CN110884503A - Method, device and storage medium for testing an automated driving function of a motor vehicle - Google Patents
Method, device and storage medium for testing an automated driving function of a motor vehicle Download PDFInfo
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- CN110884503A CN110884503A CN201910757160.3A CN201910757160A CN110884503A CN 110884503 A CN110884503 A CN 110884503A CN 201910757160 A CN201910757160 A CN 201910757160A CN 110884503 A CN110884503 A CN 110884503A
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- 238000012360 testing method Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000004590 computer program Methods 0.000 claims abstract description 10
- 230000007613 environmental effect Effects 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004088 simulation Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W2050/041—Built in Test Equipment [BITE]
- B60W2050/043—Testing equipment at KEY-ON
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a method for testing at least partially automated driving functions of a motor vehicle, comprising the following steps: receiving a first environment signal representing a first region of a vehicle environment sensed by a vehicle environment sensing device of a vehicle located within an infrastructure; receiving a second environment signal representing a second region of the vehicle environment sensed by the infrastructure environment sensing device of the infrastructure; testing an at least partially automated driving function based on the first and second ambient signals to obtain a test result based on the testing; a test result signal is output which represents the sought test result. The invention also relates to a device, a computer program and a machine-readable storage medium.
Description
Technical Field
The invention relates to a method for testing at least partially automated driving functions of a motor vehicle. The invention also relates to a device, a computer program and a machine-readable storage medium.
Background
The publication DE 102016218502 a1 discloses a test device for simulating driving situations between a vehicle and at least one test object which is movable relative to a driving path of the vehicle.
Disclosure of Invention
The object on which the invention is based is to provide a solution for efficiently testing at least partially automated driving functions of a motor vehicle.
This object is achieved by the method, the device, the computer program and the machine-readable storage medium according to the invention, advantageous embodiments of which are achieved by the preferred embodiments.
According to a first aspect, a method for testing at least partially automated driving functions of a motor vehicle is provided, the method comprising the steps of:
receiving a first environment signal representing a first region of a vehicle environment sensed by a vehicle environment sensing device of a vehicle located within an infrastructure;
receiving a second environment signal representing a second region of the vehicle environment sensed by the infrastructure environment sensing device of the infrastructure;
testing an at least partially automated driving function based on the first and second ambient signals to obtain a test result based on the testing;
a test result signal is output which represents the sought test result.
According to a second aspect, there is provided an apparatus arranged to perform all the steps of the method according to the first aspect.
According to a third aspect, there is provided a computer program comprising instructions which, when executed by a computer, arrange the computer to perform the method according to the first aspect.
According to a fourth aspect, there is provided a machine-readable storage medium on which the computer program according to the third aspect is stored.
The solution described here is based on the idea that the above-mentioned tasks can be solved in the following way: the data of the vehicle environment sensor device (first environment signal) and additionally also the data of the infrastructure environment sensor device (second environment signal) are used to test at least some automated driving functions of the vehicle. Thus, more data is available for testing than would be the case if only the data of the vehicle environment sensing device were used.
For example, regions of the vehicle environment that cannot be sensed, for example, by means of the vehicle environment sensor device of the vehicle can also be advantageously taken into account for testing at least partially automated driving functions.
The following technical advantages therefore arise in particular: a solution for efficiently testing at least partially automated driving functions of a motor vehicle is provided.
The at least partially automated driving function makes it possible to guide the motor vehicle at least partially automatically by means of at least partially automatically controlling the transverse guidance and the longitudinal guidance of the motor vehicle.
The expression "at least partially automatically controlled or directed" includes the following cases: the motor vehicle is controlled or guided partially automatically, highly automatically, fully automatically, without a driver, remotely.
"partially automatically controlled or guided" means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled in the particular application (for example: driving on a highway, driving in a parking lot, passing an object, driving in a traffic lane determined by a traffic lane marking). The driver of the motor vehicle does not need to control the longitudinal guidance and the transverse guidance of the motor vehicle manually by himself. However, the driver must constantly monitor the automatic control of the longitudinal guidance and the transverse guidance in order to be able to intervene manually if necessary.
"highly automated control or guidance" means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled in certain application situations (for example: driving on a highway, driving in a parking lot, passing objects, driving in a traffic lane determined by a traffic lane marking). The driver of the motor vehicle does not need to control the longitudinal guidance and the transverse guidance of the motor vehicle manually by himself. The driver does not need to continuously monitor the automatic control of the longitudinal guidance and the transverse guidance in order to be able to intervene manually if necessary. When necessary, a take-over request is automatically output to the driver to take over the control of the longitudinal guidance and the lateral guidance. The driver must potentially be able to take over control of longitudinal guidance and lateral guidance.
