CN111880152B - Multi-target multifunctional millimeter wave radar echo simulation camera bellows test system - Google Patents
Multi-target multifunctional millimeter wave radar echo simulation camera bellows test system Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
- G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
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Abstract
The invention provides a multi-target multifunctional millimeter wave radar echo simulation camera bellows test system, which comprises a control unit, a radar echo simulator camera bellows, an upper computer, a real-time computer system and a tested piece, wherein the radar echo simulator camera bellows is connected with the control unit; the upper computer is used for running scene software, building and displaying a test scene under a specific view angle; the radar echo simulator camera bellows is used for realizing echo simulation of specified target information and radar in-loop testing. According to the multi-target multifunctional millimeter wave radar echo simulation camera bellows test system, various signal input modes enable the system to develop radar basic performance tests, link scene software and millimeter wave radar hardware-in-loop tests conducted by a real-time machine system, expand simulation scenes, transfer a large number of real vehicle tests to a laboratory simulator, reduce automatic driving test verification cost, improve utilization rate of radar callback simulation camera bellows, and facilitate quick verification of automatic driving functions.
Description
Technical Field
The invention belongs to the field of automatic driving sensor simulation tests and vehicle millimeter wave radar tests, and particularly relates to a multi-target multifunctional millimeter wave radar echo simulation camera bellows test system.
Background
Millimeter wave radar for vehicles is a main sensor in Advanced Driving Assistance Systems (ADAS) that helps drivers perceive possible hazards in a minimum amount of time by sensing state information of surrounding targets to draw attention and improve safety. Millimeter wave radar for vehicles has been commonly used in Active Cruise Control (ACC), blind Spot Detection (BSD), and line-merging assist (LCA) systems.
The automotive millimeter wave radar target echo simulator is an important instrument and equipment for automotive millimeter wave radar semi-physical simulation and test, the simulator can receive a radar transmitting signal in an air feed mode, analyze characteristic parameters of the transmitting signal, send an echo to the radar according to target information to be simulated, and is an important tool for automotive millimeter wave radar research and development, production, quality inspection and maintenance.
The simulation test of the ADAS or the automatic driving system is an indispensable important link in the research and development flow, the millimeter wave radar is a very important sensing component of the ADAS or the automatic driving system, and the simulation of the millimeter wave radar target in the laboratory environment is always a great technical difficulty for realizing the simulation test of the ADAS and the automatic driving system. The camera bellows of the automobile millimeter wave radar simulator developed based on the NI VRTS system can simulate real radar echo signals to a real millimeter wave radar sensor, so that the position and speed information of traffic vehicles in a virtual traffic scene are transmitted to an ADAS or an automatic driving system, and closed-loop simulation test based on the virtual scene is realized.
The existing radar test systems can be divided into two types, one type is to test by arranging actual test sites, and the cost of the test system is high; the other type is to construct a virtual test scene in a simulation mode, so that the cost is low and the test is convenient. However, no matter what kind of radar test system is currently used, only a simple driving scene can be tested, and it is difficult to truly ensure whether the performance of the millimeter wave radar can meet the sensing requirement in a complex driving scene
Most of the conventional radar echo simulator camera bellows are also based on NI VRTS hardware, a test camera bellows applied to radar production line test calibration is built, the millimeter wave radar is fixed on a turntable and can perform horizontal and pitching rotation to realize moving target simulation and radar test through moving the VRTS on the turntable. However, the traditional simulator camera bellows signal source input mode is single, the function is single, and the number of simulation targets is small.
