Simulator for stimulating an environment sensor system and method for parameterizing a simulator for stimulating an environment sensor system

Abstract

The invention relates to a simulator (10) for stimulating an environment sensor system (20) provided for a vehicle (40), wherein the simulator (10) is designed to generate and emit a stimulation signal (ST) for the environment sensor system (20), wherein the stimulation signal (ST) depends on at least one transmission parameter (f, Amp, 16.2), and wherein the stimulation signal (ST) is generated in order to simulate an object at a predefinable distance (16.1) for the environment sensor system (20), wherein the simulator (10) is further designed to receive an evaluation signal (AS) from the environment sensor system (20) and to change the at least one transmission parameter (f, Amp, 16.2) depending on the evaluation signal (AS) and to generate and emit a further stimulation signal (ST) with the at least one changed transmission parameter (f, Amp, 16.2).

Description

[0001] 24-024 1

[0002] SIMULATOR FOR THE STIMULATION OF AN ENVIRONMENTAL SENSOR AND METHOD FOR THE PARAMETERIZATION OF A SIMULATOR FOR THE STIMULATION OF AN ENVIRONMENTAL SENSOR

[0003] Technical field

[0004] The application relates to a simulator for stimulating environmental sensors for a vehicle and a method for parameterizing such a simulator. Environmental sensors for a vehicle can perform tasks such as detecting the vehicle's surroundings in the near, medium, or far range. Simulators for stimulating such environmental sensors can support the testing and development of these sensors.

[0005] background

[0006] Environmental sensors can be installed on a vehicle to monitor its surroundings. These sensors can, for example, detect objects and measure distances.

[0007] An ultrasonic sensor is an example of an environmental sensor that operates on the basis of ultrasound. Ultrasonic sensors can be used on vehicles to monitor the area immediately surrounding the vehicle and are particularly useful for assisting with parking.

[0008] The applicant is known, for example, for publications DE102018121543A1 and DE102020102851A1, which deal with a testing device for ultrasonic sensors.

[0009] Overview

[0010] A simulator for stimulating environmental sensors in a vehicle is proposed. The simulator is configured to generate and transmit a stimulation signal for the environmental sensors, wherein the stimulation signal depends on at least one transmission parameter and wherein the stimulation signal is generated to simulate an object at a predefinable distance for the environmental sensors. 24-024 2

[0011] The simulator is further configured to receive an evaluation signal from the environmental sensors and, depending on the evaluation signal, to change at least one transmission parameter and to generate and transmit another stimulation signal with the at least one changed transmission parameter.

[0012] Such a simulator makes it possible to automatically parameterize the transmitted signal.

[0013] Furthermore, a method for parameterizing a simulator to stimulate environmental sensors for a vehicle is proposed. The method features:

[0014] • Generating a stimulation signal for environmental sensors, wherein the stimulation signal depends on at least one transmission parameter and wherein the stimulation signal is generated to simulate an object at a predefinable distance for the environmental sensors,

[0015] • Sending the stimulation signal to the environmental sensors,

[0016] • Receiving an evaluation signal from the environmental sensors,

[0017] • Changing at least one transmission parameter depending on the evaluation signal,

[0018] • Generating and transmitting a further stimulation signal, wherein the further stimulation signal depends on at least one modified transmission parameter.

[0019] Such a procedure enables automatic parameterization of the simulator.

[0020] Environmental sensors can, for example, operate on the time-of-flight principle. This means that the sensor emits an environmental signal, and the echo signal reflected from an object is then evaluated for object identification and distance measurement. The object distance can then be determined using the time of flight and propagation speed. The time of flight can be determined by the sensor from the time of transmission of the environmental signal and the reception of the echo signal. During this time, the signal traverses the distance between the sensor and the object twice. 24-024 3

[0021] Devices for performing control and / or regulation tasks in vehicles are also referred to as control units. Control units in vehicles, particularly motor vehicles, can include a processing unit, memory, interfaces, and possibly other components required for processing input signals and generating control signals. The interfaces serve to receive input signals and output control signals. Control units for driving functions, both for advanced driver assistance systems (ADAS) and for autonomous or semi-autonomous driving, can receive sensor data from various sensors, especially environmental signals from ambient sensors, as input data.

[0022] The described environmental sensors can be connected to a control unit in which the environmental signal generated by the sensors is evaluated. Several identical or different environmental sensors can be connected to the control unit.

