CN112946595A - Interference test method and interference test system for millimeter wave radar - Google Patents
Interference test method and interference test system for millimeter wave radar Download PDFInfo
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- 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
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Abstract
The application provides an interference test method and an interference test system of a millimeter wave radar, which can monitor test data of the millimeter wave radar through an upper computer so as to detect the anti-interference function of the millimeter wave radar, and are beneficial to reducing test cost and improving test efficiency. The method comprises the following steps: the interference equipment sends electromagnetic interference signals to the millimeter wave radar; the upper computer sends original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represents obstacle data set through the upper computer; the millimeter wave radar receives the original obstacle data and the electromagnetic interference signal, and sends test data to the upper computer through the second optical bridge and the first optical bridge based on the original obstacle data and the electromagnetic interference signal; the upper computer receives the test data and compares the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
Description
Technical Field
The present disclosure relates to the field of electromagnetic compatibility, and more particularly, to an interference test method and an interference test system for a millimeter wave radar.
Background
In the driving process of an automobile, electronic components (for example, a 77GHz forward millimeter wave radar) may be affected by electromagnetic waves in different environments, so that the electronic components are disabled or failed, user experience is not good if the electronic components are used, and personal safety accidents are caused if the electronic components are used. Therefore, for the electronic component and the whole vehicle, an electromagnetic compatibility (EMC) test needs to be performed, and after the EMC test passes, the electronic component and the whole vehicle can be ensured to normally operate in an external electromagnetic wave environment.
At present, in the EMC test of the component to be tested, such as a 77GHz forward millimeter wave radar, a wooden screen with a wave-absorbing material is generally required to be placed in front of the component to be tested to restrain a scattering surface of a product, and an obstacle with the same height as the component to be tested is required to be placed in front of the component to be tested to simulate an obstacle of a real vehicle.
However, in the EMC test of the component to be tested, since different physical obstacle distances need to be built for many times, and the detected obstacle distance does not exceed 5 meters, time, labor and financial resources are consumed, and efficiency is low.
Disclosure of Invention
The application provides an interference test method and an interference test system of a millimeter wave radar, which can simulate barrier information through an upper computer and monitor test data of the millimeter wave radar so as to detect an anti-interference function of the millimeter wave radar, thereby being beneficial to reducing interference test cost and improving test efficiency.
In a first aspect, a method for testing interference of a millimeter wave radar is provided, which is applied to an interference test system including an upper computer, a first optical bridge, a second optical bridge, a millimeter wave radar and an interference device, wherein the upper computer is connected with one end of the first optical bridge, the other end of the first optical bridge is connected with one end of the second optical bridge through an optical fiber, and the other end of the second optical bridge is connected with the millimeter wave radar, and the method includes: the interference equipment sends electromagnetic interference signals to the millimeter wave radar; the upper computer sends original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represents obstacle data set through the upper computer; the millimeter wave radar receives the original obstacle data and the electromagnetic interference signal, and sends test data to the upper computer through the second optical bridge and the first optical bridge based on the original obstacle data and the electromagnetic interference signal; the upper computer receives the test data and compares the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
In this application embodiment, host computer and millimeter wave radar can carry out data interaction through first optical bridge and second optical bridge, and this original obstacle data is emulation analog data, and this test data is original obstacle data after electromagnetic wave interference, can contrast this original obstacle data and this test data through the host computer, and then judge whether normal to the anti-interference function of millimeter wave radar, are favorable to reducing the test cost like this, improve efficiency of software testing.
With reference to the first aspect, in certain implementation manners of the first aspect, the sending, by the upper computer, original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge includes: the upper computer sends the original obstacle data to the first optical bridge through a controller area network-universal serial bus (PCAN-USB); the first optical bridge receives the original barrier data, converts the original barrier data into a first optical signal, and sends the first optical signal to the second optical bridge through the optical fiber; the second optical bridge receives the first optical signal, converts the first optical signal into a first electric signal, and sends the first electric signal to the millimeter wave radar through a wiring harness.
With reference to the first aspect, in certain implementations of the first aspect, the sending test data to the upper computer through the second optical bridge and the first optical bridge includes: the millimeter wave radar sends the test data to the second optical bridge through a wire harness; the second optical bridge receives the test data, converts the test data into a second optical signal, and sends the second optical signal to the first optical bridge through the optical fiber; the first optical bridge receives the second optical signal, converts the second optical signal into a second electrical signal, and sends the second electrical signal to the upper computer through the PCAN-USB.
