CN109632332A - A kind of automatic parking emulation test system and test method - Google Patents
A kind of automatic parking emulation test system and test method Download PDFInfo
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Abstract
The invention discloses a kind of automatic parking emulation test system and test methods.Wherein test macro includes emulating host computer, ultrasonic radar controller and ultrasonic signal processing unit；Emulating host computer includes simulating vehicle and analog obstacle object in scene for generating automatic parking virtual scene；Ultrasonic signal processing unit is used to receive the transmitting ultrasonic signal of ultrasonic radar controller sending, and generation reflects ultrasonic wave signal after analog obstacle object；It is also used to according to automatic parking virtual scene, real-time analog transmissions ultrasonic signal and the communication process for reflecting ultrasonic wave signal；Ultrasonic radar controller reflects ultrasonic wave signal, the distance of calculating simulation vehicle and analog obstacle object for issuing transmitting ultrasonic signal, reception；Emulating host computer is parked for obtaining above-mentioned distance when the distance reaches pre-determined distance range.Technical solution of the present invention realizes automatic parking emulation testing, and effectively use manpower and material resources sparingly resource, reduces cost, greatly improves testing efficiency.
Description
Technical field
The present embodiments relate to emulation technology, intelligent driving field more particularly to a kind of automatic parking emulation testing systems
System and test method.
Background technique
Automated parking system is a kind of driver assistance system, which can help driver to moor vehicle into parking stall
In.Automated parking system is turned to as a kind of replacement driver's active control vehicle, is shifted gears, speed controls, control for brake
Intelligent allocation, the reliability of system is particularly important.
Ultrasonic radar utilizes ultrasonic distance measurement principle, and fixed ultrasonic radar probe onboard can receive by its hair
It penetrates and encounters the reflected ultrasonic wave of barrier, to calculate the distance between vehicle and barrier.Work as ultrasonic radar
When detecting the distance between vehicle and barrier within a preset range, vehicle parking is completed.
Currently, automated parking system or it is conventional carried out in actual place, tested, tested using standard barrier
When, may be collided risk due to thrashing, and there are security risks.The scene drawback manually built also resides in, each field
Scape reproduction is controlled by people, upper in scene arrangement it is not possible that every time, there are errors.Scene is built using artificial at present
Test method time-consuming it is long, in the case where test scene is more, can not quickly and effectively complete.Further, since surveying
Examination is influenced by factors such as place weather manpower and material resources, and testing efficiency is lower.
Summary of the invention
The embodiment of the present invention provides a kind of automatic parking emulation test system and test method, to realize that automatic parking emulates
Test, can effectively use manpower and material resources sparingly resource, reduce cost, increase substantially testing efficiency.
In a first aspect, the embodiment of the present invention provides a kind of automatic parking emulation test system, including emulating host computer, ultrasonic wave
Radar controller and ultrasonic signal processing unit；
The emulating host computer includes simulation vehicle in the automatic parking virtual scene for generating automatic parking virtual scene
And analog obstacle object；
The ultrasonic signal processing unit is connect with the emulating host computer and the ultrasonic radar controller respectively, is used
In the transmitting ultrasonic signal that the reception ultrasonic radar controller issues, and generate described in the transmitting ultrasonic signal warp
Signal is reflected ultrasonic wave after analog obstacle object；The ultrasonic signal processing unit is also used to virtual according to the automatic parking
Scene simulates the transmitting ultrasonic signal and the signal that reflects ultrasonic wave in the simulating vehicle and the simulation in real time
Communication process between barrier；
The ultrasonic radar controller is used to issue transmitting ultrasonic signal to the ultrasonic signal processing unit, connects
Receive the signal that reflects ultrasonic wave that the ultrasonic signal processing unit returns, and according to the transmitting ultrasonic signal and it is described instead
Penetrate the distance that ultrasonic signal calculates the simulating vehicle and the analog obstacle object；
The emulating host computer is connect with the ultrasonic radar controller, by obtaining based on the ultrasonic radar controller
The distance of the simulating vehicle and the analog obstacle object calculated, and in the distance of the simulating vehicle and the analog obstacle object
It parks when reaching pre-determined distance range.