[0023] The environmental sensor can, for example, be designed as an ultrasonic sensor that operates on the time-of-flight principle. An ultrasonic signal is emitted as the environmental signal. The signal reflected by an object is received and evaluated as an echo. The time of flight can be determined by the ultrasonic measuring device from the time of signal emission and the time of reception of the echo. During this time of flight, the ultrasonic signal traverses the distance between the ultrasonic sensor and the object twice. The object distance can then be determined using the time of flight and the speed of sound.

[0024] To transmit the ambient signal and receive the echo signal, the ultrasonic sensor has, for example, measuring heads that can alternately function as transmitters and receivers. With multiple ultrasonic sensors, such as those found in a vehicle, a control unit can determine when and which of the ultrasonic sensors and / or measuring heads transmit an ultrasonic signal. Several such ultrasonic sensors and / or measuring heads can be connected to the control unit and may be located at various points on the vehicle body.

[0025] For example, a car may have six ultrasonic sensors at the front and six ultrasonic sensors at the rear, with the number being determined by the manufacturer. 24-024 4

[0026] and can depend on the vehicle category. Other vehicles, such as self-driving robots, can also have ultrasonic sensors. The number of ultrasonic sensors may differ from that of a car. The simulator can be used to stimulate an ultrasonic sensor or other environmental sensors.

[0027] To simulate objects in the environment so that the environmental sensors and / or the control unit connected to them recognize them as real objects, the simulator measures an environmental signal from an ultrasonic sensor connected to the control unit. One task of the simulator is to generate a stimulation signal with the appropriate properties to be perceived by the environmental sensors as an echo signal. For this purpose, the simulator generates a stimulation signal that matches the measured environmental signal as an echo signal. The simulator transmits the stimulation signal with a delay corresponding to the distance between the environmental sensors and the simulated object. The manipulation of the received environmental signal to generate the stimulation signal is performed, for example, by a processing module within the simulator. This module analyzes and categorizes the environmental signal measured by the simulator.

[0028] The environmental signal emitted by the environmental sensor can vary. For example, different transmission schemes or patterns can be used. For environmental sensors, especially ultrasonic sensors, transmission patterns with different constant frequency values, so-called fixed pulses, or with increasing and decreasing frequencies, so-called up- or down-chirps, are known. Consequently, the stimulation signal that simulates the echo signal must also be able to exhibit corresponding frequency patterns. For environmental signals, especially those emitted by an ultrasonic sensor, for example, six different transmission modes, so-called firing modes, can be used.

[0029] The frequency of the stimulation signal, which imitates the echo signal, should be manipulable. Other parameters that can be varied within the simulator for generating the stimulation signal are the amplitude of the stimulation signal and its duration, particularly via an adjustable number of pulses. Taking the object distance into account, there are therefore four degrees of freedom, which are defined by 24-024 5

[0030] The simulator can be modified. When generating the stimulation signal, it should simulate the correct distance to the object, the frequency, the amplitude, and the number of pulses so that the stimulation signal for the environmental sensors creates the desired object to be simulated.

[0031] In an over-the-air (OTA) hardware-in-the-loop (HIL) test, it is desirable to test the environmental sensors without having to modify the wiring. Therefore, it is also desirable to be able to configure the environmental sensors over-the-air. The simulator and the procedure enable this, as described, by evaluating the response of the environmental sensors to the stimulation signal.

[0032] Furthermore, it should be noted that the object distance, as detected by the control unit, is highly dependent on external influences such as temperature, material properties, and similar factors. Tightening screws on the simulator's setup can directly affect the waveform and strength of a transmitted or received signal. For example, changing the vehicle's sensors or altering their position can result in the returned stimulation signal no longer being detected at the correct distance. Therefore, the stimulation signal requires re-parameterization for each setup and after every modification. This must be done for the various transmission schemes, distances, and sensors to be simulated. Parameters to be set include, for example, amplitude, gain, frequency (or a constant frequency, or start and end frequencies for a chirp), and / or the length of the stimulation signal or its pulse count.

[0033] To automate such parameterization, the simulator or the corresponding parameterization procedure is provided.

[0034] The simulator can therefore be considered a test device positioned near the environmental sensors so that it can generate and transmit a stimulation signal for these sensors. This stimulation signal simulates an object at a predefined distance for the environmental sensors. The stimulation signal depends on at least one transmission parameter.

