CN210051890U - Vehicle-mounted millimeter wave radar test system for multi-target dynamic simulation - Google Patents
Vehicle-mounted millimeter wave radar test system for multi-target dynamic simulation Download PDFInfo
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- CN210051890U CN210051890U CN201920724206.7U CN201920724206U CN210051890U CN 210051890 U CN210051890 U CN 210051890U CN 201920724206 U CN201920724206 U CN 201920724206U CN 210051890 U CN210051890 U CN 210051890U
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Abstract
The utility model discloses an on-vehicle millimeter wave radar test system for multi-target dynamic simulation, by the antenna revolving stage, the radar cloud platform, radar echo analog module, control module, signal acquisition module and display are constituteed, it is rotatory at level or every single move under the drive of radar cloud platform to be surveyed the radar, the darkroom module is all arranged in with the surveyed radar to the radar cloud platform, the antenna revolving stage drives the antenna level and rotates, control module sends the state signal that surveyed radar and antenna should locate respectively for radar cloud platform and antenna revolving stage, and with this car and the virtual target between relative state signal send for being surveyed the radar after radar echo analog module handles, signal acquisition module gathers and the detected signal of storage surveyed the radar, and the detected signal who will be surveyed the radar passes to the display real-time display. The utility model discloses a to the dynamic simulation of the target in the scene of traveling of complicacy and the simulation of this car gesture, and then realize the capability test to the millimeter wave radar in the scene of traveling of complicacy.
Description
Technical Field
The utility model belongs to the technical field of the on-vehicle radar test, concretely relates to an on-vehicle millimeter wave radar test system for multi-target dynamic simulation.
Background
Along with the rapid development of automobile intellectualization, automobile automatic driving technology has become the field that people are more and more paying attention to, and the environmental perception is indispensable link in the automobile automatic driving, so, various sensors that are applied to the environmental perception develop fast, wherein, because millimeter wave radar has advantages such as not influenced by light and weather environment, make it become intelligent automobile and carry out the sensor that the environmental perception is indispensable. The effective judgment of road conditions can be realized through the millimeter wave radar, and the early warning capability of the vehicle is improved, so that the millimeter wave radar is widely applied to advanced driving auxiliary systems such as lane keeping, self-adaptive cruise, collision early warning, blind area monitoring, lane changing assistance and the like. In order to test whether the millimeter wave radar is suitable for a complex driving environment and can achieve required performance, a millimeter wave radar test system needs to be built.
The existing radar test systems can be divided into two types, one type is to carry out the test by arranging an actual test field, and the cost of the test system is very high; and 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, any existing radar test system can only test a simple driving scene, and it is difficult to really ensure whether the performance of the millimeter wave radar can meet the sensing requirement in a complex driving scene.
Disclosure of Invention
To the defect that exists among the above-mentioned prior art, the utility model provides an on-vehicle millimeter wave radar test system for multi-target dynamic simulation, the utility model discloses a dynamic simulation of the target in the scene of traveling to the complicacy and the simulation of this car gesture to the realization is to the performance test of millimeter wave radar in the scene of traveling of complicacy. With the attached drawings, the technical scheme of the utility model is as follows:
the vehicle-mounted millimeter wave radar test system for multi-target dynamic simulation is composed of an antenna turntable, a radar holder, a radar echo simulation module, a control module, a signal acquisition module and a display;
the radar to be detected is arranged on the radar holder and is driven by the radar holder to rotate horizontally or rotate in a pitching mode, the radar to be detected is arranged in a darkroom module of the antenna turntable, and the antenna is driven by the antenna turntable to rotate horizontally;
the radar echo simulation module is formed by sequentially connecting a radio frequency input unit, a signal processing unit and a radio frequency output unit through signals, and the radio frequency input unit and the radio frequency output unit are respectively connected with an antenna signal;
the control module is formed by respectively connecting an upper control machine with a radar pan-tilt control unit, an antenna turntable control unit and an echo simulation control unit, the radar pan-tilt control unit is in control connection with a radar pan-tilt, the antenna turntable control unit is in control connection with an antenna turntable, the echo simulation control unit is in signal connection with a signal processing unit, the upper control machine sends horizontal azimuth angle and front and back pitch angle signals of a detected radar to a radar pan-tilt through the radar pan-tilt control unit, sends horizontal azimuth angle signals of an antenna in the antenna turntable to the antenna turntable through the antenna turntable control unit, processes relative distance and relative speed signals of a vehicle carrying the detected radar and a virtual target vehicle through the signal processing unit, and then transmits the relative distance and relative speed signals to the detected radar through an antenna;
the signal acquisition module is connected with the display after being connected with the detected radar signal, acquires and stores the detection signal of the detected radar, and transmits the detection signal of the detected radar to the display for real-time display.