Optionally, the automatic parking emulation test system further include:
Environmental sensor is connect with the emulating host computer, for measuring current environment data, and is transferred to the emulation master
Machine；
The emulating host computer is also used to according to the current environment data, calculate the transmitting ultrasonic signal and it is described instead
Propagation parameter of the ultrasonic signal under the current environment data is penetrated, and the propagation parameter is transferred to the ultrasonic wave and is believed
Number processing unit；
The ultrasonic signal processing unit is also used to according to the transmitting ultrasonic signal and described reflects ultrasonic wave letter
Propagation parameter number under the current environment data simulates the transmitting ultrasonic signal in real time and described reflects ultrasonic wave letter
Communication process number between the simulating vehicle and the analog obstacle object.
Optionally, the environmental sensor includes temperature sensor, humidity sensor and barometric pressure sensor.
Optionally, the ultrasonic signal processing unit includes analog-to-digital conversion module, D/A converter module and processing mould
Block；
The analog-to-digital conversion module is connect with the transmitting terminal of the ultrasonic radar controller and the processing module respectively,
The transmitting ultrasonic signal issued for receiving the ultrasonic radar controller, and the transmitting ultrasonic signal is converted to
The processing module is transferred to after digital signal；
The processing module is for generating transmitting ultrasonic signal the reflecting ultrasonic wave after the analog obstacle object
Signal, and the transmitting ultrasonic signal and the signal that reflects ultrasonic wave are simulated in real time in the simulating vehicle and the mould
Communication process between quasi- barrier；
The D/A converter module is connect with the receiving end of the ultrasonic radar controller and the processing module respectively,
For receive it is described reflect ultrasonic wave signal, and by it is described reflect ultrasonic wave signal be converted to be transferred to after analog signal it is described super
Sound radar controller.
Optionally, the processing module is used for according to the transmitting ultrasonic signal and the biography for reflecting ultrasonic wave signal
It broadcasts time delay and simulates the transmitting ultrasonic signal and the signal that reflects ultrasonic wave in real time in the simulating vehicle and institute
State the communication process between analog obstacle object.
Optionally, the processing module is used for according to the transmitting ultrasonic signal and the biography for reflecting ultrasonic wave signal
It broadcasts amplitude fading and simulates the transmitting ultrasonic signal and the signal that reflects ultrasonic wave in real time in the simulating vehicle and institute
State the communication process between analog obstacle object.
Optionally, the processing module includes on-site programmable gate array FPGA.
Optionally, the emulating host computer further includes display device, for showing the automatic parking virtual scene.
Second aspect, the embodiment of the present invention also provide a kind of automatic parking emulation test method, using above-mentioned automatic pool
Vehicle analogue system executes, comprising:
The emulating host computer generates automatic parking virtual scene, include simulating vehicle in the automatic parking virtual scene with
And analog obstacle object；
The ultrasonic signal processing unit receives the transmitting ultrasonic signal that the ultrasonic radar controller issues, and
It generates the transmitting ultrasonic signal and reflects ultrasonic wave signal after the analog obstacle object；
The ultrasonic signal processing unit simulates the transmitting ultrasonic wave according to the automatic parking virtual scene in real time
Signal and the communication process for reflecting ultrasonic wave signal between the simulating vehicle and the analog obstacle object；
The ultrasonic radar controller issues transmitting ultrasonic signal to the ultrasonic signal processing unit, receives institute
The signal that reflects ultrasonic wave of ultrasonic signal processing unit return is stated, and super according to the transmitting ultrasonic signal and the reflection
Acoustic signals calculate the distance of the simulating vehicle and the analog obstacle object；
The emulating host computer obtains the simulating vehicle and the analog obstacle that the ultrasonic radar controller calculates
The distance of object, and park when the distance of the simulating vehicle and the analog obstacle object reaches pre-determined distance range.
Optionally, the automatic parking emulation test system further includes environmental sensor；The automatic parking emulation testing
Method further include:
The environmental sensor measures current environment data, and is transferred to the emulating host computer；
The emulating host computer calculates the transmitting ultrasonic signal and the reflectance ultrasound according to the current environment data
Propagation parameter of the wave signal under the current environment data, and the propagation parameter is transferred to the ultrasonic signal and is handled
Device；
The ultrasonic signal processing unit is according to the transmitting ultrasonic signal and the signal that reflects ultrasonic wave in institute
The propagation parameter under current environment data is stated, simulates the transmitting ultrasonic signal and the signal that reflects ultrasonic wave in real time in institute
State the communication process between simulating vehicle and the analog obstacle object.