[0035] To verify that the specified distance was correctly detected by the environmental sensors, the simulator receives an evaluation signal from the environmental sensors. This reception can be indirect, for example via 24-024 6.

[0036] a vehicle bus, for example a CAN bus, or also via an optical signal that is recorded with a camera, with the camera being connected to the simulator for transmitting the evaluation signal.

[0037] Depending on this evaluation signal, the simulator can modify the stimulation signal with respect to at least one transmission parameter and generate and transmit another stimulation signal with the modified transmission parameter. For example, when evaluating the signal, the simulator can determine whether the object detected by the environmental sensors based on the stimulation signal was detected by the environmental sensors at the distance at which it was simulated.

[0038] By adjusting at least one transmission parameter depending on the evaluation signal, this parameter can be adjusted stepwise, creating a kind of control loop for parameterizing the stimulation signal. With the correct parameters, the environmental sensors can then be tested for functionality, for example, whether they correctly detect different or individual objects.

[0039] The procedure for parameterizing the simulator for stimulating environmental sensors in a vehicle proceeds accordingly. Parameterization involves setting at least one transmission parameter for the stimulation signal. That is, the transmission parameter relates to the stimulation signal.

[0040] The environmental sensors can be connected to the described control unit or can have the control unit itself.

[0041] In one embodiment, the simulator is configured to receive an environmental signal from the environmental sensors, and the simulator includes a processing unit configured to derive at least one transmission parameter from the environmental signal. For example, a programmable logic device, such as an FPGA (Field Programmable Gate Array), can be used as the processing unit. This allows predefined virtual objects to be simulated very quickly for the stimulation signal. Analysis of the environmental signal received from the environmental sensors is also easily possible with this device. Alternatively, one or more processors of the same or different types can be used as the processing unit. Alternatively, one or more processors can be used in addition to an FPGA as the processing unit. 24-024 7

[0042] In one embodiment, the computing module is configured to change at least one transmission parameter depending on the predefined distance. This makes it possible to parameterize the simulator in such a way that the intended distance of the simulated object is precisely detected by the environmental sensors. This allows the simulation to be more precise.

[0043] In one embodiment, the simulator is configured to derive a measured distance from the evaluation signal and to calculate the difference between the predefined and the measured distance. The simulator is configured to modify at least one transmission parameter depending on this difference. The stimulation signal represents the virtual distance to the virtual object. The evaluation signal can then be used to compare whether the environmental sensors have also detected this distance based on the stimulation signal. The difference between this distance derived from the stimulation signal by the environmental sensors and the distance stored in the simulator, which was added to the stimulation signal by changing the transmission parameter, then determines the modified transmission parameter(s).At least one transmission parameter is adjusted to minimize the difference between the simulated distance and the distance detected by the environmental sensors. The greater the difference, the less accurately the distance is detected by the environmental sensors.

[0044] In one embodiment, the simulator is configured to generate and transmit the further simulation signal with the at least one modified transmission parameter when the difference exceeds a predefined threshold. This means that if the difference is less than the predefined threshold, the transmission parameter(s) are no longer modified. This confirms that the stimulation signal has been correctly set. Only if the difference exceeds this predefined threshold must the transmission parameter(s) be further modified to reduce the difference to less than the threshold.

[0045] In particular, it can be provided that the actual simulation runs as a loop in the background. This means that the simulator repeatedly sends out stimulation signals to simulate the environment for the environmental sensors. The evaluation / measurement and, if necessary, the automated parameterization can be performed by 24-024 8.

[0046] This can occur at specific points. The simulator can therefore transmit more stimulation signals than it receives and / or processes. At least one transmission parameter can be changed when the difference between the distance of the simulated object and the detected object exceeds the predefined threshold. The simulation itself can continue without being stopped or triggered by the automatic parameterization.

[0047] In one embodiment, the evaluation signal is configured as an optical or an electrical signal. In the case of an optical signal, the optical signal from, for example, a display is captured by a camera or similar optical sensor. The display can, for example, represent the distance and / or the object using color. This representation is captured by the camera, and the electrical signal generated based on the captured image is then transmitted to the simulator. A webcam, for example, can be used as the camera for this purpose.

[0048] If the evaluation signal is implemented as an electrical signal, it can be queried via a vehicle bus, such as a CAN bus, and then transmitted to the simulator. This query can be performed, for example, by a bus-connected diagnostic device.

