Method for carrying out a test drive

Abstract

The invention relates to a method for carrying out a test drive using a vehicle (1) having vehicle electronics (2), wherein the vehicle (1) moves through an area comprising other traffic objects (5, 5', 5", 10) during the test drive, the vehicle electronics (2) are connected to at least one server (6), in order to exchange data, before or during the test drive, the vehicle electronics (2) receive data relating to other traffic objects (5, 5', 5", 10) from the server (6), and the vehicle (1) is automatically or partly automatically controlled by the vehicle electronics (2) on the basis of the received data relating to the other traffic objects (5, 5', 5", 10). Data relating to at least one virtual traffic object (5") is input into the server before or during the test drive, said data comprising at least the position of the virtual traffic object (5").

Description

[0001] Procedure for conducting a test drive

[0002] The invention relates to a method for carrying out a test drive with a vehicle equipped with vehicle electronics, wherein the vehicle moves through an area with other traffic objects during the test drive, wherein the vehicle electronics are connected to at least one server for data exchange before or during the test drive and the vehicle electronics receive data about other traffic objects from the server, and wherein the vehicle is controlled automatically or semi-automatically by the vehicle electronics based on the received data of the other traffic objects.

[0003] Particularly in the area of ​​autonomous vehicles and vehicles with advanced driver assistance systems (ADAS), a driver assistance system is used as part of the vehicle's electronics. This system performs or supports the vehicle's control, typically receiving sensor data from the vehicle's sensors as well as data from a communication network during normal driving. The vehicle's sensors are primarily designed to collect data about the vehicle's immediate surroundings and the vehicle itself, such as recognizing other road users, lanes, and road layouts, or monitoring the vehicle's speed, position, and direction of travel.The data from the communication network can also relate to traffic objects, such as their type, position, direction of movement and speed of movement, but they are not limited by the range of the sensors.

[0004] However, such driver assistance systems can also serve to support a driver by providing warning signals or suggestions to make the journey safer, more efficient or more pleasant.

[0005] Both data sources, the sensor systems and the communication network, have drawbacks or problems. While the range of sensors is limited and their detection can be faulty, data from the communication network can be outdated or reach the vehicle with a delay, for example, due to a poor connection or network overload. This can lead to a vehicle receiving conflicting data from different data sources, or even individual data sources failing altogether—for instance, if a sensor is defective or the connection to the communication network is interrupted. During tests of driver assistance systems, and especially of autonomous vehicles equipped with such systems, individual functions or the behavior of the driver assistance system are often observed under specific conditions to identify and correct errors or problems.

[0006] In such tests, the vehicle equipped with the driver assistance system is sent through a test environment during a test drive to evaluate the system's response to specific conditions or situations. Ideally, situations involving other traffic objects, such as other vehicles, traffic lights, pedestrians, etc., can also be tested. These traffic objects are detected by the vehicle's sensors, and the vehicle can also receive data and parameters about them from the communication network. This can be very complex and challenging, requiring numerous personnel and materials to simulate these situations. Preparing the traffic objects at the right time, in the right place, and at the right speed to create a realistic scenario is also often difficult.

[0007] The object of the invention is therefore to provide a method that enables improved testing of a vehicle.

[0008] This problem is solved according to the invention by entering data from at least one virtual traffic object into the server before or during the test drive, which includes at least the position of the virtual traffic object.

[0009] The use of virtual traffic objects eliminates the need to include a real traffic object during test drives to assess the vehicle's reaction to such an object in a specific situation. This saves significant time, personnel, and material resources, simplifying and accelerating the testing of diverse scenarios. In this way, a real vehicle can be tested under conditions as close to reality as possible, while still minimizing the overall effort.

[0010] A particular advantage lies in the ease with which multiple similar tests can be conducted, with only one or a few parameters changed between each test. Since the data and parameters of the virtual traffic objects can be easily modified, the same situation can be reproduced with precisely defined changes. This enables particularly effective testing and investigation of individual parameters' effects on driving behavior. Automatic or semi-automatic control allows for further optimization of the driving experience. Semi-automatic control means that the driver retains control of the vehicle, but the driver assistance system can intervene if necessary, for example, by making steering corrections to maintain lane position.