Furthermore, the antenna turntable consists of an antenna motion module and a darkroom module, the darkroom module is positioned in the antenna motion module, and the radar holder and a detected radar fixedly arranged on the radar holder are both arranged in the darkroom module;
the antenna motion module comprises an antenna turntable small belt wheel 101, an antenna turntable synchronous belt 102, an antenna turntable rack 103, an antenna turntable large belt wheel 104, a sliding bearing 105, a wear-resistant gasket 108, an antenna 109, antenna turntable servo motors 111, an antenna turntable end cover 112 and a waveguide line 113, wherein the plurality of antenna turntable large belt wheels 104 are sleeved outside the circumference of a sleeve in the middle of the antenna turntable rack 103 through the sliding bearing 105, the antenna turntable large belt wheels 104 rotate independently, the wear-resistant gasket 108 is arranged between the end surfaces of two adjacent antenna turntable large belt wheels 104, the antenna turntable end cover 112 is fixed at the top of the sleeve of the antenna turntable rack 103 to axially fix the antenna turntable large belt wheels 104, the plurality of antenna turntable servo motors 111 are fixedly arranged on a vertical rack on the side surface of the antenna turntable rack 103 in a one-to-one correspondence with the antenna turntable large belt wheels 104, the output ends of the antenna turntable servo motors 111 are coaxially and fixedly, the antenna turntable small belt pulley 101 is in transmission connection with the antenna turntable large belt pulley 104 through an antenna turntable synchronous belt 102, antennas 109 are horizontally fixed on the antenna turntable large belt pulley 104 in a one-to-one correspondence mode respectively, one end of each antenna 109 penetrates through the antenna turntable large belt pulley 104 and extends into an annular wave absorbing material 106 on the inner side of a sleeve of an antenna turntable rack 103, and the other end of each antenna 109 is connected with a radio frequency input unit and a radio frequency output unit through a waveguide line 113;
the darkroom module is a semi-closed cavity structure consisting of an annular wave-absorbing material 106 and a wedge-shaped wave-absorbing material 107, the annular wave-absorbing material 106 is arranged on the inner wall of a sleeve of the antenna turntable rack 103 from bottom to top, the wedge-shaped wave-absorbing material 107 is fixedly arranged at the bottom of an antenna turntable end cover 112, and a radar holder and a detected radar arranged on the radar holder enter the cavity of the darkroom module from a through hole in the middle of the antenna turntable rack 103;
and the antenna turntable servo motor 111 is in signal connection with the antenna turntable control unit.