[0049] In one embodiment, the simulator has at least one sensor head connected to the computing unit and configured to receive the environmental signal and transmit the stimulation signal. The environmental signal is the signal emitted by the environmental sensors. The sensor head can also be referred to as a measuring head. The sensor head can receive the environmental signal and is also capable of transmitting the stimulation signal. Correspondingly, the environmental sensors also have a counterpart sensor head or measuring head.

[0050] To simulate the objects in the environment simulated by the simulator in such a way that the environmental sensors and / or the control unit connected to the environmental sensors recognize them as real objects, a simulation-side measuring head can be provided for each measuring head of the environmental sensors. Measuring heads can be provided, in particular, for environmental sensors that are designed as ultrasonic sensors. An environmental signal from an environmental sensor is measured by the simulation-side measuring head. 24-024 9

[0051] One task of the simulator is to generate a stimulation signal that matches the measured environmental signal and is perceived by the environmental sensors as the echo signal. The simulator then emits the stimulation signal with a delay corresponding to the distance between the environmental sensors and the simulated object. The manipulation of the environmental signal to generate the stimulation signal is performed, for example, by the simulator's processing unit. In one embodiment, at least one sensor head is designed as an ultrasonic transducer. The ultrasonic transducer converts an ultrasonic signal into an electrical signal and vice versa. The piezoelectric effect, for example, is used for the conversion of the ultrasound into an electrical signal. An ultrasonic sensor incorporates such ultrasonic transducers as its measuring heads.

[0052] In one embodiment, the simulator is configured to generate multiple stimulation signals and further stimulation signals. The simulator reacts to the environmental signal or to multiple environmental signals by sending a corresponding multiple of such stimulation signals and further stimulation signals.

[0053] In one embodiment, the at least one transmission parameter comprises a frequency or frequency range and / or an amplitude and / or a transmission scheme. The transmission scheme describes, for example, how many pulses are transmitted in a given time slot. This depends, for example, on the vehicle's speed, the selected gear, whether a parking mode has been chosen, or on other vehicle parameters.

[0054] In one embodiment, the simulator includes an optical detection device for capturing the optical signal. As described above, a camera directed at a display in a vehicle can be used as the optical detection device to provide an optical representation of the distance. A simulation system includes the described simulator and environmental sensors. The environmental sensors are configured to output the evaluation signal depending on the received stimulation signal. The environmental sensors can be mounted on a vehicle, enabling testing of the vehicle-mounted environmental sensors in conjunction with other control units located in the vehicle. In particular, the environmental sensors can also be tested while installed in the vehicle. 24-024 10

[0055] The ultrasound sensor can, for example, evaluate not only the transit time of the transmitted and received signal, but also the amplitude and / or frequency. During over-the-air testing, the simulator can extract these parameters from the ambient signal and use them as transmission parameters when generating and sending the stimulation signal.

[0056] Similarly, it is difficult to directly analyze and evaluate the communication between the control unit and the ultrasonic sensor, especially its measuring head. However, in over-the-air (OTA) hardware-in-the-loop (HIL) testing, it is desirable to test the entire chain from the control unit through the ultrasonic sensor to the measuring head. This should be possible without knowledge of the algorithms in the control unit. The described simulator can generate and transmit high-quality stimulation signals even without this knowledge, as the transmission parameter(s) can be adjusted via the evaluation signal. Thus, the simulator enables over-the-air testing of the environmental sensors.

[0057] Testing is also possible without necessarily needing to know the communication between the measuring heads, the ultrasonic sensor, and the control unit. Furthermore, the tests should also be possible without knowing the evaluations in the measuring heads and the control unit. Even in these cases, the described simulator can generate and transmit high-quality stimulation signals. Properties of the measuring head on both the environmental sensor and the simulator side can influence the environmental signal and the stimulation signal. An important factor here is the central frequency of the measuring heads and / or the sound beam and / or the opening angle. For example, a difference in the central frequencies between the ultrasonic sensor and the simulator-side measuring head can cause an ultrasonic environmental signal emitted by the ultrasonic sensor to be perceived as weaker or stronger than it was actually transmitted.This is because the sensor heads can transmit and receive within a defined measuring range, but they cannot transmit or receive every signal with the same intensity. This means, for example, that a signal that is actually strong from the ultrasonic sensor head can be perceived as relatively weak by the sensor head on the simulator side. Since the evaluation of the environmental signal in the simulator is based on the environmental signal received by the ultrasonic sensor head, and the stimulation signal is generated from this, a copy of the received environmental signal as an echo signal would be perceived as too weak by the environmental sensor. The sensor head 24-024 11.

