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US 2021/0276571 A1Published application
Apparatus and method for testing automated vehicles
AssigneeHoriba Instruments, Inc.
InventorLeo Alphonse Gerard Breton
Life of this patent
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Abstract
A processor, responsive to a set of location or motion data describing one or more objects relative to a first, local frame of reference, generates a transformed set of location or motion data describing the one or more objects relative to a second, local frame of reference different than the first local frame of reference, such that the set of location or motion data and the transformed set of location or motion data relative to a global frame of reference are same. The processor also outputs the transformed set of location or motion data to a vehicle such that the vehicle performs control operations responsive thereto.
Claims19
A vehicle test apparatus comprising:
- a processor programmed to (i) responsive to a set of location or motion data describing one or more objects relative to a first, local frame of reference, generate based on a test vehicle signal, a dynamometer speed feedback signal, a steering angle signal, or a GPS heading signal, a transformed set of location or motion data describing the one or more objects relative to a second, local frame of reference different than the first local frame of reference, such that the set of location or motion data and the transformed set of location or motion data relative to a global frame of reference are same, and (ii) output the transformed set of location or motion data to a vehicle such that the vehicle performs control operations responsive thereto.
A vehicle test apparatus comprising:
- a processor programmed to (i) transform data defining, for each of a plurality of instants of a duration of time for a vehicle to traverse a real or simulated route, a scheduled position of an object relative to a frame of reference local to a scheduled location along the route at the instant to data defining an actual temporal position of the object relative to a frame of reference local to the vehicle based on data defining a temporal location of the vehicle along the route at the instant and data defining the scheduled location along the route at the instant such that, for each of the plurality of instants, the scheduled position of the object and actual temporal position of the object are same relative to a global frame of reference regardless of the scheduled location along the route at the instant and the temporal location of the vehicle along the route at the instant, and (ii) output to the vehicle the data defining, for each of the plurality of instants, the actual temporal position of the object such that the vehicle executes control operations responsive thereto.
A test method for a vehicle comprising:
- transforming data defining scheduled positions of an object relative to a frame of reference local to scheduled locations along a real or simulated route to data defining actual temporal positions of the object relative to a frame of reference local to the vehicle based on data defining temporal locations of the vehicle along the route and data defining the scheduled locations along the route such that the scheduled positions of the object and actual temporal positions of the object that temporally correspond are same relative to a global frame of reference regardless of the scheduled locations along the route and the temporal locations of the vehicle along the route;
- and
- outputting to the vehicle the data defining the actual temporal positions of the object such that the vehicle executes control operations responsive thereto.
A vehicle longitudinal speed control system object and target simulator for testing in coordination with operating the vehicle, or part of the vehicle, on a dynamometer or road or track, comprising:
- a vehicle data bus input channel for receiving data;
- a processor for storing and processing received data;
- a vehicle data bus output channel for outputting data to the vehicle;
- and
- memory storage for storing object velocities or locations, wherein the input channel connects to a vehicle communications bus and receives vehicle data comprising at least object data sensed by the vehicle longitudinal speed control system and vehicle speed, location, or distance traveled data, wherein during a first test, the vehicle data is processed by the processor to establish an object location schedule, wherein during a subsequent test, the processor correlates a simulated vehicle location, or derived simulated location of the vehicle along a simulated route, based on vehicle speed or derived distance traveled, with the object location schedule based on time or location to define a correlated object set, transforms the correlated object set based on vehicle speed, location, or distance traveled history to define a transformed correlated object set, identifies the object data comprising an input data stream, substitutes the transformed correlated object data set for the object data to define a transformed data stream, and outputs the transformed data stream to the output channel, and wherein the output channel connects to the vehicle communications bus.
2 more elements
A test method for calibrating an autonomous vehicle or powertrain comprising:
- during a test of an autonomous vehicle or a part of an autonomous vehicle on a dynamometer, coordinatingly providing or simulating a transformed schedule of locations of at least one object to the autonomous vehicle such that the autonomous vehicle controls motion based on the transformed schedule, wherein a first schedule of object locations and a second schedule of vehicle motion parameters or vehicle control parameters are recorded during a prior real-world vehicle test, or created for simulation of a real-world vehicle test scenario, and wherein the transformed schedule is based on the first schedule and differences in motion parameters or vehicle control parameters including the second schedule, and at least one feedback parameter from the dynamometer or vehicle operating on the dynamometer.
A test method comprising:
- during a first test in which longitudinal speed control is active with setpoints on a first vehicle during a road drive, recording values of a vehicle parameter indicative of real-world dynamic powertrain torque or vehicle torque request to define a load schedule, and recording vehicle speed or engine speed to define a speed schedule;
- and
- during a second test of a second vehicle or a portion of the second vehicle in which longitudinal speed control is deactivated on a dynamometer, coordinatingly controlling (i) a fuel injector, an intake manifold pressure, a motor controller, or a throttle valve according to the load schedule and (ii) the dynamometer according to the speed schedule such that the dynamometer applies dynamic torque that causes a powertrain of the second vehicle or portion of the second vehicle to produce a laboratory dynamic powertrain torque, and recording values defining a history of the laboratory dynamic torque, exhaust gas emissions from the second vehicle, or energy consumption of the second vehicle, or
- during a second test of a second vehicle or a portion of the second vehicle in which longitudinal speed control is active on a dynamometer, and using the setpoints from the first test, intercepting a vehicle data stream comprising at least target data from a longitudinal speed control system of the second vehicle, identifying object data comprising the input data stream, substituting correlated and transformed object set data for the object data, outputting the resulting data stream to an output channel, and recording values defining a history of laboratory dynamic torque, exhaust gas emissions from the second vehicle, or energy consumption of the second vehicle.
1 more element
Dependencies are inferred from the claim text.