Automatic parking emulation test system provided in an embodiment of the present invention, including emulating host computer, ultrasonic radar controller
And ultrasonic signal processing unit；It is virtual that the automatic parking including simulating vehicle and analog obstacle object is generated by emulating host computer
Scene receives the transmitting ultrasonic signal that ultrasonic radar controller issues by ultrasonic signal processing unit, and generates hair
It penetrates ultrasonic signal and reflects ultrasonic wave signal after analog obstacle object；By ultrasonic signal processing unit according to automatic parking
Virtual scene, real-time analog transmissions ultrasonic signal and reflects ultrasonic wave signal between simulating vehicle and analog obstacle object
Communication process；Transmitting ultrasonic signal is issued to ultrasonic signal processing unit by ultrasonic radar controller, receives ultrasound
What wave signal processing apparatus returned reflects ultrasonic wave signal, and according to transmitting ultrasonic signal and reflects ultrasonic wave signal calculating mould
The distance of quasi- vehicle and analog obstacle object；The simulating vehicle and mould calculated by emulating host computer and acquisition ultrasonic radar controller
The distance of quasi- barrier, and park when the distance of simulating vehicle and analog obstacle object reaches pre-determined distance range.It does not need to take
Actual test scene is built, realizes automatic parking emulation testing, can effectively use manpower and material resources sparingly resource, reduce cost, substantially
Degree improves testing efficiency.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of automatic parking emulation test system provided in an embodiment of the present invention；
Fig. 2 is that several typical cases that emulating host computer provided in an embodiment of the present invention is built park the schematic diagram of virtual scene；
Fig. 3 is the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention；
Fig. 7 is a kind of flow diagram of automatic parking emulation test method provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Fig. 1 show a kind of structural schematic diagram of automatic parking emulation test system provided in an embodiment of the present invention.With reference to
Fig. 1, the automatic parking emulation test system include emulating host computer 10, ultrasonic radar controller 20 and ultrasonic signal processing
Device 30；Emulating host computer 10 for generating automatic parking virtual scene, in automatic parking virtual scene include simulating vehicle and
Analog obstacle object；Ultrasonic signal processing unit 30 is connect with emulating host computer 10 and ultrasonic radar controller 20 respectively, is used for
The transmitting ultrasonic signal that ultrasonic radar controller 20 issues is received, and generates transmitting ultrasonic signal after analog obstacle object
Reflect ultrasonic wave signal；Ultrasonic signal processing unit 30 is also used to according to automatic parking virtual scene, real-time analog transmissions
Ultrasonic signal and reflect ultrasonic wave communication process of the signal between simulating vehicle and analog obstacle object；Ultrasonic radar control
Device 20 processed is used to issue transmitting ultrasonic signal to ultrasonic signal processing unit 30, and received ultrasonic signal processing unit 30 is returned
That returns reflects ultrasonic wave signal, and according to transmitting ultrasonic signal and reflects ultrasonic wave signal calculating simulation vehicle and analog obstacle
The distance of object；Emulating host computer 10 is connect with ultrasonic radar controller 20, for obtaining the calculating of ultrasonic radar controller 20
The distance of simulating vehicle and analog obstacle object, and the pool when the distance of simulating vehicle and analog obstacle object reaches pre-determined distance range
Vehicle.
Wherein, emulating host computer 10 can built-in exploitation automatic parking scene software, such as Prescan, for being produced from
Dynamic virtual scene of parking, Fig. 2 show several typical cases that emulating host computer provided in an embodiment of the present invention is built and park virtual scene
Schematic diagram, wherein (a) is that horizontal parking stall is parked scene；(b) it parks scene for vertical parking stall；It (c) is the horizontal parking stall pool of pedestrian
Parking lot scape；(d) it parks scene for the vertical parking stall of pedestrian；(e) it parks scene for kerb.Other vehicles in virtual scene, pedestrian,
Kerb etc. is all barrier when parking, and emulating host computer 10 is also used in real time be that ultrasonic signal processing unit 30 provides automatically
It parks the data of simulating vehicle and analog obstacle object in virtual scene, so that ultrasonic signal processing unit 30 simulates simulation vehicle
Positional relationship with analog obstacle object, ultrasonic signal processing unit 30 receive the hair issued from ultrasonic radar controller 20
Ultrasonic signal is penetrated, then according to the positional relationship of the simulating vehicle of its simulation and analog obstacle object, analog transmissions ultrasonic wave letter
Communication process number between simulating vehicle and analog obstacle object, and transmitting ultrasonic signal be modeled barrier reflection after produce
The raw signal that reflects ultrasonic wave returns to the communication process of simulating vehicle, and will reflect ultrasonic wave signal and send back to ultrasonic radar control
Device 20.Ultrasonic radar controller 20 is according to transmitting ultrasonic signal and reflects ultrasonic wave signal, utilizes the original of ultrasonic distance measurement
Reason can calculate the distance of simulating vehicle and analog obstacle object in real time, and calculated distance feedback is arrived emulating host computer 10
In simulating vehicle in, the distance of simulating vehicle and analog obstacle object is parked when reaching pre-determined distance range.Illustratively, certainly
Dynamic when parking, when vehicle is 0.1m~0.3m at a distance from barrier, vehicle is easy to bump against with barrier, it is necessary to stop, for danger
Danger zone；It is appropriate area when vehicle is 0.3~0.8m at a distance from barrier；Vehicle is 0.8m~1.5m at a distance from barrier
When, it is safety zone.Therefore it is 0.1m~0.3m that distance range of parking, which can be preset,.