[0058] The ultrasound sensor emitted a strong signal and received a weak stimulation signal. To correct this, the simulator can, for example, amplify the amplitude of the stimulation signal as a transmission parameter. This allows the ultrasound sensor to receive a plausible stimulation signal. Furthermore, all parameters can be distance-dependent, with some having a stronger influence than others. For example, the amplitude of the stimulation signal will be stronger at closer object distances than at farther away objects.

[0059] The described simulator and method enable so-called over-the-air (OTA) hardware-in-the-loop (HIL) testing, which allows testing of environmental sensors without having to modify the wiring. The crucial adjustment of the transmission parameters for the stimulation signal is also possible over-the-air. As described, the simulator and method achieve this by evaluating the response of the environmental sensors to the stimulation signal.

[0060] List of characters

[0061] Exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the following description.

[0062] They show

[0063] Figure 1 schematically shows a block diagram with environmental sensors and simulator; Figure 2 shows a flowchart of the process.

[0064] Figure 3 shows a schematic representation of an embodiment of the simulator's functionality with environmental sensors and

[0065] Figure 4 shows another schematic representation of a further embodiment of the simulator's functionality.

[0066] The same reference symbols are used in the figures for identical or similar elements. The representations in the figures cannot be to scale.

[0067] Tour description

[0068] Figure 1 shows a block diagram of a simulation system 100 with a simulator 10 and an environmental sensor 20.24-024 12

[0069] The simulator 10 comprises an FPGA computing chip, one or more sensor heads 12, and may include a processor (not explicitly shown). The FPGA computing chip generates a stimulation signal ST, which can be transmitted via the sensor head 12. The sensor head 12 can also be referred to as a measuring head and is configured to convert and transmit an electrical stimulation signal ST received by the FPGA computing chip into an ultrasound stimulation signal ST. The converter is reversible, meaning it can also convert an ultrasound signal into an electrical signal. Therefore, the sensor head 12 is also configured to receive an ambient signal US via ultrasound and transmit it to the FPGA computing chip as an electrical ambient signal US.

[0070] The environmental sensor system 20 includes a control unit (ECU) that supplies an environmental sensor head 22 with an environmental signal (US). The environmental sensor head 22 converts the environmental signal (US) into an ultrasonic signal and transmits it. It is possible for several environmental sensor heads 22 to be electrically connected to the control unit (ECU). The connection between the control unit (ECU) and the environmental sensor heads 22 can be configured as a point-to-point connection or as a bus connection. The environmental sensor heads 22 are the measuring heads of the environmental sensor system 20.

[0071] The environmental sensor head 22 includes an ultrasonic transducer that can convert the environmental signal US from an electrical waveform to an ultrasonic waveform and vice versa. The environmental sensor head 22 can also perform an electrical evaluation of a received stimulation signal ST and transmit the result of this evaluation to the control unit ECU.

[0072] The environmental sensors can be connected to a control unit with appropriate interfaces and a processing unit for the received data to generate an output signal. The control unit can, for example, be part of a vehicle's domain control unit. The control unit can be designed to receive environmental data from the sensors, such as information about objects and their distance, process this data, and use it to execute further functions, such as driving functions.

[0073] In the example shown, the control unit ECU is designed as part of the environmental sensor system 20. The environmental sensor system can be designed as a single device comprising the environmental sensor head 22 and the control unit ECU. The environmental sensor system 24-024 13

[0074] Sorik has the necessary interfaces and is designed to evaluate transmitted and received signals and to generate an output signal dependent on this evaluation. The output signal relates to the environmental data of the environment detected by the environmental sensors.

[0075] The environmental sensor head 22 incorporates the ultrasonic transducer, which can convert the electrical environmental signal US into an ultrasonic environmental signal US. This transducer is reversible, meaning it can also convert an ultrasonic signal into an electrical signal. Therefore, the environmental sensor head 22 constitutes a transmitting / receiving device.

[0076] A received stimulation signal ST is transmitted by the environmental sensor head 22 as an electrical stimulation signal ST to the control unit ECU. The control unit ECU outputs an evaluation signal AS depending on the stimulation signal ST, where the evaluation signal AS represents the distance to an object.