[0011] The communication network is a network of participants that communicate with each other, at least partially, and includes at least the vehicle and at least one server. Furthermore, preferably at least one other traffic object is part of the communication network, which communicates with the server. It is also possible for the other traffic object to communicate directly with the vehicle.

[0012] Traffic objects can encompass all objects or subjects, or parts thereof, that participate in, regulate, control, or otherwise influence traffic. For example, other road users such as other vehicles or pedestrians are traffic objects. Roads, lanes, lane markings, traffic signs, traffic lights, or other symbols such as crosswalks can also be traffic objects. Likewise, obstacles that affect traffic can be traffic objects, such as barricades, barriers, trees, stones, and the like.

[0013] For the purposes of this invention, a server is defined as a computer, computer component, or device comprising at least one computer, configured to communicate at least partially with the vehicle or other traffic objects and to exchange data. Typically, each server includes at least one database or is connected to one, in which data of the traffic objects is stored so that this data can be retrieved and / or transmitted to other traffic objects, such as the vehicle.

[0014] The data of a traffic object, or a traffic object's data record, can include at least its absolute position, relative position, direction of movement, speed of movement, acceleration of movement, type of object, and / or orientation. It can also include other parameters of the traffic object. For example, a traffic object might have a data record containing the information that it is a motorcycle, located directly in front of the vehicle at a distance of approximately 20 meters, and moving at a constant speed of 40 km / h in the same direction as the vehicle.

[0015] Virtual traffic objects, in this context, refer to data about a specific traffic object being fed into the communication network, typically to the server, without that traffic object actually existing in that form. This data can be transmitted to the vehicle during the test drive, just like data from real traffic objects recorded in the communication network. This allows the vehicle's reaction to specific traffic objects in specific situations to be analyzed without having to provide the traffic object itself.

[0016] Preferably, during the test drive, the vehicle electronics server transmits data from both virtual and real traffic objects, with the vehicle electronics preferably controlling the vehicle independently of whether a traffic object is real or virtual. This allows individual traffic objects to be replaced by virtual ones while still using real traffic objects.

[0017] However, it is also possible for the vehicle electronics server to transmit data exclusively from virtual traffic objects. In this case, no real traffic objects are necessary at all.

[0018] It can be implemented that the vehicle electronics and the server communicate with each other using MQTT. This enables particularly efficient and fast communication between the network participants, especially the server and the vehicle electronics. MQTT (Message Queuing Telemetry Transport) has proven to be a particularly efficient protocol for this type of data transmission. It can be implemented that at least one server, preferably all servers, operate and / or are configured as an MQTT broker. This enables fast data transmission between traffic objects and the at least one server.

[0019] The vehicle electronics can be configured to measure at least one parameter of the vehicle or its environment, preferably its position, using at least one sensor, and preferably to determine the vehicle's position using GNSS with real-time kinematics (RTK). This enables particularly accurate and up-to-date position determination. Real-time kinematic positioning (RTK) involves determining the position from a base station with a known actual position based on data from multiple positioning satellites. The base station calculates the deviation of the determined position from the actual position based on the satellite data and transmits this deviation to the vehicle electronics, which then performs a position determination based on data from multiple positioning satellites and improves and / or corrects it using the correction data.In this sense, it is also advantageous if the at least one sensor includes at least one GNSS module and is preferably set up for position determination using real-time kinematics (RTK).

[0020] The parameters of the vehicle or its environment can comprise a single parameter, a value, or even a collection of parameters or values. For example, vehicle parameters include its speed, position, acceleration, direction of travel, wheel angle, vehicle lighting status, and similar information. For example, environmental parameters include other detected objects in the vehicle's vicinity, their relative position to the vehicle or their absolute position, distance, object type, orientation, direction of movement, or acceleration. Environmental parameters can also be abstract values ​​such as the ambient light level.