The technical solution of the present embodiment generates the automatic parking including simulating vehicle and analog obstacle object by emulating host computer
Virtual scene receives the transmitting ultrasonic signal that ultrasonic radar controller issues by ultrasonic signal processing unit, and raw
Signal is reflected ultrasonic wave after analog obstacle object at transmitting ultrasonic signal；By ultrasonic signal processing unit according to automatic
Park virtual scene, real-time analog transmissions ultrasonic signal and reflect ultrasonic wave signal simulating vehicle and analog obstacle object it
Between communication process；Transmitting ultrasonic signal is issued to ultrasonic signal processing unit by ultrasonic radar controller, is received
What ultrasonic signal processing unit returned reflects ultrasonic wave signal, and according to transmitting ultrasonic signal and reflects ultrasonic wave signal meter
Calculate the distance of simulating vehicle and analog obstacle object；The simulating vehicle calculated by emulating host computer and acquisition ultrasonic radar controller
With the distance of analog obstacle object, and park when the distance of simulating vehicle and analog obstacle object reaches pre-determined distance range.It is not required to
Actual test scene is built, realizes automatic parking emulation testing, can effectively use manpower and material resources sparingly resource, cost is reduced,
Increase substantially testing efficiency.
Based on the above technical solution, Fig. 3 show another automatic parking emulation provided in an embodiment of the present invention
The structural schematic diagram of test macro.With reference to Fig. 3, optionally, the automatic parking emulation test system further include: environmental sensor
40, it is connect with emulating host computer 10, for measuring current environment data, and is transferred to emulating host computer 10；Emulating host computer 10 is also used to
According to current environment data, calculates transmitting ultrasonic signal and reflect ultrasonic wave propagation ginseng of the signal under current environment data
Number, and propagation parameter is transferred to ultrasonic signal processing unit 30；Ultrasonic signal processing unit 30 is also used to according to transmitting
Ultrasonic signal and reflect ultrasonic wave propagation parameter of the signal under current environment data, real-time analog transmissions ultrasonic signal and
Reflect ultrasonic wave communication process of the signal between simulating vehicle and analog obstacle object.
It is understood that the speed that ultrasonic wave is propagated in air will receive temperature, medium, local atmospheric pressure, opposite
The influence of the environmental factors such as humidity, saturated pressure.In addition, the acoustic pressure of ultrasonic wave inversely decays with distance, also because of air
Absorption and with range attenuation, the size that air absorbs is related with atmospheric pressure, temperature, relative humidity, frequency.Therefore by setting
Environmental sensor 40 is set, the current environment data that emulating host computer 10 can be provided according to environment temperature sensor 40 calculate current
The propagation parameter of ultrasonic wave under environment, ultrasonic signal processing unit 30, can be with according to the propagation of propagation parameter analog ultrasonic wave
Effectively improve the precision of ultrasonic distance measurement in analogue system.
Fig. 4 show the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention.Ginseng
Fig. 4 is examined, optionally, environmental sensor 40 includes temperature sensor 41, humidity sensor 42 and barometric pressure sensor 43.
It is understood that temperature sensor 41, humidity sensor 42 and barometric pressure sensor 43 measure currently respectively
Temperature, humidity and atmospheric pressure under environment, emulating host computer 10 calculate ultrasonic wave under the present circumstances according to these parameters
Spread speed or attenuation coefficient, to improve the precision for improving ultrasonic distance measurement in analogue system.