[0077] The evaluation signal AS can be read out, for example, via a CAN bus. The evaluation signal AS is fed to the simulator 10 and read out by a readout unit 13 of the simulator 10. The readout unit can be, for example, a CAN controller or a bus diagnostic device, which is then coupled to the simulator 10. The readout unit 13 can, for example, be implemented on a processor of the simulator 10. The evaluation signal AS is transmitted as an electrical signal from the environmental sensor 20 to the simulator 10 via this route.

[0078] Alternatively, the evaluation signal AS can be generated by optically capturing a screen 15. This is simplified and shown with dashed lines. The display on the screen 15 is read by the readout unit 13. In this embodiment, the readout unit is designed as an optical acquisition device, e.g., a camera. The readout unit 13, e.g., the camera, then captures the information displayed on the screen 15 and transmits it as an electrical signal to the simulator 10. The evaluation signal AS is therefore read either as an electrical signal or via the screen 15 by the readout unit 13. The readout unit 13 can be designed, for example, as a bus interface unit, a bus diagnostic unit, or a camera. The readout unit 13 transmits the evaluation signal AS to the FPGA.24-024 14 computing module.

[0079] The FPGA processing unit extracts the distance detected by the ECU from the AS evaluation signal and compares it to the distance to be simulated, which was previously used to generate the stimulation signal ST. Simulator 10 can retrieve this simulated distance, for example, from a memory location.

[0080] The FPGA performs the comparison by calculating the difference in distances. From this difference, the FPGA determines whether the stimulation signal ST is correctly parameterized with respect to its transmission parameters f, Amp, 16.2, or whether at least one of these parameters needs to be changed. If a change to at least one of these parameters is necessary, it is modified in one direction, and the system then checks whether the difference in distances decreases. If not, the parameter f, Amp, 16.2 is modified in another direction. If this still does not reduce the difference in distances, then another parameter f, Amp, 16.2 is modified. This creates a control loop for parameterizing the at least one parameter f, Amp, 16.2 for the stimulation signal ST.

[0081] The stimulation signal ST is transmitted electrically from the FPGA processing unit to the sensor head 12, which converts the electrical signal ST into an ultrasound signal ST. The simulation system 100 is configured such that each environmental sensor head 22 from the environmental sensor system 20 is paired with a sensor head 12 of the simulator 10. That is, if, for example, six environmental sensor heads 22 of the environmental sensor system 20 are present, then six sensor heads 12 are each individually positioned opposite one environmental sensor head 22.

[0082] Figure 2 shows in a flowchart an embodiment of a method for parameterizing the described simulator 10 for stimulating an environmental sensor system 20 for a vehicle 40.

[0083] In process step 200, an environmental signal US is received by the sensor head 12 of the simulator 10 and transmitted as an electrical environmental signal US to the computing unit FPGA.

[0084] In process step 201, the FPGA computing unit derives at least one transmission parameter f, Amp, 16.2 for the stimulation signal ST from the ambient signal US. This allows, for example, the extraction of transmission frequency f, amplitude Amp, transmission scheme 16.2, etc., from the ambient signal US. Simulator 10 can then identify and determine these transmission parameters in order to calculate the parameters required for the actual 24-024 15

[0085] Simulation to determine the correct transmission parameters f, Amp, 16.2 for the stimulation signal ST.

[0086] In process step 202, the FPGA computing unit adds a predetermined distance 16.1 to the stimulation signal ST and then sends the stimulation signal ST via the sensor head 12.

[0087] In process step 203, the environmental sensor head 22 of the environmental sensor system 20 receives the stimulation signal ST and converts it into an electrical stimulation signal ST in order to supply this electrical stimulation signal ST to the control unit ECU. The control unit ECU determines the distance 16.1 to the virtual simulated object from the electrical stimulation signal ST and generates the evaluation signal AS depending on the distance 16.1.M thus measured by the environmental sensor system 20.

[0088] The evaluation signal AS is then received from the simulator 10 either directly electrically or indirectly via the screen 15 in process step 203, as described above, using the readout unit 13. The readout unit 13 then transmits the evaluation signal AS to the processor, which in process step 204 checks whether the distance 16.1 added to the stimulation signal ST corresponds to the measured distance 16.1.M from the evaluation signal AS. To do this, the processor calculates the difference between these two distances 16.1 and 16.1.M in process step 204 and checks the difference against a predefined threshold value TH.