[0021] The sensor or sensors may accordingly include a LIDAR, camera, stereo camera, radar, infrared, GNSS (with and without real-time kinematic positioning), velocity measurement and / or acceleration measurement system.

[0022] Furthermore, it is advantageous if the vehicle electronics control the vehicle automatically or semi-automatically based on the measurement data from at least one sensor. As a rule, the output of the driver assistance system depends on data from both sources: the server and the sensor measurements. This means that data from both sources is processed.

[0023] However, it is also possible for the vehicle electronics to control the vehicle automatically or semi-automatically, independent of the measurement data from at least one sensor. This can be particularly useful when only virtual traffic objects are used.

[0024] Furthermore, it can be advantageous if the vehicle electronics prioritize the received data from other traffic objects over the measurement data during automatic or semi-automatic control. Highly complex decisions are made during the processing of the measurement data and the data received from the server, depending on the data sets. This includes situations where data from different sources do not match. This is particularly true for virtual traffic objects, as they are recorded in the server's data set but do not exist in reality and are therefore not detectable in the sensor's measurement data. Prioritizing the received data from the server prevents a programmed, virtual traffic object from being ignored by the vehicle electronics simply because it is not present in the measurement data.Furthermore, the vehicle electronics can be configured to recognize traffic objects based on the measurement data and to control the vehicle automatically or semi-automatically based on these recognized objects. By recognizing traffic objects based on sensor data, known data about the traffic object can be verified, improved, or expanded, and previously unknown traffic objects can also be recognized, for example, because they are not yet known to the server. This recognition can include at least the identification of the object's absolute position, relative position, direction of movement, speed, acceleration, type of object, and / or orientation, and the vehicle electronics can then control the vehicle automatically or semi-automatically based on these recognized traffic objects.

[0025] However, it is also possible for the vehicle electronics to control the vehicle automatically or semi-automatically, regardless of detected traffic objects. This is particularly useful when only virtual traffic objects are used.

[0026] Furthermore, the vehicle electronics can create a dataset of traffic objects, preferably relevant ones, based on the traffic objects detected by the measurement data, and preferably extend this dataset using received data. The additional data from the communication network can be used to supplement or verify the data of the individual traffic objects. This also allows for the easy integration of virtual traffic objects that have no corresponding traffic objects detected by the measurement data. The dataset of multiple traffic objects can, for example, be implemented as a traffic object list. For instance, the dataset can include traffic objects that are within a specific distance radius, radius of movement, and / or have a specific priority for the vehicle.This ensures that the driver assistance system only considers traffic objects that are actually relevant to the vehicle in a given situation. The data set is continuously updated, so that, for example, road signs that are no longer relevant to the journey are deleted and other, new traffic objects are added.

[0027] It is advantageous if the vehicle electronics treat a traffic object recorded in the received data, but not detected by the measurement data, as if the vehicle electronics had detected the traffic object based on the measurement data and as if the traffic object's data matched the received data. This prevents virtual traffic objects from being treated differently because the sensors cannot detect them. Furthermore, it is advantageous if at least one server is located in or on the vehicle and / or connected to the vehicle electronics via at least one data line. Having a server in the vehicle ensures that the vehicle can retrieve data from the server even with a poor or interrupted connection to the participants in the communication network outside the vehicle.This can also be achieved if the server is connected to the vehicle electronics via at least one data line.

[0028] It is particularly advantageous if the data of at least one virtual traffic object includes at least the position of the traffic object at a given time, its direction of movement, speed of movement, acceleration of movement and / or type of traffic object.

[0029] Furthermore, it is particularly advantageous if a geographically relevant area for the vehicle is defined and the server transmits data from traffic objects located within that area or within a defined distance of it to the vehicle. This ensures that the vehicle only receives information about traffic objects that might be relevant to it at any given moment.