Fig. 5 show the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention.Ginseng
Fig. 5 is examined, optionally, ultrasonic signal processing unit 30 includes analog-to-digital conversion module 31, D/A converter module 32 and processing mould
Block 33；Analog-to-digital conversion module 31 is connect with the transmitting terminal of ultrasonic radar controller 20 and processing module 33 respectively, for receiving
The transmitting ultrasonic signal that ultrasonic radar controller 20 issues, and transmitted after transmitting ultrasonic signal is converted to digital signal
To processing module 33；Processing module 33 reflects ultrasonic wave signal after analog obstacle object for generating transmitting ultrasonic signal,
And analog transmissions ultrasonic signal and reflect ultrasonic wave signal being propagated through between simulating vehicle and analog obstacle object in real time
Journey；D/A converter module 32 is connect with the receiving end of ultrasonic radar controller 20 and processing module 33 respectively, anti-for receiving
Ultrasonic signal is penetrated, and will reflect ultrasonic wave after signal is converted to analog signal and be transferred to ultrasonic radar controller 20.
It is understood that the transmitting ultrasonic signal that ultrasonic radar controller 20 issues is an analog signal, example
The ultrasonic signal that such as can be a 44kHz carries out analog quantity to the conversion of digital quantity by analog-to-digital conversion module 31, will send out
It penetrates ultrasonic signal and is converted to the manageable digital signal of processing module 33；When 33 analog transmissions ultrasonic signal of processing module
(digital signal) can generate when simulating vehicle and analog obstacle object travel to analog obstacle object and reflect ultrasonic wave signal (number
Signal), simulating vehicle can be traveled to from analog obstacle object by then reflecting ultrasonic wave signal, and D/A converter module 32 will be reflected to mould
The signal that reflects ultrasonic wave of quasi- vehicle is reconverted into analog signal, and is transferred to ultrasonic radar controller 20.Ultrasonic radar
Controller 20 and analog-to-digital conversion module 31, D/A converter module 32 are directly connected to, do not use conventional ultrasound radar probe with
And acquisition and the transmission unit of conventional transmitting-receiving detection ultrasonic probe signal, it can effectively simplify the structure of test macro, reduce
Cost.
Optionally, processing module 33 is used for according to transmitting ultrasonic signal and reflects ultrasonic wave the propagation time delay of signal
Real-time analog transmissions ultrasonic signal and reflect ultrasonic wave communication process of the signal between simulating vehicle and analog obstacle object.
It is understood that the speed v (m/s) that ultrasonic wave is propagated in air will receive temperature T (K), medium, locality greatly
The influence of air pressure P (Pa), relative humidity, saturated pressure Pws (Pa), formula are as follows:
Wherein, the saturated pressure * relative humidity of Pw=water；
The saturated pressure of water is affected by temperature, according to 7183.2 following formula (0-200) of ISO/DIS:
Wherein: c8=-5.8002206E+03；c9=1.3914993E+00；c10=-4.8640239E-02；c11=
4.1764768E-05；c12=-1.4452093E-08；c13=6.5459673E+00；The saturation pressure (Pa) of Pws expression water；
T: expression absolute temperature, T=DEG C+273.15.
Wherein, ultrasonic velocity v can be obtained by formula (1), according to ultrasonic distance measurement formulaIt can be concluded that mould
Quasi- vehicle is at a distance from analog obstacle object, and wherein t indicates propagation time of the ultrasonic wave between simulating vehicle and analog obstacle object.
Optionally, processing module 33 is used for according to transmitting ultrasonic signal and reflects ultrasonic wave the transmission amplitude decaying of signal
Real-time analog transmissions ultrasonic signal and reflect ultrasonic wave communication process of the signal between simulating vehicle and analog obstacle object.
It is understood that intensity and the inversely proportional relationship of transmission range decay when ultrasonic wave is propagated in air.This
Outside, also due to the absorption of air with range attenuation, the size that air absorbs has with atmospheric pressure, temperature, relative humidity, frequency
It closes.According to ISO 9613-1, it is as follows to give the method that air absorption is calculated according to air attenuation by absorption coefficient:
Wherein, α indicates acoustic attenuation coefficient, unit dB/m；F indicates acoustical signal frequency, unit Hz；PaIndicate atmosphere
Pressure, unit kPa；Pr=101.325kPa indicates referenmce atomsphere pressure；T indicates atmospheric temperature, unit K；T0=293.15K,
Indicate reference temperature；ftOThe relaxation frequency of expression oxygen, unit Hz,ftNTable
Show the relaxation frequency of nitrogen, unit Hz,Wherein, h
Indicate the molar concentration of vapor,hrIndicate relative humidity；PsatIndicate saturation vapor pressure, unit is
kPa； Wherein T01=273.16K, the triple point of water；
The attenuation δ L of sound pressure levelp(f)=α r；
Wherein, α indicates acoustic attenuation coefficient, unit dB/m；R indicates acoustical signal frequency, unit m；Attenuation can lead to
Processing module calculating is crossed, divided by attenuation coefficient α you can get it simulating vehicle at a distance from analog obstacle object.
