Concept and Realization of a Novel Test Method Using a Dynamic Test Stand for Detecting Persons by Sensor Systems on Autonomous Agricultural Robotics

Abstract

As an essential part for the development of autonomous agricultural robotics, the functional safety of autonomous agricultural machines is largely based on the functionality and robustness of non-contact sensor systems for human protection. This article presents a new step in the development of autonomous agricultural machine with a concept and the realization of a novel test method using a dynamic test stand on an agricultural farm in outdoor areas. With this test method, commercially available sensor systems are tested in a long-term test around the clock for 365 days a year and 24 h a day on a dynamic test stand in continuous outdoor use. A test over a longer period of time is needed to test as much as possible all occurring environmental conditions. This test is determined by the naturally occurring environmental conditions. This fact corresponds to the reality of unpredictable/determinable environmental conditions in the field and makes the test method and test stand so unique. The focus of the developed test methods is on creating own real environment detection areas (REDAs) for each sensor system, which can be used to compare and evaluate the autonomous human detection of the sensor systems for the functional safety of autonomous agricultural robots with a humanoid test target. Sensor manufacturers from industry and the automotive sector provide their sensor systems to have their sensors tested in cooperation with the TÜV.

REDA: A New Methodology to Validate Sensor Systems for Person Detection under Variable Environmental Conditions

“…They test automotive surround sensors with rain simulation. The authors present a method by which it is possible to evaluate different sensor systems with respect to their robustness against disturbances directly in the working environment and the reliable detection of persons in such environmental conditions [ 14 ]. This method is the enabler of autonomous systems because it is the final step in the development of autonomous systems.…”

“…For a better understanding of the article, the concept of the novel test method presented in [ 14 ] is summarized in the following lines. The test method is used to test sensor systems such as object detection systems (ODS).…”

“…In order to achieve the best possible results for a specific application of a sensor system, fusions of sensor systems are also a possible solution. A new very powerful tool for the development of such sensor fusions has already been described by the authors in [ 14 ]. Using the real environment detection area matrix (REDAM), a comparison of several REDAs becomes possible and thus the identification of weaknesses and strengths of individual sensor systems, their parameters, or algorithms used.…”

“…Using the real environment detection area matrix (REDAM), a comparison of several REDAs becomes possible and thus the identification of weaknesses and strengths of individual sensor systems, their parameters, or algorithms used. For illustration, in Figure 3 , a fictitious REDAM from [ 14 ] is shown.…”

“…It is shown that this test method is so powerful that it represents a solution—it is the enabler of autonomous systems. For this reason, the aim of this article is the application of the presented concept of the novel test method “REDA” [ 14 ]. Measurement data are presented and the resulting potential is shown by the versatile interpretation of the measurement data.…”