With reference to the first aspect, in certain implementations of the first aspect, the first optical bridge and the second optical bridge are Controller Area Network (CAN) optical bridges, the original obstacle data is carried in a CAN original message, and the test data is carried in a CAN test message.
With reference to the first aspect, in some implementations of the first aspect, the CAN raw packet includes at least one of the following data: original distance data between the millimeter wave radar and the obstacle, original shape data of the obstacle, original position data of the obstacle, original speed data of the obstacle, or original moving direction data of the obstacle.
With reference to the first aspect, in some implementation manners of the first aspect, the CAN test packet includes at least one of the following data: the data of the test distance between the millimeter wave radar and the obstacle, the data of the test shape of the obstacle, the data of the test position of the obstacle, the data of the test speed of the obstacle, or the data of the test moving direction of the obstacle.
In a second aspect, another interference testing method for a millimeter wave radar is provided, which is applied to an interference testing system including an upper computer, a first optical bridge, a second optical bridge, a millimeter wave radar and an interference device, wherein the upper computer is connected with one end of the first optical bridge, the other end of the first optical bridge is connected with one end of the second optical bridge through an optical fiber, and the other end of the second optical bridge is connected with the millimeter wave radar, and the method includes: the upper computer sends original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represents obstacle data set through the upper computer; the upper computer receives test data from the millimeter wave radar through the second optical bridge and the first optical bridge; the upper computer compares the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
With reference to the second aspect, in some implementations of the second aspect, the sending, by the upper computer, original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge includes: the upper computer sends the original obstacle data to the first optical bridge through the PCAN-USB, so that the first optical bridge converts the original obstacle data into a first optical signal and sends the first optical signal to the second optical bridge, and the second optical bridge converts the first optical signal into a first electric signal and sends the first electric signal to the millimeter wave radar.
With reference to the second aspect, in certain implementations of the second aspect, the receiving, by the upper computer, the test data from the millimeter wave radar through the second optical bridge and the first optical bridge includes: the upper computer receives a second electrical signal through the PCAN-USB, the second electrical signal is obtained by converting the test data into an optical signal through the second optical bridge to obtain a second optical signal, and converting the second optical signal into an electrical signal through the first optical bridge.
With reference to the second aspect, in some implementations of the second aspect, the first optical bridge and the second optical bridge are CAN optical bridges, the original obstacle data is carried in a CAN original message, and the test data is carried in a CAN test message.
With reference to the second aspect, in some implementations of the second aspect, the CAN raw message includes at least one of the following data: original distance data between the millimeter wave radar and the obstacle, original shape data of the obstacle, original position data of the obstacle, original speed data of the obstacle, or original moving direction data of the obstacle.
With reference to the second aspect, in some implementations of the second aspect, the CAN test packet includes at least one of the following data: the data of the test distance between the millimeter wave radar and the obstacle, the data of the test shape of the obstacle, the data of the test position of the obstacle, the data of the test speed of the obstacle, or the data of the test moving direction of the obstacle.
In a third aspect, an interference test system for millimeter wave radar is provided, including: the system comprises an upper computer, a first optical bridge, a second optical bridge, a millimeter wave radar and an interference device, wherein the upper computer is connected with one end of the first optical bridge, the other end of the first optical bridge is connected with one end of the second optical bridge through an optical fiber, and the other end of the second optical bridge is connected with the millimeter wave radar;
the jamming device is configured to: and sending an electromagnetic interference signal to the millimeter wave radar.
This host computer is used for: and original obstacle data is sent to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represents obstacle data set through the upper computer.
The millimeter wave radar is used for: and receiving the original obstacle data and the electromagnetic interference signal, and sending test data to the upper computer through the second optical bridge and the first optical bridge based on the original obstacle data and the electromagnetic interference signal.
This host computer still is used for: and receiving the test data, and comparing the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
With reference to the third aspect, in certain implementations of the third aspect, the upper computer is configured to: sending the original obstacle data to the first optical bridge through PCAN-USB; the first optical bridge is configured to: receiving the original barrier data, converting the original barrier data into a first optical signal, and sending the first optical signal to the second optical bridge through the optical fiber; the second optical bridge is configured to: and receiving the first optical signal, converting the first optical signal into a first electric signal, and sending the first electric signal to the millimeter wave radar through the wiring harness.
With reference to the third aspect, in certain implementations of the third aspect, the millimeter wave radar is configured to: sending the test data to the second optical bridge through a wire harness; the second optical bridge is configured to: receiving the test data, converting the test data into a second optical signal, and sending the second optical signal to the first optical bridge through the optical fiber; the first optical bridge is configured to: and receiving the second optical signal, converting the second optical signal into a second electric signal, and sending the second electric signal to the upper computer through the PCAN-USB.