Optionally, processing module 33 includes on-site programmable gate array FPGA.
It is understood that FPGA (Field-Programmable Gate Array) is specific integrated circuit (ASIC)
One of field semi-custom circuit and occur, not only solved the deficiency of custom circuit, but also overcome original programming device
The limited disadvantage of gate circuit number.Different circuit functions is realized in combination, and FPGA can realize the real-time processing to ultrasonic signal.
Fig. 6 show the structural schematic diagram of another automatic parking emulation test system provided in an embodiment of the present invention.Ginseng
Fig. 6 is examined, optionally, emulating host computer 10 further includes display device 11, for showing automatic parking virtual scene.
Automatic parking virtual scene is shown by setting display device 11, can be intuitively displayed automatic parking emulation testing knot
Fruit improves efficiency.
Fig. 7 show a kind of flow diagram of automatic parking emulation test method provided in an embodiment of the present invention, the party
Method can any one automatic parking emulation test system provided by the above embodimen execute, specifically comprise the following steps:
Step S110, emulating host computer generates automatic parking virtual scene, includes simulating vehicle in automatic parking virtual scene
And analog obstacle object.
Step S120, ultrasonic signal processing unit receives the transmitting ultrasonic signal that ultrasonic radar controller issues,
And it generates transmitting ultrasonic signal and reflects ultrasonic wave signal after analog obstacle object.
Step S130, ultrasonic signal processing unit is according to automatic parking virtual scene, real-time analog transmissions ultrasonic wave letter
Number and reflect ultrasonic wave communication process of the signal between simulating vehicle and analog obstacle object.
Step S140, ultrasonic radar controller issues transmitting ultrasonic signal to ultrasonic signal processing unit, receives
What ultrasonic signal processing unit returned reflects ultrasonic wave signal, and according to transmitting ultrasonic signal and reflects ultrasonic wave signal meter
Calculate the distance of simulating vehicle and analog obstacle object.
Step S150, emulating host computer obtain ultrasonic radar controller calculate simulating vehicle and analog obstacle object away from
From, and park when the distance of simulating vehicle and analog obstacle object reaches pre-determined distance range.
Wherein, emulating host computer can built-in exploitation automatic parking scene software, such as Prescan is automatic for generating
It parks virtual scene, other vehicles, pedestrian, kerb etc. are all barriers when parking in virtual scene, and emulating host computer is real-time
The data of simulating vehicle and analog obstacle object in automatic parking virtual scene are provided for ultrasonic signal processing unit, so that ultrasonic
Wave signal processing apparatus simulates the positional relationship of simulating vehicle Yu analog obstacle object, and ultrasonic signal processing unit is received from super
The transmitting ultrasonic signal that sound radar controller issues, then according to the position of the simulating vehicle of its simulation and analog obstacle object
Relationship, communication process of the analog transmissions ultrasonic signal between simulating vehicle and analog obstacle object, and transmitting ultrasonic wave letter
It number is modeled after barrier reflection to generate and reflects ultrasonic wave signal and return to the communication process of simulating vehicle, and letter will be reflected ultrasonic wave
Number send back to ultrasonic radar controller.Ultrasonic radar controller is according to transmitting ultrasonic signal and reflects ultrasonic wave signal,
Using the principle of ultrasonic distance measurement, the distance of simulating vehicle and analog obstacle object can be calculated in real time, and by it is calculated away from
From feedback in the simulating vehicle into emulating host computer, the pool when distance of simulating vehicle and analog obstacle object reaches pre-determined distance range
Vehicle.Illustratively, in automatic parking, when vehicle is 0.1m~0.3m at a distance from barrier, vehicle is easy and barrier phase
It hits, it is necessary to stop, be danger area；It is appropriate area when vehicle is 0.3~0.8m at a distance from barrier；Vehicle and barrier
It is safety zone when distance is 0.8m~1.5m.Therefore it is 0.1m-0.3m that distance range of parking, which can be preset,.