"fully automatically controlled or guided" means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled in certain application situations (for example: driving on a highway, driving in a parking lot, passing an object, driving in a traffic lane determined by a traffic lane marking). The driver of the motor vehicle does not need to control the longitudinal guidance and the transverse guidance of the motor vehicle manually by himself. The driver does not need to monitor the automatic control of the longitudinal guidance and the transverse guidance in order to be able to intervene manually if necessary. In this particular application case no driver is required.
"driver-free control or guidance" means that the longitudinal guidance and the transverse guidance of the motor vehicle are automatically controlled independently of the particular application (e.g., driving on a highway, driving in a parking lot, passing an object, driving in a traffic lane determined by a traffic lane marking). The driver of the motor vehicle does not need to control the longitudinal guidance and the transverse guidance of the motor vehicle manually by himself. The driver does not need to monitor the automatic control of the longitudinal guidance and the transverse guidance in order to be able to intervene manually if necessary. Thus, for example, longitudinal guidance and lateral guidance of the vehicle are automatically controlled under all road types, speed ranges and environmental conditions. Thus, the entire driving task of the driver is automatically taken over. The driver is therefore no longer required. The motor vehicle can also be driven from any starting position to any target position without a driver. The potential problem is solved automatically, i.e. without driver assistance.
By "remotely controlling the motor vehicle" is meant that the lateral guidance and the longitudinal guidance of the motor vehicle are remotely controlled. For example, remote control signals for remote control of the transverse guidance and the longitudinal guidance are transmitted to the motor vehicle. The remote control is performed, for example, by means of a remote control device.
According to one specific embodiment, it is provided that an at least partially automated driving function is implemented in a control device of a motor vehicle, which includes the following steps:
receiving protocol data of a control device, wherein the protocol data comprises a protocol relating to a behavior of the control device, wherein an at least partially automated driving function is tested on the basis of the protocol data.
This results in the following technical advantages, for example: the test can be performed efficiently.
For example, the behavior of the control device comprises one or more actions which are carried out by means of the control device on the basis of at least partially automated control of the transverse guidance and the longitudinal guidance of the motor vehicle.
According to one embodiment, the control device is provided for at least partially automatically controlling the transverse guidance and the longitudinal guidance of the motor vehicle.
In one embodiment, the control device is operatively connected to one or more actuators of the motor vehicle. In particular, the control device can also actually control the transverse guidance and the longitudinal guidance of the motor vehicle.
According to one embodiment, the control device is functionally decoupled (wirktrennenen) from one or more actuators of the motor vehicle. That is to say, although the control device can output control signals for at least partially automatically controlling the transverse guidance and the longitudinal guidance of the motor vehicle, these control signals are not forwarded to one or more actuators of the motor vehicle, so that finally the control device does not actually control the transverse guidance and the longitudinal guidance of the motor vehicle.
For example, an actuator in the sense of the present description is comprised by one or more of the following motor vehicle systems: the brake system, the steering system, the drive system and the clutch system.
According to one specific embodiment, it is provided that a condition analysis of the environment is carried out on the basis of the first environment signal and/or the second environment signal in order to determine condition analysis data on the basis of the carried out condition analysis, wherein the at least partially automated driving function is tested on the basis of the determined condition analysis data.
This results in the following technical advantages, for example: the test can be performed efficiently.
In one embodiment, it is provided that the performing of the condition analysis comprises performing object detection and/or object classification and/or prediction of object motion.
This results in the following technical advantages, for example: the condition of the environment can be efficiently analyzed.
For example, object classification includes classifying an object detected by means of object detection. For example, the prediction of the motion of the object comprises a prediction of the motion of an object detected by means of object detection.
For example, the object is one of the following: additional motor vehicles, pedestrians, riders, traffic participants in general.
According to one specific embodiment, a third environment signal is received, wherein an at least partially automated driving function is tested on the basis of the third environment signal, wherein the third environment signal represents at least one of the following environmental conditions in the environment: weather conditions in the environment, light conditions in the environment, road conditions in the environment.
This results in the following technical advantages, for example: environmental conditions in the environment may be efficiently taken into account for testing at least partially automated driving functions.
According to one specific embodiment, the environment signal is received from a motor vehicle and/or a remote server.
This results in the following technical advantages, for example: an ambient signal can be provided efficiently.
The general expression "ambient signal" especially comprises said first ambient signal and/or said second ambient signal and/or said third ambient signal.