Furthermore, the radar pan-tilt head consists of a radar clamping module and a radar motion module;
the radar clamping module consists of a radar clamping baffle 201, a radar clamping support 211 and a radar clamping bottom plate 202, wherein the radar clamping support 211 is vertically fixed on the radar clamping bottom plate 202, the radar clamping baffle 201 is fixed at the front end of the radar clamping support 211, strip-shaped mounting holes distributed in a matrix are formed in the radar clamping baffle 201, and the radar to be detected is fixedly mounted on the radar clamping baffle 201 through the strip-shaped mounting holes;
the radar motion module comprises a horizontal rotation small belt wheel 203, a horizontal rotation synchronous belt 204, a thrust ball bearing 205, a radar pan head end cover 206, a radar pan head upper rotary table 207, a spline shaft 208, a pitching rotation small belt wheel 209, a pitching rotation servo motor 210, a horizontal rotation large belt wheel 212, a horizontal rotation servo motor 213, a pitching rotation large belt wheel 214 and a radar pan head lower rotary table 215, wherein the horizontal rotation large belt wheel 212 is arranged above the radar pan head upper rotary table 207 through the thrust ball bearing 205, the bottom of the horizontal rotation large belt wheel 212 is fixed on the radar pan head upper rotary table 207 through the radar pan head end cover 206 to realize axial fixation, the horizontal rotation large belt wheel 212 is coaxially and fixedly connected with the bottom of a radar clamping bottom plate 202, the horizontal rotation servo motor 213 is fixed on the radar pan head upper rotary table 207, the horizontal rotation small belt wheel 203 is coaxially and fixedly connected with the output end of the horizontal rotation servo motor 213, the horizontal rotation small belt, the bottom of the upper radar pan-tilt rotating platform 207 is hinged with the top of the lower radar pan-tilt rotating platform 215, the large pitching rotation belt pulley 214 is connected with the top of the upper radar pan-tilt rotating platform 207 through a spline shaft 208, the hinged axis of the upper radar pan-tilt rotating platform 207 and the lower radar pan-tilt rotating platform 215 is collinear with the axis of the spline shaft 208, the outer shell of the pitching rotation servo motor 210 is fixed on the base of the lower radar pan-tilt rotating platform 215, the small pitching rotation belt pulley 209 is coaxially and fixedly connected with the output end of the pitching rotation servo motor 210, and the small pitching rotation belt pulley 209 is in transmission connection with the large pitching;
the pitch rotation servo motor 210 and the horizontal rotation servo motor 213 are respectively connected with the radar pan-tilt control unit through signals.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. the utility model discloses a vehicle-mounted millimeter wave radar test system's darkroom module comprises a plurality of movable cyclic annular absorbing material to with antenna revolving stage and darkroom module integration together, only arrange antenna, measured radar and radar clamping device along with absorbing material rotation in the darkroom, can greatly reduce the clutter interference of testing environment;
2. the vehicle-mounted millimeter wave radar test system can realize real-time and dynamic simulation of multi-target and complex driving scenes through the cooperative work of the antenna turntable with a plurality of antennas, the radar pan-tilt with two rotational degrees of freedom and the radar echo simulation module;
3. vehicle-mounted millimeter wave radar test system integrated level is high, and occupation space is little, can conveniently, swiftly realize the capability test to the millimeter wave radar in various complicated scenes of traveling indoor.
Drawings
FIG. 1 is a schematic block diagram of the overall structure of the vehicle-mounted millimeter wave radar testing system of the present invention;
fig. 2 is a top view of an antenna turntable in the vehicle-mounted millimeter wave radar testing system of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
fig. 4 is a front view of a radar pan/tilt head in the vehicle-mounted millimeter wave radar testing system of the present invention;
fig. 5 is the utility model discloses in the on-vehicle millimeter wave radar test system, the side view of radar pan-tilt.
Fig. 6 is the utility model discloses a vehicle-mounted millimeter wave radar test system's test procedure flow block diagram.
In the figure:
101-antenna turntable small belt wheel, 102-antenna turntable synchronous belt, 103-antenna turntable rack, 104-antenna turntable large belt wheel,
105-sliding bearing, 106-annular wave-absorbing material, 107-wedge-shaped wave-absorbing material, 108-wear-resistant gasket,
109-antenna, 111-antenna turntable servo motor, 112-antenna turntable end cover, 113-waveguide line;
201-radar clamping baffle, 202-radar clamping bottom plate, 203-small horizontal rotation belt wheel, 204-synchronous horizontal rotation belt,
205-thrust ball bearing, 206-radar pan head end cover, 207-radar pan head upper rotating platform, 208-spline shaft,
209-small pitching rotation belt wheel, 210-servo pitching rotation motor, 211-radar clamping bracket, 212-large horizontal rotation belt wheel,
213-horizontal rotation servo motor, 214-pitching rotation large belt wheel 215-radar pan-tilt lower rotary table;
and 3, a radar echo simulation module.
