at least one microphone 23a, 23b to remove noise, in particular wind noise.

[0080] It should be noted that the embodiments are merely examples and are not intended to limit the scope of protection, applications and structures in any way. Rather, the above description provides a person skilled in the art with guidance to implement at least one embodiment, and various modifications may be made, particularly with respect to the function and arrangement of the described components, without departing from the scope of protection resulting from the claims and their equivalent combinations of features. [Explanation of symbols]

[0081] 1 Test bench system 2 Simulation device 3a, 3b, 3c First Interface 4 Secondary Interface 5. Test bench 6a, 6b, 6c, 6d dynamometer 7 Data Processing Device 8a, 8b Steering actuator 10 Driving assistance systems 11 Control unit 20. Automobiles 21 Drivetrain 22 Data Processing Unit 23a, 23b, 23c Sensors 24 Data storage devices 40 Measurement arrangement 50 Sound source

Claims

1. 1. A test bench system (1) for testing a driver assistance system (10) having an acoustic audible sound sensor (23a) of a motor vehicle (20), the driver assistance system (10) having a control unit (11) for processing sensor signals from environmental sensors (23a, 23b, 23c) and configured to control the motor vehicle (20) based on the sensor signals, at least one of the environmental sensors (23a, 23b, 23c) being an audible sound sensor configured to detect audible sounds; The test bench system (1) a test bench (5) configured so that the driving assistance system (10) can be operated on the test bench (1); a simulation device (2) configured to simulate an environment of the vehicle (20), the simulated environment including an acoustic audible environment; and a first interface (3; 3a, 3b) for providing a simulated environment including an acoustic audible sound environment to said driver assistance system (10); A test bench system (1) having:

2. A test bench system (1) as described in claim 1, wherein the driving assistance system (10) is operable on the test bench (1) together with the drivetrain (21) of the vehicle (20).

3. 2. The test bench system (1) of claim 1, wherein the first interface (3a, 3b) is a stimulator configured to stimulate an environmental sensor or has at least two acoustic transducers (3a, 3b) for audible sounds, and further configured to generate surround sound using the at least two acoustic transducers (3a, 3b) to reproduce a simulated acoustic environment around the motor vehicle (3) on a vehicle test bench.

4. 4. The test bench system (1) according to claim 1, wherein the first interface is a data interface configured to provide the simulated environment as a signal, or as an output signal of an audible sound sensor, or as a data stream to a driver assistance system (10) or to software of the audible sound sensor.

5. 4. A measurement arrangement (40) comprising a test bench system (1) according to any one of claims 1 to 3, wherein a motor vehicle (20) equipped with a driving assistance system (10) is arranged on the test bench system (1), the driving assistance system (10) having a control unit (11) for processing sensor signals from environmental sensors (23a, 23b, 23c, 23d, 23e) configured to process sensor signals and to control the motor vehicle (20) based on the sensor signals, and wherein at least one of the environmental sensors (23a, 23b, 23c, 23d, 23e) is an acoustic audible sound sensor configured to detect audible sounds.

6. A measurement vehicle (20) for generating sensor data of an environment of the measurement vehicle (20), said environment including an acoustic audible sound environment, the measurement vehicle (20) comprising: Environmental sensors (23a, 23b, 23c, 23d, 23e), at least one of the environmental sensors being an audible sound sensor; and a data processing unit (22) for processing sensor signals, the data processing unit (22) being configured to process the sensor signals of said environmental sensors (23a, 23b, 23c, 23d, 23e); a data storage device (24) configured to record sensor data; and wherein the data processing unit (22) is further configured to synchronize sensor data of at least one audible sound sensor (23a, 23b) with sensor data of other environmental sensors (23c).

7. A measuring vehicle (20) as described in claim 6, wherein the sensor data has a frequency of approximately 10 Hz.

8. 7. The measurement vehicle (20) of claim 6, wherein the data processing unit (22) is further configured to determine characteristic noises from the sensor data of the at least one audible sound sensor (23a, 23b), recognize the acoustic source (50) of said noises, and correspondingly label said characteristic noises.

9. 9. The measurement vehicle (20) according to any one of claims 6 to 8, wherein the data processing unit (22) is further configured to filter the sensor data of the at least one audible sound sensor (23a, 23b) to remove noise or wind noise.

10. A measuring vehicle (20) as described in claim 9, wherein the noise or wind noise is eliminated up to a measurement speed of approximately 50 km / h.

11. 9. A measurement vehicle (20) according to any one of claims 6 to 8, wherein the data processing unit (22) is further configured to determine and record in the sensor data the distance of the acoustic source (50), the direction from which the characteristic noise comes relative to the measurement vehicle (20), and / or the speed difference of the acoustic source (50) relative to the measurement vehicle (20).

12. 1. A method (100) for testing a driving assistance system (10) having acoustic audible sound sensors (23a, 23b, 23c, 23d, 23e) of a motor vehicle (20), wherein the driving assistance system (10) is configured to process sensor signals from environmental sensors (23a, 23b, 23c, 23d, 23e) and control the vehicle (20) based on the sensor signals, and wherein at least one of the environmental sensors (23a, 23b, 23c, 23d, 23e) is an audible sound sensor configured to detect audible sounds, the method comprising the steps of: simulating an environment of the vehicle (20), the simulated environment comprising an acoustic sound environment (101); generating (103) a data stream describing a simulated environment including an acoustic sound environment from the perspective of each sound sensor (23a, 23b); and outputting (105) the data stream to the driver assistance system (10); The method (100) comprises:

13. 13. The method (100) of claim 12, wherein a data stream is output such that the audible sound sensors (23a, 23b) can generate sensor data based on the data stream, and the sensor data is output to a driver assistance system (10).

14. 13. The method (100) according to claim 12, wherein the data stream is output as surround sound, the surround sound recreating a simulated acoustic environment around a motor vehicle (3) on a vehicle test bench (1), and the audible sound sensors (3a, 3b) are stimulated using the surround sound.

15. Further steps: Monitoring (106) the activity of the driver assistance system (10); and adjusting (107) a simulation of the vehicle's (20) environment based on the detected activity; 15. The method (100) of any one of claims 12 to 14, comprising:

16. A step (104) of degrading or distorting the data stream.

15. The method (100) of any one of claims 12 to 14, further comprising:

17. A method (100) as claimed in claim 16, wherein a portion of the data stream describes the acoustic audible environment from the perspective of each of the environmental sensors (23a, 23b, 23c, 23d, 23e) or describes the acoustic audible environment by taking into account weather conditions and / or hardware imperfections of each of the environmental sensors (23a, 23b, 23c, 23d, 23e).

18. Further steps: operating (102) a drivetrain (21) of a vehicle (20) based on a simulated environment; 15. The method (100) of any one of claims 12 to 14, comprising:

19. A computer program stored on a computer-readable non-volatile storage medium, the computer program including instructions which, when executed by a computer, cause the computer to perform the steps of the method (100) of any one of claims 12 to 14.

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