With reference to the third aspect, in some implementations of the third aspect, the first optical bridge and the second optical bridge are CAN optical bridges, the original obstacle data is carried in a CAN original message of a controller area network, and the test data is carried in a CAN test message.
With reference to the third aspect, in some implementation manners of the third aspect, the CAN raw message includes at least one of the following data: original distance data between the millimeter wave radar and the obstacle, original shape data of the obstacle, original position data of the obstacle, original speed data of the obstacle, or original moving direction data of the obstacle.
With reference to the third aspect, in some implementation manners of the third aspect, the CAN test packet includes at least one of the following data: the data of the test distance between the millimeter wave radar and the obstacle, the data of the test shape of the obstacle, the data of the test position of the obstacle, the data of the test speed of the obstacle, or the data of the test moving direction of the obstacle.
In a fourth aspect, an apparatus for interference testing of millimeter wave radar is provided, including a processor coupled to a memory and configured to execute instructions in the memory to implement the method in any possible implementation manner of the third aspect. Optionally, the apparatus further comprises a memory. Optionally, the apparatus further comprises a communication interface, the processor being coupled to the communication interface.
In a fifth aspect, a processor is provided, comprising: input circuit, output circuit and processing circuit. The processing circuit is configured to receive a signal via the input circuit and transmit a signal via the output circuit, such that the processor performs the method of any one of the possible implementations of the second aspect.
In a specific implementation process, the processor may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a flip-flop, various logic circuits, and the like. The input signal received by the input circuit may be received and input by, for example and without limitation, a receiver, the signal output by the output circuit may be output to and transmitted by a transmitter, for example and without limitation, and the input circuit and the output circuit may be the same circuit that functions as the input circuit and the output circuit, respectively, at different times. The embodiment of the present application does not limit the specific implementation manner of the processor and various circuits.
In a sixth aspect, a processing apparatus is provided that includes a processor and a memory. The processor is configured to read instructions stored in the memory, and may receive signals via the receiver and transmit signals via the transmitter to perform the method of any one of the possible implementations of the second aspect.
Optionally, there are one or more processors and one or more memories.
Alternatively, the memory may be integrated with the processor, or provided separately from the processor.
In a specific implementation process, the memory may be a non-transient memory, such as a Read Only Memory (ROM), which may be integrated on the same chip as the processor, or may be separately disposed on different chips.
It will be appreciated that the associated data interaction process, for example, sending the indication information, may be a process of outputting the indication information from the processor, and receiving the capability information may be a process of receiving the input capability information from the processor. In particular, the data output by the processor may be output to a transmitter and the input data received by the processor may be from a receiver. The transmitter and receiver may be collectively referred to as a transceiver, among others.
The processing device in the above sixth aspect may be a chip, the processor may be implemented by hardware or may be implemented by software, and when implemented by hardware, the processor may be a logic circuit, an integrated circuit, or the like; when implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory, which may be integrated with the processor, located external to the processor, or stand-alone.
In a seventh aspect, a computer program product is provided, the computer program product comprising: computer program (also called code, or instructions), which when executed, causes a computer to perform the method of any of the possible implementations of the second aspect described above.
In an eighth aspect, a computer-readable storage medium is provided, which stores a computer program (which may also be referred to as code or instructions) that, when executed on a computer, causes the computer to perform the method in any of the possible implementations of the second aspect described above.
Drawings
Fig. 1 is a schematic diagram of an interference testing system of a millimeter wave radar according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of an interference testing method of a millimeter wave radar according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an interference testing system of another millimeter wave radar provided in the embodiment of the present application;
fig. 4 is a schematic block diagram of an interference testing apparatus for a millimeter wave radar according to an embodiment of the present disclosure;
fig. 5 is a schematic block diagram of an interference testing apparatus of another millimeter wave radar provided in an embodiment of the present application.
Detailed Description
The technical solution in the present application will be described below with reference to the accompanying drawings.
For convenience of understanding, before describing the interference test method and the interference test system of the millimeter wave radar provided by the present application, related terms will be described first.
1. Controller area network CAN: the CAN network is generally composed of an Electronic Control Unit (ECU), a CAN bus and a CAN gateway, has the advantages of low cost, high data transmission speed, safe and reliable data transmission and the like, and is generally applied to an automobile network at present.
2. CAN protocol: is a serial communication protocol bus for real-time applications for communication between various components in an automobile, and may use twisted pair wires to transmit signals. Messages transmitted based on the CAN protocol may be referred to as CAN messages.
