# US 2021/0276571 A1 · Apparatus and method for testing automated vehicles

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- Number: US 2021/0276571 A1
- Document ID: US20210276571A1
- Status: Published application
- Kind: A1
- Application number: 17/191,068
- Filed: 2021-03-03
- Published: 2021-09-09
- Earliest claimed: 2020-03-03
- Assignees: Horiba Instruments, Inc.
- Applicants: Horiba Instruments Incorporated
- Inventors: Leo Alphonse Gerard Breton
- Web page: https://patentgrep.com/patent/US20210276571A1

## CPC

- B60W 40/105: Speed
- G01M 17/0072: {the wheels of the vehicle co-operating with rotatable rolls (G01M17/022, G01M17/045, G01M17/065 take precedence)}
- B60W 10/06: including control of combustion engines
- B60W 60/001: {Planning or execution of driving tasks}
- G01M 15/102: {by monitoring exhaust gases}
- G01M 17/00: Testing of vehicles (testing fluid tightness G01M3/00; testing elastic properties of bodies or chassis, e.g. torsion-testing, G01M5/00; testing alignment of vehicle headlight devices G01M11/06; testing of engines G01M15/00)
- G01M 17/06: Steering behaviour; Rolling behaviour
- G01M 17/065: {the vehicle wheels co-operating with rotatable rolls}
- B60W 2510/0657: Engine torque
- B60W 2540/18: Steering angle
- B60W 2554/80: Spatial relation or speed relative to objects
- B60W 2556/10: Historical data
- 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
- G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The vehicle test apparatus of claim 1, wherein the processor is further programmed to derive the set of location or motion data from output of one or more vehicle sensors, and record a corresponding location or motion of the test vehicle in an external reference frame based on a vehicle speed signal or a GPS signal.

### Claim 3

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.

### Claim 4 (depends on 3)

The vehicle test apparatus of claim 3, wherein the processor is further programmed to record data corresponding to the scheduled position of the object based on output from one or more vehicle sensors, and corresponding to a location or motion of the vehicle in an external reference frame based on a vehicle speed signal or a GPS signal.

### Claim 5 (depends on 3)

The vehicle test apparatus of claim 3, wherein the processor is further programmed to (a) transform data defining, for each of the plurality of instants, a scheduled velocity of the object relative to the frame of reference local to the scheduled location at the instant to data defining an actual temporal velocity of the object relative to the frame of reference local to the vehicle based on the data defining the temporal location of the vehicle along the route at the instant, data defining a temporal heading of the vehicle along the route at the instant, the data defining the scheduled location along the route at the instant, and data defining a scheduled heading along the route at the instant such that, for each of the plurality of instants, the scheduled velocity of the object and actual temporal velocity of the object are same relative to a global frame of reference regardless of the scheduled location and heading along the route at the instant and the temporal location and heading of the vehicle along the route at the instant, and (b) output to the vehicle the data defining, for each of the plurality of instants, the actual temporal velocity of the object such that the vehicle executes control operations responsive thereto.

### Claim 6 (depends on 3)

The vehicle test apparatus of claim 3, wherein the scheduled positions and scheduled locations are defined by sensor data collected during an on-road drive cycle.

### Claim 7 (depends on 3)

The vehicle test apparatus of claim 3, wherein the vehicle is operatively arranged with a dynamometer and the frame of reference local to the vehicle is defined by speed data from the dynamometer or vehicle.

### Claim 8

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.

### Claim 9 (depends on 8)

The test method of claim 8 further comprising (a) transforming data defining scheduled velocities of the object relative to the frame of reference local to the scheduled locations to data defining actual temporal velocities of the object relative to the frame of reference local to the vehicle based on the data defining the temporal locations of the vehicle along the route, data defining temporal headings of the vehicle along the route, the data defining the scheduled locations along the route, and data defining scheduled headings along the route such that pairs of the scheduled velocities of the object and actual temporal velocities of the object that temporally correspond are same relative to a global frame of reference regardless of the scheduled locations and headings along the route and the temporal locations and headings along the route, and (b) outputting to the vehicle the data defining the actual temporal velocities of the object such that the vehicle executes control operations responsive thereto.

### Claim 10 (depends on 8)

The test method of claim 8 further comprising collecting during an on-road drive cycle sensor data defining the scheduled positions and scheduled locations.

### Claim 11 (depends on 8)

The test method of claim 8, wherein the vehicle is operatively arranged with a dynamometer and the frame of reference local to the vehicle is defined by speed data from the dynamometer or vehicle.

### Claim 12

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.

### Claim 13 (depends on 12)

The vehicle longitudinal speed control system object and target simulator of claim 12 further comprising a second input channel that carries a GPS heading or a vehicle steering angle signal to the processor, wherein the processor further transforms the correlated object set based on the second input channel data.

### Claim 14

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.

### Claim 15 (depends on 14)

The test method of claim 14, wherein the differences in motion parameters result from changes to longitudinal speed control system calibration parameters or powertrain calibration parameters, after recording or creation of the second schedule.

### Claim 16

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.

### Claim 17 (depends on 16)

The method of claim 16, wherein correlation and transformation associated with the correlated and transformed object set data are based on time.

### Claim 18 (depends on 16)

The method of claim 16, wherein correlation associated with the correlated and transformed object set data is based on time, and transformation associated with the correlated and transformed object set data is based on distance traveled on the dynamometer.

### Claim 19 (depends on 16)

The method of claim 16, wherein the second vehicle is the first vehicle.