According to one specific embodiment, the protocol data is received from the motor vehicle and/or from a remote server.
According to one embodiment, a remote server is provided.
According to one specific embodiment, a request signal for an infrastructure environment sensor system is output, which represents a request for a second environment signal of the infrastructure environment sensor system.
This results in the following technical advantages, for example: the second environment signal may be efficiently requested from the infrastructure environment sensing device.
According to one embodiment, the request signal is output by means of a motor vehicle.
This results in the following technical advantages, for example: the request signal can be efficiently output.
According to one specific embodiment, the method according to the first aspect is carried out with an apparatus according to the second aspect.
The technical function of the device is analogously derived from a corresponding technical function of the method, and vice versa.
That is, device features are analogously derived from corresponding method features, and vice versa.
According to one embodiment, the infrastructure environment sensing device and/or the motor vehicle environment sensing device comprises one or more environment sensors.
For example, the environmental sensor is one of the following environmental sensors: radar sensors, lidar sensors, ultrasonic sensors, infrared sensors, magnetic field sensors, and video sensors.
For example, the environment sensor of the infrastructure environment sensing device is statically arranged within the infrastructure, for example on an infrastructure element of the infrastructure. For example, an environment sensor of an infrastructure environment sensing device is arranged to be movable within the infrastructure. Such movable environmental sensors are arranged on unmanned aerial vehicles, such as drones, for example.
Drawings
Embodiments of the invention are illustrated in the drawings and are set forth in detail in the following description. The figures show:
FIG. 1 is a flow chart of a method for testing at least partially automated driving functions of a motor vehicle,
in the context of the apparatus of figure 2,
FIG. 3 a storage medium readable by a machine and
figure 4 a motor vehicle.
Detailed Description
Fig. 1 shows a flow chart of a method for testing at least partially automated driving functions of a motor vehicle.
The method comprises the following steps:
receiving 101 a first environment signal representing a first region of a vehicle environment sensed by a vehicle environment sensing device of the vehicle located in an infrastructure;
receiving 103 a second environment signal representing a second region of the motor vehicle environment sensed by means of infrastructure environment sensing means of the infrastructure;
testing 105 an at least partially automated driving function based on the first and second ambient signals in order to obtain a test result based on the testing;
a test result signal is output 107 which represents the sought test result.
For example, the first region corresponds to a sensing range of an environment sensor of an environmental sensor device of a motor vehicle.
If the vehicle surroundings sensor system comprises a plurality of surroundings sensors, for example, a plurality of first regions are provided in this respect, each of which corresponds to a sensing range of the plurality of surroundings sensors of the vehicle surroundings sensor system.
That is, the first ambient signal represents, for example, the first region.
The second region corresponds, for example, to a sensing range of an environmental sensor of the infrastructure environmental sensing device.
If the infrastructure environment sensor system comprises a plurality of environment sensors, for example, a plurality of second regions are provided in this respect, each of which corresponds to a sensing range of the plurality of environment sensors of the infrastructure environment sensor system.
That is, the second ambient signal represents, for example, the second region.
For example, the plurality of first regions and/or the plurality of second regions may partially overlap.
Fig. 2 shows 201 a device.
The device 201 is arranged for performing all the steps of the method according to the first aspect.
The device 201 comprises an input 203 which is provided for receiving a first environment signal representing a first region of the motor vehicle environment which is sensed by means of a motor vehicle environment sensing device of a motor vehicle located in the infrastructure.
The input 203 is provided for receiving a second environment signal, which represents a second region of the motor vehicle environment that is sensed by means of infrastructure environment sensor devices of the infrastructure.
The device 201 comprises a processor 205 arranged for testing the at least partially automated driving function based on the first and second ambient signals in order to obtain a test result based on the test.
The device 201 further comprises an output 207 arranged to output a test result signal representing the evaluated test result.
According to one embodiment, a plurality of processors are provided in place of the processor 205.
Typically, the signal to be received is received by means of an input 203.
The signal to be output is typically output via output 207.
The further technical function of the device 201 is derived from a corresponding technical function of the method for testing at least partially automated driving functions of a motor vehicle.
Fig. 3 illustrates a machine-readable storage medium 301.
A computer program 303 is stored on the machine-readable storage medium 301. The computer program 303 comprises instructions which, when executed by a computer, for example by the apparatus 201 of fig. 2, arrange the computer to perform the method according to the first aspect.
Fig. 4 shows a motor vehicle 401.
The direction of travel of the motor vehicle 401 is symbolically indicated by an arrow with the reference numeral 403.
The motor vehicle 401 travels along a travel direction 403 on a road 405 in the direction of an intersection 407.