3. Interface converter PCAN-USB: the PCAN or CAN card is a CAN-to-USB interface, CAN transmit messages on a CAN network to a computer through the USB interface, and CAN view the CAN messages through related software.
4. EMC darkroom: the electromagnetic wave absorption material is pasted on the four walls of the inner wall and the ceiling on the basis of the electromagnetic shielding room, the ground is an ideal reflection surface, so that the electromagnetic interference characteristic and the electromagnetic sensitivity characteristic of various electrical and electronic equipment are simulated and tested in an open field, and the electromagnetic wave absorption material is one of important fields for carrying out EMC authentication detection.
With the popularization of Advanced Driving Assistance Systems (ADAS), the market has increasingly vigorous demands for more advanced active safety functions such as automatic emergency braking, adaptive cruise, and the like. Meanwhile, high-grade automatic driving such as L3, L4 and the like also put higher requirements on the performance of the sensor, so that the 77GHz forward millimeter wave radar becomes the first choice of the standard configuration of ADAS and a high-grade automatic driving system.
The 77GHz forward millimeter wave radar can detect a plurality of targets in front of the vehicle in real time, acquire at least one of distance information, relative speed information or azimuth information of the targets, and can realize medium and long distance target detection, wherein the detection distance is as far as 300 meters, and the distance resolution is as high as 0.5 meter.
During the driving of the automobile, the electronic components may fail due to the influence of electromagnetic waves in the environment, which may result in poor user experience if light, and safety accidents if heavy. Therefore, EMC test is required to be carried out on the electronic component and the whole vehicle, and the electronic component and the whole vehicle can be ensured to normally work under the external electromagnetic wave environment through the test.
At present, to the EMC test of 77GHz preceding millimeter wave radar need with the wooden screen windshield that has wave-absorbing material in order to restrain the scattering surface of product in the place ahead both sides of being surveyed, need place the obstacle with the product height in being surveyed a simulation real car obstacle in place ahead. In addition, limited to the test site environment, EMC testing of 77GHz forward millimeter wave radar requires multiple iterations of different obstacle distances, and detects obstacle distances of no more than 5 meters. The operation consumes a great deal of time and financial resources, and has low detection efficiency and high error probability
In view of this, embodiments of the present application provide an interference test method and an interference test system for a millimeter wave radar, which can simulate obstacle information through an upper computer and monitor test data of the millimeter wave radar to detect an anti-interference function of the millimeter wave radar, thereby facilitating reduction of interference test cost and improvement of test efficiency.
Before introducing the test method and the interference test system for millimeter wave radar provided in the embodiments of the present application, the following points are explained.
First, in the embodiments shown below, terms and english abbreviations such as the upper computer, the original obstacle data, the test data, the PCAN-USB, and the like are exemplary examples given for convenience of description, and should not limit the present application in any way. This application is not intended to exclude the possibility that other terms may be defined in existing or future protocols to carry out the same or similar functions.
Second, the first, second and various numerical numbers in the embodiments shown below are merely for convenience of description and are not intended to limit the scope of the embodiments of the present application. For example, to distinguish between different electrical signals, to distinguish between different optical signals.
Third, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, and c, may represent: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c, wherein a, b and c can be single or multiple.
Fig. 1 is a schematic diagram of an interference testing system 100 of a millimeter wave radar according to an embodiment of the present disclosure. In this embodiment, the interference test system may also be referred to as an EMC test system. The interference test system 100 comprises an upper computer 110 and a first optical bridge 120 which are positioned outside an EMC darkroom, a second optical bridge 130, a millimeter wave radar 140 and interference equipment 150 which are positioned inside the EMC darkroom. The upper computer 110 is connected with one end of the first optical bridge 120, the other end of the first optical bridge 120 is connected with one end of the second optical bridge 130 through an optical fiber, and the other end of the second optical bridge 130 is connected with the millimeter wave radar 140.
Wherein the interfering device 150 is configured to: transmitting an electromagnetic interference signal to the millimeter wave radar 140; the upper computer 110 is used for: transmitting original obstacle data, which represents obstacle data set by the upper computer 110, to the millimeter wave radar 140 through the first optical bridge 120 and the second optical bridge 130; the millimeter wave radar 140 is for: receiving the original obstacle data and the electromagnetic interference signal, and sending test data to the upper computer 110 through the second optical bridge 130 and the first optical bridge 120 based on the original obstacle data and the electromagnetic interference signal; the upper computer 110 is also used for: the test data is received and compared with the original obstacle data to determine whether the millimeter wave radar 140 is normal.