The radar echo simulator is used as simulation equipment for radio frequency radar targets in a laboratory environment, can output simulation target information of different RCS and different distances, but has larger volume and mass, can simulate a single target state, and cannot meet the requirements of the conventional millimeter wave radar on comprehensive radar echo simulation of multiple dynamic targets with different angles.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provides a multi-target multifunctional millimeter wave radar echo simulation camera bellows test system.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
a multi-target multifunctional millimeter wave radar echo simulation camera bellows test system comprises a radar echo simulator camera bellows, an upper computer, NIRT real-time and ADAS controllers;
the radar echo simulator camera bellows is used for realizing echo simulation and radar in-loop test of the appointed target information;
the camera bellows of the radar echo simulator is connected with the NIRT real-time machine, and the NIRT real-time machine is connected with the upper computer; the ADAS controller is connected with the camera bellows of the radar echo simulator and the NIRT real time;
a turntable assembly used for placing millimeter wave radar is arranged in the radar echo simulator camera bellows, and a target simulation assembly used for simulating multiple targets is arranged on the periphery of the turntable assembly.
Further, the camera bellows of the radar echo simulator comprises a control host; the control host is used for controlling the radar echo simulator and editing scene information; the control host is also provided with a CAN signal input interface and an Ethernet signal input interface for inputting target information in scene software.
Further, the target simulation assembly comprises a lower guide rail and first echo simulation equipment;
the lower guide rail is an arc guide rail taking the millimeter wave radar as a circle center; a lower sliding table for placing the first echo simulation equipment is arranged on the lower guide rail; the first echo simulation device comprises a first radio frequency probe, a PXI controller and two variable delay generators; the PXI controller is connected with two variable delay generators, and the variable delay generators are connected with the first radio frequency probe. The two variable delay generators enable the first radio frequency probe to achieve a simulation of two targets.
Further, an upper guide rail is arranged above the lower guide rail; an upper sliding table is correspondingly arranged on the upper guide rail, and a second echo simulation device is arranged on the upper sliding table; the second echo simulation equipment has the same structure as the first echo simulator; the first echo simulation device and the second echo simulation device are used for realizing simulation of two-angle four targets.
Further, the upper sliding table is correspondingly provided with a second driving motor for driving the upper sliding table to move; the lower sliding table is correspondingly provided with a first driving motor for driving the lower sliding table to move.
Further, the turntable assembly comprises a base and a lifting table;
the lifting platform is arranged on the base, a linear guide rail is arranged on the lifting platform, a longitudinal sliding table is correspondingly arranged on the linear guide rail, a transverse guide rail is arranged on the longitudinal sliding table, and a transverse sliding table is correspondingly arranged on the transverse guide rail; the top of the horizontal sliding table is a horizontal rotary table, the top of the horizontal rotary table is provided with a pitching table, and a clamp for fixing the radar is arranged on the pitching table.
Further, the radar echo simulator camera bellows is internally provided with a foaming polystyrene wave absorbing material.
Compared with the prior art, the invention has the following advantages:
the multifunctional millimeter wave radar echo simulation camera bellows test system overcomes the defects that the millimeter wave radar echo simulator has single simulation target and simple test function. The radar basic performance test can be carried out by the system through various signal input modes. The hardware of the millimeter wave radar, which is used for linking scene software and a real-time machine system, is in the loop, so that a simulative scene is greatly expanded, a large number of real vehicle tests can be transferred to a laboratory simulator, the automatic driving test verification cost is reduced, the utilization rate of a radar callback simulation camera bellows is improved, the quick verification of an automatic driving function is facilitated, and the development of an automatic driving industry is assisted.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of a system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of three input modes according to an embodiment of the present invention;
FIG. 3 is a schematic circuit diagram of an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a moving object simulation according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a VRTS testing system according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a test system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the interior of a camera bellows of a radar echo simulator according to an embodiment of the present invention;
fig. 8 is a schematic view of a turntable assembly according to an embodiment of the present invention.