The vehicle 401 includes a video sensor 409 as a vehicle environment sensing device. A sensing range (first area) of the video sensor 409 is denoted by reference numeral 411.
In order to test at least partially automated driving functions of a motor vehicle, it is of particular interest to answer the following questions: sensing range 411 is sufficient to provide at least partially automated driving functionality in terms of safety.
Here, for example, the following problems can be posed: an enlarged sensing range is necessary in order to be able to provide at least partially automated driving functions in terms of safety. This exemplary extended sensing range is provided with reference number 413 in fig. 4.
In order to answer this question, the data provided by means of the vehicle environment sensor device may not be sufficient.
The scheme described here is now based on the following: in addition to using the data of the vehicle environment sensor system, the data of the infrastructure environment sensor system are also used for testing at least partially automated driving functions.
According to fig. 4, a plurality of video cameras, each comprising a video sensor, are arranged in the intersection region, which video cameras can sense the environment of the intersection region or can sense the intersection 407. The plurality of video cameras are part of an infrastructure environment sensing device.
Specifically, a first video camera 415, a second video camera 417, a third video camera 419, a fourth video camera 421, a fifth video camera 423, a sixth video camera 425, a seventh video camera 427, and an eighth video camera 429 are provided.
At this point it should be noted that the number of video cameras shown herein is to be understood as exemplary only.
For example, a sensing range (second area) is drawn for the first video camera 415 and the third video camera 419.
The sensing range of first video camera 415 is labeled with reference numeral 431. The sensing range of the third video camera 419 is marked with reference numeral 433.
The two sensing ranges 431 and 433 overlap in the intersection region.
It is provided that first video camera 415, third video camera 419, fifth video camera 423, seventh video camera 427 are oriented in the direction of the center of the intersection so that these video cameras can sense the intersection area.
That is, the eighth video camera 429 senses the road 405 backwards with respect to the direction of travel 403 of the motor vehicle 401.
In an advantageous manner, a second environment signal is thus provided which represents a second region in the environment of the motor vehicle 401 which cannot be detected by means of the video sensor 409 of the motor vehicle 401.
In particular, the solution described herein has the following advantages: the developer can use not only the data of the vehicle environment sensor system but also the data of the infrastructure environment sensor system for at least partially automated driving functions.
As described above and/or below, the solution allows, for example, to address one or more of the following issues:
is the sensing range 411 of the video sensor 409 sufficient to provide an at least partially automated driving function that is problem-free or optimized or user-oriented?
Is sensing range 411 sufficient to provide at least partially automated driving functions in terms of safety (collision protection for pedestrians)?
Is the video sensor 409 adequate or other environmental sensors must also be present in the motor vehicle 401?
Is there the correct environmental sensor technology (video, radar, lidar, ultrasound, infrared and magnetic fields) for at least partially automated driving functions in the motor vehicle?
For example, is an environmental sensor in a motor vehicle have the correct specifications (e.g., the correct "field of View" (Fieldof View), i.e., the correctly oriented sensing range)?
In summary, data which cannot be provided by the motor vehicle with its own environment sensor device can also be used, for example, for developing and testing at least some automated driving functions of the motor vehicle.
The environment sensors of the infrastructure are, for example, arranged statically or, for example, mobile.
In one embodiment, only environmental sensor raw data is provided.
For example, the first environment signal and/or the second environment signal, for example, each comprise only the environment sensor raw data.
In one embodiment, the first environmental signal and/or the second environmental signal each comprise environmental sensor raw data. In addition to these raw environmental sensor data, further data from the first environmental signal and/or the second environmental signal are also included here.
In one embodiment, for example, it is provided that a condition analysis of the environment is carried out on the basis of the first environment signal and/or the second environment signal. For example, such a condition analysis includes an explanation about the following cases: whether an object is present in the motor vehicle environment and what the object is and at what speed the object is moving. For example, such a condition analysis would indicate that: in the motor vehicle environment, an object is present, which is a pedestrian that moves from a first position to a second position at a certain speed.
In one embodiment, it is provided that the environmental conditions in the environment are also taken into account for the test.
In one embodiment, it is provided that the motor vehicle receives a second ambient signal from the infrastructure ambient sensor system, for example, in response to a corresponding request, during or after a drive past one or more ambient sensors. That is, the infrastructure environment sensor device transmits its second environment signal to the motor vehicle.
In a further embodiment, it is provided that the second ambient signal is called from a remote server, which may be part of a cloud infrastructure, for example.