[0089] If the difference is smaller than the threshold TH, then in process step 206 the stimulation signal ST continues to be sent with the already selected transmission parameters f, Amp, 16.2 and the simulation of the environment with its objects can continue.

[0090] However, if it has been determined in process step 204 that the difference is greater than the predefinable threshold TH, then in process step 205 at least one signal parameter f, Amp, 16.2 is changed and then the process jumps to process step 202 in order to generate another stimulation signal ST with a changed transmission parameter f, Amp, 16.2 and send it to the environmental sensor 20.

[0091] In process step 203, the stimulation signal ST is again received by the environmental sensor head 22.24-024 16.

[0092] Figure 3 schematically illustrates the operation of the simulation system 100, wherein the simulator 10 sends a stimulation signal ST to the environmental sensor head 22 of the environmental sensor system 20 via the sensor head 12. The control unit ECU in the environmental sensor system 20 then generates the evaluation signal AS, which has the distance 16.1.M detected by the control unit ECU.

[0093] The evaluation signal AS is typically transmitted indirectly to the simulator 10 as an electrical signal, for example by reading it via a CAN bus using a readout unit 13, such as a bus diagnostic device. In this case, the control unit ECU can, for example, transmit the distance in a CAN bus message. The evaluation signal AS can then be read from the CAN bus by the readout unit 13, and the distance determination 18 can be carried out by reading the measured distance 16.1.M from the CAN bus message.

[0094] The output signal from the distance measurement unit 18 is the measured distance 16.1.M, which is transmitted to a script 32. Script 32 contains a list of commands that are executed automatically. Script 32, the readout unit 13, and the distance measurement unit 18 can all run on one processor of the simulator 10.

[0095] Script 32 continues to exchange data with blocks 14 (signal parameters) and 16 (operating parameters). Signal parameters 14 include the frequency f and the amplitude Amp of the stimulation signal ST. Operating parameters 16 include the distance 16.1 of the object to be simulated, the transmission scheme 16.2, and environmental sensor parameters 16.3. Signal parameters 14 and operating parameters 16 are modified or set by the script depending on the evaluation signal. Optionally, a user 30 can modify these parameters via script 32 and, for example, set the object distance 16.1 to a different value.

[0096] Figure 4 shows in a further schematic representation that an optical signal can be used instead of the electrical transmission of the evaluation signal AS. The optical evaluation signal AS can be acquired by a readout unit 13, which is designed as an optical detection device, namely, for example, a camera 42. 24-024 17

[0097] A screen 15 in the vehicle 40 displays, for example, different colors for different distance ranges. This can then be translated by the camera 42 or by the FPGA into a measured distance 16.1.M and used, as described, to change the transmission parameters f, Amp, 16.1. The camera 42 transmits the evaluation signal AS in electrical form to the script 32, which, depending on this, changes the signal parameters frequency f and / or amplitude Amp and / or adjusts one or more operating parameters 16 accordingly. Afterwards, the further stimulation signal ST with at least one changed transmission parameter can be sent via the sensor head 12. Reference symbol list

[0098] 10 Simulator

[0099] 12 Sensor head

[0100] 13 Reading unit

[0101] 14 signal parameters

[0102] 15" screen

[0103] 16 operating parameters

[0104] 16.1 Distance

[0105] 16.2 Broadcast schedule

[0106] 16.3 Environmental Sensor Parameters 16.1.M Measured Distance

[0107] 18 Distance measurement 20 Environmental sensors

[0108] 22 Environmental sensor head

[0109] 30 users

[0110] 32 Script

[0111] 40 vehicles

[0112] 42 Camera

[0113] 100 simulation systems

[0114] 200-206 process steps

[0115] FPGA computing module

[0116] ECU control unit

[0117] ST stimulation signal

[0118] US ambient signal

[0119] AS evaluation signal

[0120] f frequency

[0121] Amp Amplitude

[0122] TH threshold

Claims

24-024 19 REQUIREMENTS 1. Simulator (10) for stimulating environmental sensors (20) intended for a vehicle (40), wherein the simulator (10) is configured to generate and transmit a stimulation signal (ST) for the environmental sensors (20), wherein the stimulation signal (ST) depends on at least one transmission parameter (f, Amp, 16.2) and wherein the stimulation signal (ST) is generated to simulate an object at a predefinable distance (16.1) for the environmental sensors (20), wherein the simulator (10) is further configured to receive an evaluation signal (AS) from the environmental sensor (20) and, depending on the evaluation signal (AS), to change at least one transmission parameter (f, Amp, 16.2) and to generate and transmit another stimulation signal (ST) with the at least one changed transmission parameter (f, Amp, 16.2).