[0030] In this respect, it is particularly advantageous if the vehicle determines its position and transmits this determined position, and preferably also the direction of travel and / or speed, to the server, and if the server transmits data from traffic objects that are within a defined distance of the vehicle and / or within a defined radius of travel of the vehicle to the vehicle. This can be done continuously or intermittently.

[0031] Furthermore, the system may allow the vehicle to exchange data directly with at least one other traffic object. This enables particularly fast and easy communication, especially with very close traffic objects.

[0032] In this sense, it can also be provided that the changing behavior of at least one virtual traffic object is simulated on the server and / or by the vehicle electronics, and that the simulation of the traffic object preferably includes at least one parameter of the traffic object being changed depending on a trigger condition. Changing behavior means that during the simulation the value of at least one parameter of at least one traffic object changes, for example, its position, speed, direction, or, in the case of a traffic light, its phase in the red-green cycle. A trigger condition could be, for example, reaching a specific time, a specific position, or a relative relationship to another traffic object, such as falling below a minimum distance to a traffic object, for example, the vehicle.The trigger condition can also include reaching a value of a parameter of another traffic object.

[0033] It is particularly advantageous if the virtual traffic object's data includes motion data and if the virtual traffic object's motion is simulated on the server and / or by the vehicle's electronics, and preferably if the simulation is started or modified when a vehicle parameter reaches a defined trigger value or range. This allows for the targeted programming and testing of specific scenarios. For example, it can be specified that a virtual traffic object of the type "pedestrian" should leave a house and walk in a specific direction at a certain speed the moment the vehicle reaches a certain distance from the house, as defined by the trigger value range. It can also be provided that the virtual traffic object's data includes a movement route along which the traffic object travels.

[0034] Preferably, at least one server includes at least one data storage unit for storing data of the traffic objects. This data storage unit can be an internal or an external unit of the server.

[0035] It is particularly advantageous if the vehicle electronics are connected to the server via a wireless connection or a data cable. A data cable, such as one or more data cables, enables a secure and fast connection. A wireless connection can be especially advantageous if routing a data cable is difficult due to the server's position on or in the vehicle, for example, if the server is mounted on a trailer.

[0036] Furthermore, it can be provided that at least one traffic object, preferably the vehicle, can request and / or receive data from at least one server via its vehicle electronics. Certain permissions can be assigned to at least one traffic object. For example, a vehicle can be authorized to request and receive data only from traffic objects within a certain distance. Alternatively or additionally, it can also be provided that at least one server transmits data to at least one specific traffic object without prompting. For example, it can be provided that the server transmits data about all other traffic objects within a certain distance of the traffic object. The invention is subsequently explained with reference to a non-limiting embodiment in the figure. The figure shows:

[0037] A communication network according to the invention in a schematic view.

[0038] The figure shows a communication network with a vehicle 1 which performs the method according to the invention. The vehicle 1 is on a test drive along a road 10 and is moving at a certain speed in one direction along its longitudinal axis (indicated by arrow).

[0039] 30). During the journey, the vehicle's electronics 2 detect the surrounding real traffic objects, such as the road 10, its lanes, and associated lane markings, using sensors 3. Sensor 3 also detects another real traffic object 5, also located on the road 10, in the form of a different vehicle traveling in the opposite direction at a different speed (indicated by an arrow).

[0040] 31).

[0041] The vehicle electronics 2 are connected to a communication unit 4, which includes a short-range radio unit 4' comprising a V2V system and through which the communication unit 4 communicates directly with the other traffic object 5, since the latter also has a communication unit 4, as shown by arrow 20. The communication unit 4 also has a long-range radio unit 4". Via this long-range radio unit 4", the communication unit 4 can communicate with a first server 6, which is located in a traffic control center (shown by arrow 21).

[0042] The short-range radio unit 4' may also be configured to communicate with the first server 6, for example, when the vehicle 1 is near another short-range radio unit of a network access point. This can be achieved, for instance, via a WLAN connection with a WLAN router 8 as the short-range radio unit, as shown by arrow 22. This connection can then be established instead of, or in addition to, the connection via the long-range radio unit 4".