Detailed Description
For clearly and completely explaining the technical scheme of the present invention, the embodiments of the present invention are specifically as follows in combination with the drawings of the specification:
as shown in fig. 1, the utility model discloses an on-vehicle millimeter wave radar test system of multi-target dynamic simulation, test system comprises antenna revolving stage, radar cloud platform, radar echo analog module, control module, signal acquisition module and display. The radar to be detected is arranged on a radar pan-tilt and driven by the radar pan-tilt to realize horizontal rotation motion and front-back pitching rotation motion so as to simulate the change of the running attitude and the running direction of a vehicle provided with the radar to be detected, the radar pan-tilt and the radar to be detected are both arranged in a darkroom module of an antenna turntable, the antenna turntable can realize horizontal rotation of an antenna so as to simulate the change of the angle between a target vehicle and the vehicle provided with the radar to be detected in a running scene, the antenna turntable is in signal connection with a radar echo simulation module, the radar echo simulation module collects the radio frequency signal of the radar to be detected and sends the echo signal of a virtual target to the radar to be detected, the control module is in signal connection with the antenna turntable, the radar pan-tilt and the radar echo simulation module respectively, the control module controls the movement of the antenna turntable and the radar pan-tilt and sends the echo signal of the virtual target to the antenna turntable through, and finally, the signal is transmitted to the radar to be detected through the antenna, the signal acquisition module is connected with the display after being connected with the radar to be detected, and the signal acquisition module acquires and stores the detection signal of the radar to be detected and transmits the detection signal of the radar to be detected to the display for real-time display.
As shown in fig. 2 and 3, the antenna turntable is composed of an antenna moving module and a darkroom module, the antenna moving module drives an antenna to rotate in the horizontal direction to simulate the angle change of a target vehicle, the darkroom module is located in the antenna moving module, and a radar pan head and a detected radar fixedly installed on the radar pan head are both arranged in the darkroom module.
The antenna motion module is composed of an antenna turntable small belt pulley 101, an antenna turntable synchronous belt 102, an antenna turntable rack 103, an antenna turntable large belt pulley 104, a sliding bearing 105, a wear-resistant gasket 108, an antenna 109, an antenna turntable servo motor 111, an antenna turntable end cover 112 and a waveguide line 113. The antenna turntable rack 103 is horizontally arranged, a vertical frame is vertically arranged on the upper surface of one side of the antenna turntable rack 103, a through hole is formed in the middle of the antenna turntable rack 103, a cylindrical sleeve is correspondingly and upwards arranged in the through hole, the number of the antenna turntable large belt wheels 104 is the maximum number of simulatable target vehicles, in the embodiment, five antenna turntable large belt wheels 104 are arranged, the five antenna turntable large belt wheels 104 are sequentially sleeved outside the circumference of the sleeve of the antenna turntable rack 103 through sliding bearings 105 along the axial direction, the five antenna turntable large belt wheels 104 can independently rotate relative to the sleeve, a wear-resistant gasket 108 is arranged between the end surfaces of two adjacent antenna turntable large belt wheels 104, an antenna turntable end cover 112 is fixedly arranged at the top of the sleeve of the antenna turntable rack 103 through screws, and the end surface of the antenna turntable end cover 112 presses the antenna turntable large belt wheels 104 on the sleeve of the antenna turntable rack 103, the axial fixation of the antenna turntable large belt wheel 104 is realized; five antenna turntable servo motors 111 are respectively and fixedly arranged on a vertical frame of an antenna turntable rack 103 in a one-to-one correspondence way with the antenna turntable large belt pulleys 104, the output ends of the antenna turntable servo motors 111 are coaxially and fixedly connected with the antenna turntable small belt pulleys 101, the antenna turntable small belt pulleys 101 are in transmission connection with the antenna turntable large belt pulleys 104 through antenna turntable synchronous belts 102 to form antenna turntable belt transmission pairs, antennas 109 are respectively and horizontally fixed on the antenna turntable large belt pulleys 104 in a one-to-one correspondence way along the antenna turntable large belt pulleys 104, one end of each antenna 109 penetrates through the antenna turntable large belt pulleys 104 to extend into a darkroom module at the inner side of a sleeve of the antenna turntable rack 103, under the drive of the antenna turntable servo motor 111, the antenna turntable belt transmission pair drives the antenna turntable large belt wheel 104 to rotate along the horizontal direction, and then the antenna 109 is driven to rotate along the horizontal direction, and the other end of the antenna 109 is in signal connection with the radar echo simulation module through the waveguide line 113.