The technical solution of the present embodiment generates the automatic parking including simulating vehicle and analog obstacle object by emulating host computer
Virtual scene receives the transmitting ultrasonic signal that ultrasonic radar controller issues by ultrasonic signal processing unit, and raw
Signal is reflected ultrasonic wave after analog obstacle object at transmitting ultrasonic signal；By ultrasonic signal processing unit according to automatic
Park virtual scene, real-time analog transmissions ultrasonic signal and reflect ultrasonic wave signal simulating vehicle and analog obstacle object it
Between communication process；Transmitting ultrasonic signal is issued to ultrasonic signal processing unit by ultrasonic radar controller, is received
What ultrasonic signal processing unit returned reflects ultrasonic wave signal, and according to transmitting ultrasonic signal and reflects ultrasonic wave signal meter
Calculate the distance of simulating vehicle and analog obstacle object；The simulating vehicle calculated by emulating host computer and acquisition ultrasonic radar controller
With the distance of analog obstacle object, and park when the distance of simulating vehicle and analog obstacle object reaches pre-determined distance range.It is not required to
Actual test scene is built, realizes automatic parking emulation testing, can effectively use manpower and material resources sparingly resource, cost is reduced,
Increase substantially testing efficiency.
Based on the above technical solution, optionally, automatic parking emulation test system further includes environmental sensor；It should
Automatic parking emulation test method further include:
Environmental sensor measures current environment data, and is transferred to emulating host computer；Emulating host computer according to current environment data,
It calculates transmitting ultrasonic signal and reflects ultrasonic wave propagation parameter of the signal under current environment data, and propagation parameter is transmitted
Give ultrasonic signal processing unit；Ultrasonic signal processing unit is according to transmitting ultrasonic signal and reflects ultrasonic wave signal and is working as
Propagation parameter under preceding environmental data, real-time analog transmissions ultrasonic signal and reflects ultrasonic wave signal in simulating vehicle and mould
Communication process between quasi- barrier.
It is understood that the speed that ultrasonic wave is propagated in air will receive temperature, medium, local atmospheric pressure, opposite
The influence of the environmental factors such as humidity, saturated pressure.In addition, the acoustic pressure of ultrasonic wave inversely decays with distance, also because of air
Absorption and with range attenuation, the size that air absorbs is related with atmospheric pressure, temperature, relative humidity, frequency.Therefore by setting
Environmental sensor is set, the current environment data that emulating host computer can be provided according to environment temperature sensor calculate under current environment
The propagation parameter of ultrasonic wave, ultrasonic signal processing unit can effectively improve according to the propagation of propagation parameter analog ultrasonic wave
The precision of ultrasonic distance measurement in analogue system.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of automatic parking emulation test system, which is characterized in that including emulating host computer, ultrasonic radar controller and surpass
Acoustic signals processing unit；
The emulating host computer include simulating vehicle for generating automatic parking virtual scene, in the automatic parking virtual scene with
And analog obstacle object；
The ultrasonic signal processing unit is connect with the emulating host computer and the ultrasonic radar controller respectively, for connecing
The transmitting ultrasonic signal that the ultrasonic radar controller issues is received, and generates the transmitting ultrasonic signal through the simulation
Signal is reflected ultrasonic wave after barrier；The ultrasonic signal processing unit is also used to according to the automatic parking virtual field
Scape, simulates the transmitting ultrasonic signal in real time and the signal that reflects ultrasonic wave hinders in the simulating vehicle and the simulation
Hinder the communication process between object；
The ultrasonic radar controller is used to issue transmitting ultrasonic signal to the ultrasonic signal processing unit, receives institute
The signal that reflects ultrasonic wave of ultrasonic signal processing unit return is stated, and super according to the transmitting ultrasonic signal and the reflection
Acoustic signals calculate the distance of the simulating vehicle and the analog obstacle object；
The emulating host computer is connect with the ultrasonic radar controller, for obtaining the ultrasonic radar controller calculating
The distance of the simulating vehicle and the analog obstacle object, and reach in the distance of the simulating vehicle and the analog obstacle object
It parks when pre-determined distance range.
2. automatic parking emulation test system according to claim 1, which is characterized in that automatic parking emulation testing system
System further include:
Environmental sensor is connect with the emulating host computer, for measuring current environment data, and is transferred to the emulating host computer；
The emulating host computer is also used to calculate the transmitting ultrasonic signal according to the current environment data and the reflection is super
Propagation parameter of the acoustic signals under the current environment data, and the propagation parameter is transferred at the ultrasonic signal
Manage device；
The ultrasonic signal processing unit is also used to be existed according to the transmitting ultrasonic signal and the signal that reflects ultrasonic wave
Propagation parameter under the current environment data, simulates the transmitting ultrasonic signal in real time and the signal that reflects ultrasonic wave exists
Communication process between the simulating vehicle and the analog obstacle object.