Reference numerals illustrate:
1. a base; 2. a lifting table; 3. a longitudinal sliding table; 4. a transverse sliding table; 5. a horizontal turntable; 6. a pitching table; 7. a clamp; 8. a lower guide rail; 9. a lower sliding table; 10. a second driving motor; 11. VRTS-1; 12. VRTS-2; 13. a first driving motor; 14. an upper sliding table; 15. and (5) an upper guide rail.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
Radar ADAS HIL system can realize radar ring test, can be applied to a plurality of ADAS test scenes, and mainly realizes simple ACC/AEB scene verification. The radar hardware-in-loop test principle is shown in fig. 1 and 2:
the system mainly comprises an IPC upper computer, a PXI lower computer, a Radar camera bellows, an ADAS ECU and the like. Wherein:
IPC high performance host computer:
realizing the functions of engineering construction, editing, deployment, simulation management and the like of VeriStand;
and the functions of setting up the CarMaker engineering, setting up the virtual sensor, editing the virtual scene and displaying the virtual scene are realized.
PXI lower computer:
VeriStand RT provides a high precision real-time simulation running environment;
the car maker runs models of vehicle dynamics, roads, sensors and the like in real time;
running real-time IO, such as a CAN card, provides a real-time bus interface for signal interaction of each component.
Radar camera bellows:
VRTS: echo simulation of specified target information (relative radial distance, speed and the like) is realized, and radio frequency injection of the annular radar is excited.
Radar Sensor: conti 404-21 series radar is used in this document. The detected target is output to the ADAS ECU in the loop.
ADAS ECU：
System comprising components
The industrial personal computer IPC comprises 2 displays, one high-resolution display is used for overall test animation display, and the other high-resolution display is used for user operation. IPC will be deployed in PXI real-time systems
The road scene of CarMaker, veriStand engineering edit deployment, and provides a development environment related to the HIL test system.
The real-time system includes all of the following software and hardware.
1.PXIe 1085Chassis
2.PXIe-8880 Embedded Controller
3.PXI 8513CAN
The multi-target multi-purpose radar target echo simulation camera bellows test system comprises a test camera bellows, a set of vehicle-mounted radar test system (VRTS), two radio frequency probes, an upper sliding table and a lower sliding table, wherein the upper sliding table and the lower sliding table horizontally move to realize the change of the direction and the speed of a simulation target. The simulation target distance information realizes the distance information simulation through a variable delay generator. The turntable for fixing the radar can realize horizontal rotation and pitching rotation so as to realize radar detection range test.
Radar radio frequency performance test: and the measuring module is used for directly outputting radar radio frequency performance parameter results.
Radar detection performance test: and (5) detecting the detection range and detecting the capability test of the target. The turntable rotates horizontally and rotates in a pitching mode.
As shown in fig. 6-8, the whole size of the darkroom of the multi-target multi-purpose millimeter wave radar target echo simulation darkroom test system is 3.00m long, 2.60m wide and 1.90m high, and the darkroom comprises: the intelligent control system comprises a turntable (comprising a horizontal turntable and a pitching turntable), 2 sets of sliding tables (comprising an upper sliding table and a lower sliding table), a set of four-dimensional adjusting turntable, 1 set of NI PXIe-1075,2 pieces of iMC404A four-axis motion control card (an ID32 controls the lower sliding table and the horizontal turntable, an ID2 controls the upper sliding table and a vertical table), 2 sets of turntable servo motor systems (MSMF 012L1U2M servo motor and MADLN05SE servo system drive), 2 sets of sliding table servo motor systems (MSMF 092L1U2M servo motor and MADLN45SE servo drive), 2 sets of 77GHz Lynx (NI mmRH-3608), 1 TP-Link exchanger (SL 1218P), and foamed polystyrene wave absorbing materials are arranged in a dark box.
The system circuit principle is shown in fig. 3.
The system is used for simulating a movement obstacle in front of a vehicle, which can be detected by a radar. According to the specific scene, the targets with specific size, specific position and specific speed in the field angle range of the vehicle radar can be simulated. The working principle is as follows:
when the vehicle radar works, the radar sends out radar waves which are received by Lynx, and the radar waves are processed by the radar target simulation system and then fed back to the radar.