The darkroom module is arranged on the inner side of a sleeve of the antenna turntable rack 103 and consists of an annular wave-absorbing material 106 and a wedge-shaped wave-absorbing material 107. Annular absorbing material 106 is at the sleeve inboard of antenna revolving stage rack 103 along axial fixed mounting on the sleeve inner wall in proper order from bottom to top, wedge-shaped absorbing material 107 fixed mounting is in the bottom of antenna revolving stage end cover 112, annular absorbing material 106 and wedge-shaped absorbing material 107 constitute relative confined darkroom module inner chamber, antenna 109 stretches into inside annular absorbing material 106, the radar cloud platform and install in the sleeve that the through-hole at antenna revolving stage rack 103 middle part got into antenna revolving stage rack 103 by the surveyed radar on the radar cloud platform, arrange in the darkroom module, in order to reduce the clutter interference among the radar testing environment.
As shown in fig. 4 and 5, the radar pan/tilt head is composed of a radar clamping module and a radar motion module, a detected radar is fixedly mounted on the radar clamping module, and the radar motion module is arranged below the radar clamping module and drives the radar clamping module to drive horizontal rotation motion or pitching rotation motion of the detected radar thereon.
The radar clamping module is composed of a radar clamping baffle 201, a radar clamping support 211 and a radar clamping bottom plate 202. The vertical upper surface of installing the tight bottom plate 202 of radar clamp at the tight bottom plate 202 of radar clamp that the level set up of radar clamp support 211, fix with screw on the tight bottom plate 202 of radar clamp is passed through to the bottom of the tight support 211 of radar clamp, the vertical setting of the tight bottom plate 202 of radar clamp baffle 201 is in the top of radar clamp, and the back of the tight baffle 201 of radar clamp and the front end fixed connection of the tight support 211 of radar clamp, it has two rows of bar-shaped mounting holes to open vertically on the tight baffle 201 of radar clamp, the radar under test passes through bar-shaped mounting hole fixed mounting on the tight baffle 201 of radar clamp, and through the not unidimensional installation distance.
The radar motion module is composed of a horizontal rotation small belt wheel 203, a horizontal rotation synchronous belt 204, a thrust ball bearing 205, a radar pan-tilt end cover 206, a radar pan-tilt upper rotary table 207, a spline shaft 208, a pitching rotation small belt wheel 209, a pitching rotation servo motor 210, a horizontal rotation large belt wheel 212, a horizontal rotation servo motor 213, a pitching rotation large belt wheel 214 and a radar pan-tilt lower rotary table 215. The horizontal rotating big belt wheel 212 is axially and vertically arranged below the radar clamping module, the horizontal rotating big belt wheel 212 is rotatably arranged above the upper rotating platform 207 of the radar pan-tilt through a thrust ball bearing 205, the bottom of the horizontal rotating big belt wheel 212 is fixed on the upper rotating platform 207 of the radar pan-tilt through an end cover 206 of the radar pan-tilt to realize axial fixation, the large horizontal rotating belt wheel 212 is coaxially and fixedly connected at the bottom of the radar clamping bottom plate 202, the outer shell of the horizontal rotating servo motor 213 is fixedly arranged on the upper turntable 207 of the radar pan-tilt, the small horizontal rotating belt wheel 203 is coaxially and fixedly connected with the output end of the horizontal rotating servo motor 213, the small horizontal rotating belt wheel 203 is in transmission connection with the large horizontal rotating belt wheel 212 through the horizontal rotating synchronous belt 204 to form a horizontal rotating transmission pair, under the drive of the horizontal rotation servo motor 213, the horizontal rotation transmission pair drives the radar clamping bottom plate 202 to horizontally rotate, so that the detected radar is driven to horizontally rotate; the bottom of the upper radar pan-tilt rotating platform 207 is hinged with the top of the lower radar pan-tilt rotating platform 215, the large pitching rotating belt pulley 214 is connected with the bottom of the upper radar pan-tilt rotating platform 207 through the spline shaft 208, the hinged axis of the upper radar pan-tilt rotating platform 207 and the lower radar pan-tilt rotating platform 215 is collinear with the axis of the spline shaft 208, the outer shell of the pitching rotating servo motor 210 is fixedly installed on the base of the lower radar pan-tilt rotating platform 215, the small pitching rotating belt pulley 209 is coaxially and fixedly connected with the output end of the pitching rotating servo motor 210, the small pitching rotating belt pulley 209 is in transmission connection with the large pitching rotating belt pulley 214 through a pitching rotating synchronous belt to form a pitching rotating transmission pair, and under the driving of the pitching rotating servo motor 210, the pitching rotating transmission pair drives the upper radar pan-tilt rotating.