2. Simulator (10) according to claim 1, wherein the simulator (10) is configured to receive an environmental signal (US) from the environmental sensor (20), wherein the simulator (10) has a computing unit (FPGA) configured to derive the at least one transmit parameter (f, Amp, 16.2) from the environmental signal (US).

3. Simulator (10) according to claim 2, wherein the computing unit (FPGA) is configured to change the at least one transmission parameter (f, Amp, 16.2) depending on the predefinable distance (16.1).

4. Simulator (10) according to claim 2 or 3, wherein the simulator (10) is configured to derive a measured distance (16.1.M) from the evaluation signal (AS) and to form a difference between the predefinable and the measured distance (16.1, 16.1.M), wherein the simulator (10) is configured to change the at least one transmission parameter (f, Amp, 16.2) depending on the difference.

5. Simulator (10) according to claim 4, wherein the simulator (10) is configured to generate and transmit the further stimulation signal (ST) with the at least one modified transmission parameter (f, Amp, 16.2) when the difference is greater than a predefinable threshold (TH). 24-024 20 6. Simulator (10) according to one of the preceding claims, wherein the evaluation signal (AS) is configured as an optical signal or an electrical signal.

7. Simulator (10) according to one of the preceding claims, wherein the simulator (10) has at least one sensor head (12) which is connected to the computer (FPGA) and is configured to receive an environmental signal (US) and to send the stimulation signal (ST).

8. Simulator (10) according to claim 7, wherein the at least one sensor head (12) is designed as an ultrasonic transducer.

9. Simulator (10) according to one of the preceding claims, wherein the simulator (10) is configured to generate a plurality of stimulation signals (ST) and further stimulation signals (ST).

10. Simulator (10) according to one of the preceding claims, wherein the at least one transmission parameter (f, Amp, 16.2) comprises a frequency (f) or a frequency range and / or an amplitude (Amp) and / or a transmission scheme (16.2).

11. Simulator (10) according to any one of claims 6 to 10, wherein the simulator (10) comprises an optical detection device (42) for detecting the optical signal.

12. Simulation system (100) comprising a simulator (10) according to one of claims 1 to 11 and an environmental sensor system (20), wherein the environmental sensor system (20) is configured to output the evaluation signal (AS) depending on the received stimulation signal (ST).

13. Method for parameterizing a simulator (10) for stimulating an environmental sensor system (20) for a vehicle (40), wherein the method comprises: generating a stimulation signal (ST) for the environmental sensor system (20), wherein the stimulation signal (ST) depends on at least one transmission parameter (f, Amp, 16.2) and wherein the stimulation signal (ST) is generated to simulate an object at a predefinable distance (16.1) for the environmental sensor system (20), Sending the stimulation signal (ST) to the environmental sensors (20), receiving an evaluation signal (AS) from the environmental sensors (20), 24-024 21 Changing at least one transmission parameter (f, Amp, 16.2) depending on the evaluation signal (AS), Generating and transmitting another stimulation signal (ST) with at least one modified transmission parameter (f, Amp, 16.2).

14. Method according to claim 13, wherein the environmental sensor (USK, ECU) outputs the evaluation signal (AS) depending on the received stimulation signal (ST).

15. Method according to claim 13 or 14, further comprising: Receiving an environmental signal (US) from the environmental sensor (20), wherein at least one transmit parameter (f, Amp, 16.2) is derived from the environmental signal (US).

16. Method according to one of claims 13 to 15, wherein the at least one transmission parameter (f, Amp, 16.2) is changed depending on the predefinable distance (16.1).

17. Method according to any one of claims 13 to 16, further comprising: Deriving a measured distance (16.1.M) from the evaluation signal (AS), forming a difference between the predefined and the measured distance (16.1, 16.1.M), Changing at least one transmission parameter (f, Amp, 16.2) depending on the difference.

18. Method according to any one of claims 13 to 17, wherein the further stimulation signal (ST) is generated and transmitted with the at least one modified transmission parameter (f, Amp, 16.2) when the difference is greater than a predefinable threshold (TH).

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