When the simulation distance is less than 95 meters, radar waves are input into the VDG by Lynx, the VDG performs corresponding signal delay according to the distance of a required simulation object, and performs Doppler frequency shift according to the corresponding speed. The processed signal is transmitted back to Lynx, and Lynx is up-converted and then transmitted back to the radar receiving antenna. The whole simulation process is completed.
When the simulation distance is greater than or equal to 95 meters, radar waves are transmitted to VST through Lynx and VDG, the distance, speed and the like of the simulation object are calculated, and the processed signals are transmitted back to the radar receiving antenna through the VDG through Lynx. The whole simulation process is completed.
When a target with a specific position and a specific speed (i.e. a moving target) needs to be simulated, lynx and a sliding table servo motor are required to work together, as shown in the figure, the position and the speed of the target relative to a DUT (radar to be measured) can be decomposed into a radial part and a transverse part, wherein the simulation of the radial distance and the speed can be realized by processing a received radar wave through a radar target simulation system (speed simulation through doppler effect and distance simulation through radar wave delay). The transverse speed is realized by the movement of the sliding table servo motor on the sliding rail, as shown in fig. 4.
The signal source input of the target simulation system has three modes.
Scene editor: target information (including position coordinates, angles, speeds and the like) to be simulated can be edited and created, the created target information to be simulated is input to an echo simulator, target information simulation output is carried out, and the target information is detected by the radar to be tested, so that radar testing is completed.
Can signal input mode: the application of the simulator camera bellows can be expanded, and target information to be simulated is identified by the radar echo simulator to be simulated through the configuration of the dbc file and the output of target information in front of a host vehicle in scene software. To complete the radar test to be tested. The method simplifies the creation of the test scene, can realize the input of complex scene information, greatly expands the application of the simulator and improves the test efficiency. By combining scene software and a real-time machine system, the millimeter wave radar can be connected into a hardware test loop (HIL) to perform sensor hardware in-loop test.
An Ethernet mode input: the method is similar to a can signal input mode, the creation of a test scene is simplified, the input of complex scene information can be realized, the application of the simulator is greatly expanded, and meanwhile, the test efficiency is improved. By combining scene software and a real-time machine system, the millimeter wave radar can be connected into a hardware test loop (HIL) to perform sensor hardware in-loop test.
And a radar measurement module: the "Radar Measurement" module enables a user to simply and quickly perform radar measurements, including equivalent omni-directional radiated power (EIRP), occupied Bandwidth (OBW), and linearity.
The VRTS test system principle is shown in fig. 5.
A radio frequency front end, two variable delay generators, realize a VRTS system can simulate two targets. The test camera bellows adopts two sets of VRTS systems, and the radio frequency probe is respectively positioned on the upper sliding table and the lower sliding table, so that simulation of two angles and four targets is realized.
Target simulation capability:
(1) Number of simulation targets: 2 angles and 4 targets
(2) Antenna type: dual horn antenna
(3) Simulation target range: 4 to 300m
(4) Distance accuracy of the simulation target: +/-0.15m
(5) Speed of the simulated target: +/-500km/hr
(6) Speed resolution of the simulation target: 0.1km/hr
(7) Radar Cross Section (RCS): 105dB (-20 dBsm to 85 dBsm), typical value
(8) RCS dynamic range: minimum 50dB
(9) RCS resolution: 0.25dB, typical value
Mechanical motion capability:
(1) Darkroom dimensions: 3.00 m.times.2.60 m.times.1.90 m (length. Times.width. Times.height)
(2) Rated speed of horizontal turntable: 30 DEG/s
(3) Maximum speed of horizontal turntable: 50 DEG/s
(4) Horizontal turntable angle: +/-60 °
(5) Vertical turntable nominal speed: 30 DEG/s
(6) Maximum speed of vertical turntable: 50 DEG/s
(7) Perpendicular turntable angle: +/-20
(8) Rated speed of sliding table: 30 DEG/s
(9) Maximum speed of the sliding table: 50 DEG/s
(10) Movement angle of the sliding table: +/-50 °
The multi-target multi-purpose radar echo simulation camera bellows test system can be used for calibrating radar measurement and obstacle simulation, radar production line test, radar radio frequency performance parameter test, radar detection capability test, and access to an intelligent driving HIL test rack to carry out automatic driving function algorithm test.