[0043] The short-range radio unit 4' and long-range radio unit 4" can be designed as independent units.

[0044] Through communication with traffic object 5 and with the first server 6, the vehicle electronics 2 can receive data about traffic object 5 and about other traffic objects 5', 5", 10. Furthermore, there is another real traffic object 5' in the form of a traffic sign located on road 10. Like road 10, this traffic sign has no communication unit, but it is recorded in the data set of the first server 6. Therefore, vehicle 1 can only learn about the other traffic object 5' through sensor 3 and / or the data from the first server 6.

[0045] The vehicle electronics 2 includes a driver assistance system that controls the vehicle 1 based on the data from sensor 3 and the other participants in the communication network, i.e., servers 6, 7 and the traffic object 5.

[0046] A second server 7 is located in vehicle 1, which is connected to the vehicle electronics 2 and can therefore also communicate with the vehicle electronics 2. The second server 7 also communicates with the first server 6 via the communication unit 4 of vehicle 1. Alternatively or additionally, the second server 7 may have at least one further communication unit for communicating with the first server 6 and / or communicate with the first server 6 via a further communication unit.

[0047] The second server 7 and the first server 6 are both configured as MQTT brokers, with the second server 7 continuously mirroring the data from the first server 6 and storing it in a local data store 7'. If the connections 21, 22 of vehicle 1 to the first server 6 are interrupted or significantly slowed down, for example due to driving through a tunnel or similar, the vehicle electronics 2 can no longer receive any or only insufficient data from the first server 6. However, the mirrored data on the second server 7 allows continued access to the data. This enables the vehicle electronics 2 to continue retrieving as much data as possible about traffic objects 5, 5', 10 without relying solely on sensor 3 or direct data from communicating traffic objects 5.

[0048] If the direct connection between vehicle 1 and traffic object 5 according to arrow 20 no longer works, the data can be transferred from vehicle 1 to the first server 6 via the path shown by arrow 21 and then transferred from the first server 6 to vehicle 1 via remote communication 23.

[0049] The server's database contains a virtual traffic object 5" in the form of a pedestrian. Since this is virtual, it is not actually present on the real road 10, but exists only as a data record on the server. This data record includes the type of traffic object ("pedestrian"). Furthermore, the data record contains the information that the pedestrian should only be visible to the vehicle when the vehicle is less than 20 m away from the pedestrian. This can be achieved, for example, by instructing the server to transmit the pedestrian's data to vehicle 1 only when this distance is no longer exceeded, or by transmitting the data record, along with the corresponding information, to vehicle 1 that it should only be included when the distance condition is met.

[0050] Furthermore, the data set includes the information that the pedestrian should move from their position shown in the figure along a specific direction (arrow 32) at a specific speed as soon as the vehicle is less than 18 m away from that position. This distance thus represents a trigger value that initiates a simulation on the server, which then simulates the movement behavior of the traffic object 5. The server then transmits the corresponding information about the changing position of the traffic object 5 to the vehicle over time. The data set may also include a specific route taken by the traffic object 5 and / or further trigger points or trigger conditions that modify its behavior.For example, it may be provided that the traffic object changes its direction and / or speed when it reaches a certain position or a certain relative distance to vehicle 1 or another traffic object.

Claims

PATENT CLAIMS 1. Method for carrying out a test drive with a vehicle (1) with vehicle electronics (2), wherein the vehicle (1) moves through an area with other traffic objects (5, 5', 5", 10) during the test drive, wherein the vehicle electronics (2) is connected to at least one server (6) for data exchange before or during the test drive and the vehicle electronics (2) receives data about other traffic objects (5, 5', 5", 10) from the server (6) and wherein the vehicle (1) is controlled automatically or semi-automatically by the vehicle electronics (2) on the basis of the received data of the other traffic objects (5, 5', 5", 10), characterized in that data from at least one virtual traffic object (5") are entered into the server before or during the test drive, which includes at least the position of the virtual traffic object (5").