3. automatic parking emulation test system according to claim 2, which is characterized in that the environmental sensor includes temperature
Spend sensor, humidity sensor and barometric pressure sensor.
4. automatic parking emulation test system according to claim 1, which is characterized in that the ultrasonic signal processing dress
It sets including analog-to-digital conversion module, D/A converter module and processing module；
The analog-to-digital conversion module is connect with the transmitting terminal of the ultrasonic radar controller and the processing module respectively, is used for
The transmitting ultrasonic signal that the ultrasonic radar controller issues is received, and the transmitting ultrasonic signal is converted into number
The processing module is transferred to after signal；
The processing module reflects ultrasonic wave signal after the analog obstacle object for generating the transmitting ultrasonic signal,
And the transmitting ultrasonic signal and the signal that reflects ultrasonic wave are simulated in real time in the simulating vehicle and simulation barrier
Hinder the communication process between object；
The D/A converter module is connect with the receiving end of the ultrasonic radar controller and the processing module respectively, is used for
Signal is reflected ultrasonic wave described in reception, and described reflect ultrasonic wave after signal is converted to analog signal is transferred to the ultrasonic wave
Radar controller.
5. automatic parking emulation test system according to claim 4, which is characterized in that the processing module is used for basis
The transmitting ultrasonic wave letter is simulated in the transmitting ultrasonic signal and the propagation time delay for reflecting ultrasonic wave signal in real time
Number and the communication process for reflecting ultrasonic wave signal between the simulating vehicle and the analog obstacle object.
6. automatic parking emulation test system according to claim 4, which is characterized in that the processing module is used for basis
The transmitting ultrasonic wave letter is simulated in the transmitting ultrasonic signal and the transmission amplitude decaying for reflecting ultrasonic wave signal in real time
Number and the communication process for reflecting ultrasonic wave signal between the simulating vehicle and the analog obstacle object.
7. automatic parking emulation test system according to claim 4, which is characterized in that the processing module includes scene
Programmable gate array FPGA.
8. automatic parking emulation test system according to claim 1, which is characterized in that the emulating host computer further includes showing
Showing device, for showing the automatic parking virtual scene.
9. a kind of automatic parking emulation test method, which is characterized in that using any automatic parking of claim 1~8
Analogue system executes, comprising:
The emulating host computer generates automatic parking virtual scene, includes simulating vehicle and mould in the automatic parking virtual scene
Quasi- barrier；
The ultrasonic signal processing unit receives the transmitting ultrasonic signal that the ultrasonic radar controller issues, and generates
The transmitting ultrasonic signal reflects ultrasonic wave signal after the analog obstacle object；
The ultrasonic signal processing unit simulates the transmitting ultrasonic signal according to the automatic parking virtual scene in real time
And the communication process for reflecting ultrasonic wave signal between the simulating vehicle and the analog obstacle object；
The ultrasonic radar controller issues transmitting ultrasonic signal to the ultrasonic signal processing unit, receives described super
What acoustic signals processing unit returned reflects ultrasonic wave signal, and according to the transmitting ultrasonic signal and described reflects ultrasonic wave
Signal calculates the distance of the simulating vehicle and the analog obstacle object；
The emulating host computer obtains the simulating vehicle that the ultrasonic radar controller calculates and the analog obstacle object
Distance, and park when the distance of the simulating vehicle and the analog obstacle object reaches pre-determined distance range.
10. automatic parking emulation test method according to claim 9, which is characterized in that the automatic parking emulation is surveyed
Test system further includes environmental sensor；The automatic parking emulation test method further include:
The environmental sensor measures current environment data, and is transferred to the emulating host computer；
The emulating host computer calculates the transmitting ultrasonic signal and described reflects ultrasonic wave letter according to the current environment data
Propagation parameter number under the current environment data, and the propagation parameter is transferred to the ultrasonic signal processing dress
It sets；
The ultrasonic signal processing unit is according to the transmitting ultrasonic signal and described reflect ultrasonic wave signal and works as described
Propagation parameter under preceding environmental data simulates the transmitting ultrasonic signal and the signal that reflects ultrasonic wave in the mould in real time
Communication process between quasi- vehicle and the analog obstacle object.
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