Method for modeling a motor vehicle sensor in a virtual test environment

Patent metadata

Field	Value
Publication number	US-11208110-B2
Application number	US-201816050567-A
Country	US
Kind code	B2
Filing date	Jul 31, 2018
Priority date	Aug 1, 2017
Publication date	Dec 28, 2021
Grant date	Dec 28, 2021

Abstract

The disclosure relates to a method that models a motor vehicle sensor in a virtual test environment by way of definition. Using a sensor support, a raycast distribution shape, a group of raycast properties, a raycast reflection factor, and a raycast echo, a sensor in reality may be tested in a virtual environment to calibrate the sensor in reality. The sensor support is a virtual sensor support for a virtual sensor model, which forms a three-dimensional or two-dimensional avatar of the sensor in reality, in the virtual test environment. The sensor support has a sensor starting point that is used as an origin for a raycast distribution shape. The method extracts a special application of the sensor in reality in an application case, which is particularly useful for testing scenarios.

First claim

What is claimed is:

1. A method that models a motor vehicle sensor comprising:
obtaining sensor model parameters from a plurality of physical sensor parameters to model the sensor in a virtual test environment by way of definition and use of a virtual sensor model including:
a sensor support for the sensor in the virtual test environment, and includes a sensor starting surface that is used as an origin for a raycast distribution shape, wherein the raycast distribution shape is a predefined two-dimensional or three-dimensional shape, an origin of which is a starting surface of the sensor support, wherein the raycast distribution shape has a plurality of evenly distributed raycasts, an origin of which is either the starting surface of the sensor support or a point in a starting plane of the sensor support;
wherein the group of raycast properties are a damping, a propagation speed, and a detection accuracy of raycasts, wherein the damping is the same for all raycasts use either the same predefined value or are determined using the same method and is defined as a single value that specifies a percentage of original signal that would return if an object were struck by the raycast at a specific distance from an origin, wherein the propagation speed is the same for all raycasts use either the same predefined value or are determined using the same method and defines a delay, after which, at a distance at which a raycast strikes an object, an echo value of the raycast is available in the sensor, and wherein the detection accuracy is identical for all raycasts use either the same predefined value or are determined using the same method and is a probability that a raycast sends back an incorrect value, wherein the raycast reflection factor is associated with objects present in the virtual test environment and is a percentage that indicates how well an object reflects waves emitted by the sensor, and wherein the raycast echo is a collection of coordinates and echo values sent back by each raycast, wherein the echo values are dependent on the detection accuracy, the damping, the raycast reflection factor, and whether a hit is present.

2. The method as claimed in claim 1 , wherein the sensor is a sensor operative based on electromagnetic or acoustic waves.

Assignees

• Ford Global Tech Llc

Inventors

• Stefan Frederic
• Chevalier Alain Marie Roger
• Marbaix Michael
• Bitsanis Evangelos

Classifications

• G06F30/15 Primary

  Vehicle, aircraft or watercraft design · CPC title

• G06T15/06

  Ray-tracing · CPC title

• B60W50/04

  Monitoring the functioning of the control system · CPC title

• B60W2050/0037

  Mathematical models of vehicle sub-units · CPC title

• G06F30/20

  Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) · CPC title