Illustratively, the upper computer 110 is connected with the first optical bridge 120 through a PCAN-USB interface converter, and the second optical bridge 130 is connected with the millimeter-wave radar through a wire harness.
Illustratively, millimeter wave radar 140 is a 77GHz forward millimeter wave radar.
In the embodiment of the application, the upper computer outside the darkroom can simulate barrier data to perform data interaction with the millimeter wave radar 140 in the darkroom, and whether the anti-interference function of the millimeter wave radar is normal is judged in real time, so that the problems of huge cost, time and labor consumption caused by building a physical object are avoided, the test cost is reduced, and the test efficiency is improved.
The test data in the embodiment of the application represents original obstacle data after interference of interference electromagnetic waves emitted by interference equipment.
Illustratively, interfering device 150 may periodically send interfering electromagnetic waves to millimeter wave radar 140, which may have a dwell time of 2 seconds.
It should be understood that the upper computer refers to a computer, such as a Personal Computer (PC), which can directly issue operation control commands, and the upper computer can repeatedly and automatically transmit original obstacle data and receive test data transmitted by the millimeter wave radar. For example, various signal changes can be displayed on the screen of the computer, so that whether the original obstacle data is consistent with the test data or not can be visually observed.
The upper computer 110 may simulate a real vehicle obstacle distance system, which may obtain the following information of the obstacle: such as at least one of distance data between the obstacle and the millimeter wave radar, speed data of the obstacle, shape data of the obstacle, or moving direction data of the obstacle.
As an alternative embodiment, the upper computer 110 is configured to: sending the original obstacle data to the first optical bridge through PCAN-USB; the first optical bridge 120 is used to: receiving the original obstacle data, converting the original obstacle data into a first optical signal, and transmitting the first optical signal to the second optical bridge 130 through an optical fiber; the second optical bridge 130 is used for: the first optical signal is received, converted into a first electric signal, and sent to the millimeter wave radar 140 through the wire harness.
In the embodiment of the present application, the upper computer sends the original obstacle data to the first optical bridge 120 in the form of an electrical signal through the PCAN-USB. The first optical bridge 120 converts the electrical signal carrying the original obstacle data into an optical signal (hereinafter, referred to as electrical-optical conversion) to obtain first optical information, and sends the first optical information to the second optical bridge 130 through an optical fiber. The second optical bridge 130 performs optical-to-electrical signal conversion (hereinafter, referred to as optical-to-electrical conversion) on the first optical signal to obtain a first electrical signal, and sends the first electrical signal to the millimeter wave radar 140 through the wire harness. Therefore, the upper computer can rapidly send original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, so that the anti-interference function of the millimeter wave radar can be automatically tested in real time, and the testing efficiency is improved.
As an alternative embodiment, the millimeter wave radar 140 is configured to: sending the test data to the second optical bridge 130 via the wiring harness; the second optical bridge 130 is used for: receiving the test data, converting the test data into a second optical signal, and transmitting the second optical signal to the first optical bridge 120 through an optical fiber; the first optical bridge 120 is used to: and receiving the second optical signal, converting the second optical signal into a second electrical signal, and sending the second electrical signal to the upper computer 110 through the PCAN-USB.
In the embodiment of the present application, the millimeter wave radar 140 receives the original obstacle data after being interfered by the interfering device 150, obtains test data, and sends the test data to the second optical bridge 130 through a wire harness in the form of an electrical signal. The second optical bridge 130 performs electro-optical conversion on the electrical signal carrying the test data to obtain a second optical signal, and sends the second optical signal to the first optical bridge 120 through an optical fiber. The first optical bridge performs optical-electrical conversion on the second optical signal to obtain second electrical information, and sends the second electrical information to the upper computer 110 through the PCAN-USB. Millimeter wave radar 140 can be fast send test data to the host computer through first optical bridge and second optical bridge like this to make the host computer judge the function of millimeter wave radar automatically, in real time, be favorable to improving efficiency of software testing.
As an alternative embodiment, the first optical bridge and the second optical bridge are controller area network CAN optical bridges, the original obstacle data is carried in CAN original messages, and the test data is carried in CAN test messages.
In the embodiment of the application, the upper computer and the millimeter wave radar CAN transmit the CAN original message and the CAN test message through the CAN optical bridge, and the upper software in the upper computer CAN check and analyze the data in the CAN test message and the CAN original message so as to judge whether the anti-interference function of the millimeter wave radar is normal or not.