In one embodiment, some steps of the method are performed inside the motor vehicle, for example testing and/or performing condition analysis, for example performing object detection and/or object classification and/or prediction of object motion, or all steps of the method are performed.
In one embodiment, some steps of the method, such as testing and/or performing condition analysis, such as performing object detection and/or object classification and/or prediction of object motion, or all steps of the method, are performed outside the motor vehicle, for example on a remote server.
In one embodiment, some steps of the method, such as testing and/or performing condition analysis, such as object detection and/or object classification and/or prediction of object movement, or all steps of the method, are performed both outside the motor vehicle, for example on a remote server, and inside the motor vehicle.
According to one embodiment, the test comprises a test simulation of at least a part of the automated driving function. In particular, according to one embodiment, the test comprises a simulation of at least partially automated driving functions.
According to one embodiment, the test comprises an actual test of at least partially automated driving functions (i.e. as opposed to a test simulation).
Claims (11)
1. A method for testing at least partially automated driving functions of a motor vehicle (401), comprising the steps of:
receiving (101) a first environment signal representing a first region (411) of an environment of the motor vehicle (401) sensed by means of a motor vehicle environment sensing device (409) of the motor vehicle (401) located within an infrastructure;
receiving (103) a second environment signal representing a second region (431) of the environment of the motor vehicle (401) sensed by means of an infrastructure environment sensing device (415) of the infrastructure;
testing (105) the at least partially automated driving function based on the first and second ambient signals in order to find a test result based on the testing;
a test result signal is output (107) representing the evaluated test result.
2. The method according to claim 1, wherein the at least partially automated driving function is implemented in a control device of the motor vehicle (401), comprising the steps of:
receiving protocol data of the control device, wherein the protocol data comprises a protocol regarding a behavior of the control device, wherein the at least partially automated driving function is tested based on the protocol data.
3. Method according to claim 1 or 2, wherein a condition analysis of the environment is performed based on the first and/or second environment signals in order to derive condition analysis data based on the performed condition analysis, wherein the at least partially automated driving function is tested based on the derived condition analysis data.
4. The method of claim 3, wherein the performing of the condition analysis comprises performing object detection and/or object classification and/or prediction of object motion.
5. The method according to any of the preceding claims, wherein a third environment signal is received, wherein the at least partially automated driving function is tested based on the third environment signal, wherein the third environment signal represents at least one of the following environmental conditions in the environment: weather conditions in the environment, light conditions in the environment, road conditions in the environment.
6. The method according to any one of the preceding claims, wherein the ambient signal is received from the motor vehicle (401) and/or a remote server.
7. The method of any of the above claims, wherein a request signal for the infrastructure environment sensing device (415) is output, the request signal representing a request for the second environment signal of the infrastructure environment sensing device (415).
8. The method according to claim 7, wherein the request signal is output by means of the motor vehicle (401).
9. A device (201) set up for carrying out all the steps of the method according to any one of the preceding claims.
10. A computer program (303) comprising instructions which, when the computer program (303) is executed by a computer, arrange the computer to carry out the method according to any one of claims 1 to 8.
11. A machine-readable storage medium (301) on which a computer program (303) according to claim 10 is stored.
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| DE102018213844.3 | 2018-08-17 | ||
| DE102018213844.3A DE102018213844A1 (en) | 2018-08-17 | 2018-08-17 | Method for testing an at least partially automated driving function for motor vehicles |
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| CN110884503A true CN110884503A (en) | 2020-03-17 |
| CN110884503B CN110884503B (en) | 2024-07-16 |
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| CN201910757160.3A Active CN110884503B (en) | 2018-08-17 | 2019-08-16 | Method, device and storage medium for testing the automated driving function of a motor vehicle |
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| CN (1) | CN110884503B (en) |
| DE (1) | DE102018213844A1 (en) |
| FR (1) | FR3085024B1 (en) |
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| DE102021208738A1 (en) | 2021-08-11 | 2023-02-16 | Zf Friedrichshafen Ag | Computer-implemented method and computer program for generating virtual routes and developing and/or validating functionalities of an automated driving system on the generated routes |
| CN114326667B (en) * | 2021-12-23 | 2023-08-08 | 水木东方(深圳)科技有限公司 | Unmanned test method for fusing online traffic flow simulation and real road environment |
| DE102022113744A1 (en) * | 2022-05-31 | 2023-11-30 | ASFINAG Maut Service GmbH | Method for creating a data set |
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| DE102018213844A1 (en) | 2020-02-20 |
| FR3085024A1 (en) | 2020-02-21 |
| FR3085024B1 (en) | 2022-12-09 |
| CN110884503B (en) | 2024-07-16 |
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