2. Method according to claim 1, characterized in that during the test drive the server (6) transmits data to the vehicle electronics (2) from both virtual traffic objects (5") and real traffic objects (5, 5', 10), wherein preferably the vehicle electronics (2) controls the vehicle (1) preferably independently of whether a traffic object (5, 5', 5", 10) is real or virtual.

3. Method according to claim 1 or 2, characterized in that the vehicle electronics (2) and the server (6) communicate with each other using MQTT.

4. Method according to one of claims 1 to 3, characterized in that the vehicle electronics (2) measures at least one parameter of the vehicle (1) or the environment of the vehicle (1), preferably comprising its position, by means of at least one sensor (3) and that the vehicle electronics (2) preferably determines the position of the vehicle (2) using real-time kinematics (RTK).

5. Method according to one of claims 1 to 4, characterized in that the vehicle electronics (2) automatically or semi-automatically controls the vehicle (1) on the basis of the measurement data of the at least one sensor (3).

6. Method according to one of claims 1 to 5, characterized in that the vehicle electronics (2) prioritizes the received data of the other traffic objects (5, 5', 5", 10) over the measurement data during automatic or semi-automatic control.

7. Method according to one of claims 1 to 6, characterized in that the vehicle electronics (2) recognizes traffic objects (5, 5', 10) on the basis of the measurement data and the vehicle electronics (2) automatically or semi-automatically controls the vehicle (1) on the basis of the recognized traffic objects (5, 5', 10).

8. Method according to one of claims 1 to 7, characterized in that the vehicle electronics (2) creates a data set based on the traffic objects (5, 5', 10) detected by the measurement data, preferably relevant traffic objects (5, 5', 10), and that preferably this data set is extended on the basis of received data.

9. Method according to one of claims 1 to 8, characterized in that the vehicle electronics (2) treats a traffic object (5"), which is recorded in the received data but was not recognized by the measurement data, as if the vehicle electronics (2) had recognized the traffic object (5") on the basis of the measurement data and as if the data of the traffic object (5") corresponded to those of the received data.

10. Method according to one of claims 1 to 9, characterized in that at least one server (6) is arranged in or on the vehicle (1) and / or is connected to the vehicle electronics (2) by means of at least one data line.

11. Method according to one of claims 1 to 10, characterized in that the data of at least one virtual traffic object (5") includes at least the position of the traffic object (5") at a given time, its direction of movement, speed of movement, acceleration of movement and / or type of traffic object.

12. Method according to one of claims 1 to 11, characterized in that a geographical area relevant to the vehicle (1) is defined and that the server (6) transmits data of traffic objects (5, 5', 5", 10) that are within the area or within a defined distance to the area to the vehicle (1).

13. Method according to one of claims 1 to 12, characterized in that the vehicle (1) determines its position and transmits this determined position and preferably also the direction of travel and / or speed to the server (6) and that the server (6) transmits data from traffic objects (5, 5', 5", 10) that are within a defined distance to the vehicle (1) and / or within a defined radius of movement of the vehicle (1) to the vehicle (1).

14. Method according to one of claims 1 to 13, characterized in that the vehicle (1) can directly exchange data with at least one other traffic object (5, 5', 5", 10).

15. Method according to one of claims 1 to 14, characterized in that a changing behavior of at least one virtual traffic object (5") is simulated on the server (6) and / or by the vehicle electronics (2) and that preferably the simulation of the virtual traffic object (5") comprises that at least one parameter of the virtual traffic object (5") is changed depending on a trigger condition.

16. Method according to any one of claims 1 to 15, characterized in that the data of the virtual traffic object (5") includes motion data and that the motion of the virtual traffic object (5") is simulated on the server (6) and / or by the vehicle electronics (2) and that preferably the simulation is started when a parameter of the vehicle reaches a defined trigger value or a defined trigger value range.

Images