As an optional embodiment, the CAN raw message includes at least one of the following data: raw distance data between the millimeter wave radar and the obstacle, raw shape data of the obstacle, raw position data of the obstacle, raw speed data of the obstacle, or raw moving direction data of the obstacle.
In the embodiment of the application, the CAN original message includes original obstacle information set by the upper computer, distance data, speed data, shape data, position data or moving direction data of a plurality of obstacles CAN be set in a simulation manner, and the data is sent to the millimeter wave radar to test the anti-interference capability of the millimeter wave radar.
As an optional embodiment, the CAN test message includes at least one of the following data: data of a test distance between the millimeter wave radar and the obstacle, data of a test shape of the obstacle, data of a test position of the obstacle, data of a test speed of the obstacle, or data of a test moving direction of the obstacle.
In the examples of the present application. The CAN test message comprises original obstacle data which are received by the millimeter wave radar and are interfered by interference electromagnetic waves, wherein the original obstacle data CAN comprise distance data, speed data, shape data, position data or moving direction data and the like of a plurality of obstacles which are interfered, and the upper computer CAN judge whether the anti-interference function of the millimeter wave radar is normal or not based on the test data.
Fig. 2 is a schematic flowchart of an interference testing method 200 of a millimeter wave radar according to an embodiment of the present disclosure. The method may be applied to the above-described interference test system 100. The method 200 may include the steps of:
s201, the interference equipment sends electromagnetic interference signals to the millimeter wave radar.
S202, the upper computer sends original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represent obstacle data set through the upper computer.
S203, the millimeter wave radar receives the original obstacle data and the electromagnetic interference signal, and sends test data to the upper computer through the second optical bridge and the first optical bridge based on the original obstacle data and the electromagnetic interference signal.
And S204, the upper computer receives the test data and compares the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
For details of the method 200 for testing interference of millimeter wave radar, reference may be made to the above description of the system 100, which is not repeated herein.
Fig. 3 is a schematic diagram of an interference testing system 300 for millimeter wave radar according to an embodiment of the present disclosure. The interference test system 300 includes a base plate (ground plane)301, a battery (battery)302, a Line Impedance Stabilization Network (LISN) 303, a LISN 304, an optical coupling isolation 305, a Device Under Test (DUT) 306, and an interference antenna 307, which are located in an EMC darkroom, and further includes a computer (PC)308, an optical coupling isolation 309, a computer (PC)310, a signal generator 311, and a power amplifier 312, which are located outside the EMC darkroom.
The batteries 302, the LISN303, the LISN 304, the optical coupling isolator 305 and the DUT 306 in the EMC darkroom are connected by a wire harness and disposed on the bottom plate 301.
Illustratively, the EMC dark room is an oven-linked shielded room (ALSE) with a wave-absorbing material. The computer (PC)308 is provided with upper computer software and can be used as an upper computer.
The DUT 306 is illustratively a 77GHz forward millimeter wave radar, and may also be a millimeter wave radar operating in other frequency bands, without limitation.
The battery 302 is used to provide power to the DUT 306 through the wiring harness so that the DUT 306 operates normally. The LISN303 and LISN 304 are used to isolate electromagnetic interference, provide stable test impedance, and act as a filter.
A computer (PC)308 outside the EMC darkroom is connected with the optical coupling isolator 309 through a PCAN, and the optical coupling isolator 305 is connected with the optical coupling isolator 309 through an optical fiber.
It should be understood that the optical coupling isolator 309 can be understood as the first optical bridge, and the optical coupling isolator 305 can be understood as the second optical bridge, so that there is no direct connection of electrical signals between the input and the output through the electrical-to-optical conversion and the optical-to-electrical conversion, thereby playing the roles of circuit isolation and interference shielding.
The computer (PC)310 outside the EMC darkroom, the signal generator 311, the power amplifier 312 and the interfering antenna 307 inside the EMC darkroom may form an interfering signal transmitting system, the computer (PC)310 sends an interfering signal, the interfering signal is processed by the signal generator 311 and the power amplifier 312 to reach the interfering antenna 307, and the interfering antenna sends interfering electromagnetic waves.
Illustratively, the interfering antenna 307 transmits interfering electromagnetic waves of 1GHz to 3.2GHz to the DUT 306.
The wiring harness connecting the DUT 306 with the LISN303, the LISN 304, and the optical coupling isolation 305 includes a conductor and an insulating foam surrounding the conductor, illustratively, the insulating foam has a height of 50 mm, a length of the wiring harness from the DUT 306 to the LISN 304 is between 1500-1700 mm, a distance from the conductor of the wiring harness to the interference antenna 307 is 1000 mm, a distance from the conductor of the wiring harness to an edge of the chassis 301 is 100 mm, and a distance from the DUT 306 to an edge of the chassis 301 is between 190-210 mm.