The radar radio frequency parameter testing system can simulate two-angle four targets, simultaneously combines three signal source input modes, greatly improves the application range of the radar echo simulation camera bellows, and can realize radar key performance parameter testing by matching the autonomous scene editing with the movement of the sliding table and the turntable and rotating. The hardware-in-loop HIL test of the automatic driving sensor CAN be realized by familiarizing with a target signal to be simulated in a CAN signal or Ethernet mode, and the test is closer to a real vehicle test.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. A multi-target multifunctional millimeter wave radar echo simulation camera bellows test system is characterized in that: the system comprises a radar echo simulator camera bellows, an upper computer, an NI RT real-time machine and an ADAS controller;
the radar echo simulator camera bellows is used for realizing echo simulation and radar in-loop test of the appointed target information;
the camera bellows of the radar echo simulator is connected with the NIRT real-time computer, the NIRT real-time computer is connected with the upper computer, and the upper computer runs scene software; the ADAS controller is connected with the camera bellows of the radar echo simulator and the NIRT real time;
a turntable assembly used for placing millimeter wave radar is arranged in the radar echo simulator camera bellows, and a target simulation assembly used for simulating multiple targets is arranged on the periphery of the turntable assembly;
the camera bellows of the radar echo simulator comprises a control host; the control host is used for controlling the radar echo simulator and editing scene information; the control host is also provided with a CAN signal input interface and an Ethernet signal input interface for inputting target information in scene software;
the target simulation assembly comprises a lower guide rail (8) and first echo simulation equipment;
the lower guide rail (8) is an arc guide rail taking the millimeter wave radar as a circle center; a lower sliding table (9) for placing the first echo simulation equipment is arranged on the lower guide rail (8); the first echo simulation device comprises a first radio frequency probe, a PXI controller and two variable delay generators; the PXI controller is connected with two variable delay generators, and the variable delay generators are connected with the first radio frequency probe; the two variable delay generators enable the first radio frequency probe to achieve a simulation of two targets.
2. The multi-target multifunctional millimeter wave radar echo simulation camera bellows test system according to claim 1, wherein: an upper guide rail (15) is further arranged above the lower guide rail (8); an upper sliding table (14) is correspondingly arranged on the upper guide rail (15), and a second echo simulation device is arranged on the upper sliding table (14); the second echo simulation equipment has the same structure as the first echo simulator; the first echo simulation device and the second echo simulation device are used for realizing simulation of two-angle four targets.
3. The multi-target multifunctional millimeter wave radar echo simulation camera bellows test system according to claim 2, wherein: the upper sliding table (14) is correspondingly provided with a second driving motor (10) for driving the upper sliding table to move; the lower sliding table (9) is correspondingly provided with a first driving motor (13) for driving the lower sliding table to move.
4. The multi-target multifunctional millimeter wave radar echo simulation camera bellows test system according to claim 1, wherein: the turntable assembly comprises a base (1) and a lifting table (2);
the lifting table (2) is arranged on the base (1), a linear guide rail is arranged on the lifting table (2), a longitudinal sliding table (3) is correspondingly arranged on the linear guide rail, a transverse guide rail is arranged on the longitudinal sliding table (3), and a transverse sliding table (4) is correspondingly arranged on the transverse guide rail; the top of the transverse sliding table (4) is provided with a horizontal rotary table (5), the top of the horizontal rotary table (5) is provided with a pitching table (6), and the pitching table (6) is provided with a clamp (7) for fixing a radar.
5. The multi-target multifunctional millimeter wave radar echo simulation camera bellows test system according to claim 1, wherein: the radar echo simulator camera bellows is internally provided with a foaming polystyrene wave-absorbing material.
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