The interference test system 300 CAN simulate the data interaction between the whole vehicle CAN network and the millimeter wave radar by using a computer (PC)308 outside an EMC dark room as an upper computer, realizes the function diagnosis of the millimeter wave radar, and CAN perform CAN data interaction with the 77GHz millimeter wave radar through a CAN optical bridge to monitor the current and the voltage. The upper computer can automatically, parallelly and repeatedly test all functions, obtain feedback data in real time and judge a test result, and the test process does not need manual intervention, so that time is saved and efficiency is improved.
Fig. 4 is a schematic block diagram of an interference testing apparatus 400 for millimeter wave radar according to an embodiment of the present application, where the apparatus 400 includes: a transmitting module 410, a receiving module 420 and a processing module 430.
Wherein the sending module 410 is configured to: sending original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, wherein the original obstacle data represents obstacle data set through the device; the receiving module 420 is configured to: receiving test data from the millimeter wave radar through the second optical bridge and the first optical bridge; the processing module 430 is configured to: and comparing the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
Optionally, the sending module 410 is configured to: and sending the original obstacle data to the first optical bridge through a PCAN-USB (personal computer-to-USB), so that the first optical bridge converts the original obstacle data into a first optical signal and sends the first optical signal to the second optical bridge, and converts the first optical signal into a first electric signal through the second optical bridge and sends the first electric signal to the millimeter wave radar.
Optionally, the receiving module 420 is configured to: and receiving a second electrical signal through the PCAN-USB, wherein the second electrical signal is obtained by converting the test data into an optical signal through the second optical bridge to obtain a second optical signal and converting the second optical signal into an electrical signal through the first optical bridge.
Optionally, the first optical bridge and the second optical bridge are CAN optical bridges, the original obstacle data is carried in a CAN original message, and the test data is carried in a CAN test message.
Optionally, the CAN raw message includes at least one of the following data: original distance data between the millimeter wave radar and the obstacle, original shape data of the obstacle, original position data of the obstacle, original speed data of the obstacle, or original moving direction data of the obstacle.
Optionally, the CAN test message includes at least one of the following data: the data of the test distance between the millimeter wave radar and the obstacle, the data of the test shape of the obstacle, the data of the test position of the obstacle, the data of the test speed of the obstacle, or the data of the test moving direction of the obstacle.
It should be appreciated that the apparatus 400 herein is embodied in the form of functional modules. The term module herein may refer to an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (e.g., a shared, dedicated, or group processor) and memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that support the described functionality. In an optional example, a person skilled in the art may understand that the apparatus 400 may be specifically an upper computer in the foregoing embodiment, or functions of the upper computer in the foregoing embodiment may be integrated in the apparatus 400, and the apparatus 400 may be configured to execute each process and/or step corresponding to the upper computer in the foregoing method embodiment, and is not described herein again to avoid repetition.
The above-mentioned apparatus 400 has the function of implementing the corresponding steps executed by the upper computer in the above-mentioned method; the above functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above. For example, the sending module 410 may be a communication interface, such as a transceiver interface.
In an embodiment of the present application, the apparatus 400 in fig. 4 may also be a chip or a chip system, for example: system on chip (SoC). Correspondingly, the transmitting module 410 may be a transceiver circuit of the chip, and is not limited herein.
Fig. 5 is a schematic block diagram of an interference testing apparatus of another millimeter wave radar provided in an embodiment of the present application. The apparatus 500 includes a processor 510, a transceiver 520, and a memory 530. Wherein the processor 510, the transceiver 520 and the memory 530 are in communication with each other via an internal connection path, the memory 530 is configured to store instructions, and the processor 510 is configured to execute the instructions stored in the memory 530 to control the transceiver 520 to transmit and/or receive signals.
It should be understood that the apparatus 500 may be embodied as the upper computer in the foregoing embodiment, or the functions of the upper computer in the foregoing embodiment may be integrated in the apparatus 500, and the apparatus 500 may be configured to perform each step and/or flow corresponding to the upper computer in the foregoing method embodiment. Alternatively, the memory 530 may include a read-only memory and a random access memory, and provide instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information. The processor 510 may be configured to execute the instructions stored in the memory, and when the processor executes the instructions, the processor may perform the steps and/or processes corresponding to the upper computer in the above method embodiments.
It should be understood that, in the embodiment of the present application, the processor 510 may be a Central Processing Unit (CPU), and the processor may also be other general processors, Digital Signal Processors (DSP), Application Specific Integrated Circuits (ASIC), Field Programmable Gate Arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and so on. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor executes instructions in the memory, in combination with hardware thereof, to perform the steps of the above-described method. To avoid repetition, it is not described in detail here.
Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a millimeter wave radar's interference test method which characterized in that, is applied to the interference test system who includes host computer, first optical bridge, second optical bridge, millimeter wave radar and interference equipment, wherein, the host computer with the one end of first optical bridge is connected, the other end of first optical bridge with the one end of second optical bridge passes through fiber connection, the other end of second optical bridge with the millimeter wave radar is connected, the method includes:
the interference equipment sends electromagnetic interference signals to the millimeter wave radar;
the upper computer sends original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represent obstacle data set through the upper computer;
the millimeter wave radar receives the original obstacle data and the electromagnetic interference signal and sends test data to the upper computer through the second optical bridge and the first optical bridge based on the original obstacle data and the electromagnetic interference signal;
and the upper computer receives the test data and compares the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
2. The method of claim 1, wherein the host computer sends raw obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, comprising:
the upper computer sends the original obstacle data to the first optical bridge through an interface converter PCAN-USB;
the first optical bridge receives the original obstacle data, converts the original obstacle data into a first optical signal, and sends the first optical signal to the second optical bridge through the optical fiber;
and the second optical bridge receives the first optical signal, converts the first optical signal into a first electric signal, and sends the first electric signal to the millimeter wave radar through a wiring harness.
3. The method of claim 1, wherein said sending test data to said host computer via said second optical bridge and said first optical bridge comprises:
the millimeter wave radar sends the test data to the second optical bridge through a wire harness;
the second optical bridge receives the test data, converts the test data into a second optical signal, and sends the second optical signal to the first optical bridge through the optical fiber;
and the first optical bridge receives the second optical signal, converts the second optical signal into a second electric signal, and sends the second electric signal to the upper computer through a PCAN-USB.
4. The method of claim 1 wherein the first optical bridge and the second optical bridge are Controller Area Network (CAN) optical bridges, the raw obstacle data is carried in a CAN raw message, and the test data is carried in a CAN test message.
5. The method of claim 4, wherein the CAN raw message comprises at least one of the following data:
raw distance data between the millimeter wave radar and the obstacle, raw shape data of the obstacle, raw position data of the obstacle, raw speed data of the obstacle, or raw moving direction data of the obstacle.
6. The method according to claim 4 or 5, wherein the CAN test message comprises at least one of the following data:
test distance data between the millimeter wave radar and the obstacle, test shape data of the obstacle, test position data of the obstacle, test speed data of the obstacle, or test moving direction data of the obstacle.
7. The utility model provides a millimeter wave radar's interference test method which characterized in that, is applied to the interference test system who includes host computer, first optical bridge, second optical bridge, millimeter wave radar and interference equipment, wherein, the host computer with the one end of first optical bridge is connected, the other end of first optical bridge with the one end of second optical bridge passes through fiber connection, the other end of second optical bridge with the millimeter wave radar is connected, the method includes:
the upper computer sends original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represent obstacle data set through the upper computer;
the upper computer receives test data from the millimeter wave radar through the second optical bridge and the first optical bridge;
and the upper computer compares the test data with the original obstacle data to judge whether the millimeter wave radar is normal or not.
8. An interference test system of a millimeter wave radar, comprising:
the system comprises an upper computer, a first optical bridge, a second optical bridge, a millimeter wave radar and an interference device, wherein the upper computer is connected with one end of the first optical bridge, the other end of the first optical bridge is connected with one end of the second optical bridge through an optical fiber, and the other end of the second optical bridge is connected with the millimeter wave radar;
the interfering device is to: sending an electromagnetic interference signal to the millimeter wave radar;
the upper computer is used for: sending original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, wherein the original obstacle data represents obstacle data set through the upper computer;
the millimeter wave radar is configured to: receiving the original obstacle data and the electromagnetic interference signal, and sending test data to the upper computer through the second optical bridge and the first optical bridge based on the original obstacle data and the electromagnetic interference signal;
the upper computer is also used for: and receiving the test data, and comparing the test data with the original obstacle data to judge whether the millimeter wave radar is normal.
9. An interference test device of a millimeter wave radar, characterized by comprising: a processor coupled with a memory for storing a computer program that, when invoked by the processor, causes the apparatus to perform the method of claim 7.
10. A computer-readable storage medium for storing a computer program comprising instructions for implementing the method of claim 7.
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