During testing, the test system simulates the change of the posture and the change of the driving direction of the vehicle with the tested radar through the motion of the radar motion module of the radar pan-tilt according to a preset test scene, and simulates the change of the relative angle between other vehicles and the vehicle in the driving scene through the motion of the antenna motion module of the antenna turntable;
as shown in fig. 1, the radar echo simulation module is composed of a radio frequency input unit, a radio frequency output unit and a signal processing unit. The signal output end of an antenna 109 in the antenna turntable module is connected with the signal input end of the radio frequency input unit, the signal output end of the radio frequency input unit is connected with the first signal input end of the signal processing unit, the signal output end of the signal processing unit is connected with the signal input end of the radio frequency output unit, and the signal output end of the radio frequency output unit is connected with the signal input end of the antenna 109 respectively.
As shown in fig. 1, the control module is composed of an echo simulation control unit, an antenna turntable control unit, a radar pan-tilt control unit and an upper control machine. And the upper control machine calculates the horizontal azimuth angle and the front-back pitch angle of the measured radar, the horizontal azimuth angle of each antenna in the antenna turntable, and the relative distance and the relative speed between the vehicle carrying the measured radar and other virtual target vehicles in real time. A first signal output end of the upper control machine is connected with a signal input end of the radar pan-tilt control unit, a signal output end of the radar pan-tilt control unit is respectively connected with control signal input ends of a horizontal rotation servo motor and a pitching rotation servo motor of the radar pan-tilt, and during testing, the upper control machine sends information of a horizontal azimuth angle and a front-back pitch angle, where a radar to be tested is located, to the radar pan-tilt control unit, and controls the horizontal rotation servo motor and the pitching rotation servo motor of the radar pan-tilt to work through the radar pan-tilt control unit, so that the horizontal azimuth angle and the front-back pitch angle of the radar to be tested on the; a second signal output end of the upper control machine is connected with a signal input end of the antenna turntable control unit, the signal output end of the antenna turntable control unit is respectively connected with a control signal input end of each antenna turntable servo motor of the antenna turntable, and during testing, the upper control machine sends horizontal azimuth angle information of each antenna in the antenna turntable to the antenna turntable control unit and controls each antenna turntable servo motor of the antenna turntable to work through the antenna turntable control unit, so that the horizontal azimuth angle of the antenna on the antenna turntable large belt wheel corresponding to each antenna turntable servo motor is controlled; and during testing, the upper control machine sends the relative distance and relative speed information of the vehicle carrying the tested radar and other virtual target vehicles to the echo simulation control unit, and sends the time delay and frequency change information of the echo signal to be transmitted relative to the radio frequency signal of the tested radar to the signal processing unit through the echo simulation control unit, so that the simulation of the relative distance and relative speed of the virtual target vehicles is realized.
During testing, a radio frequency signal of a radar to be tested is transmitted to the radio frequency input unit through the antenna, the radio frequency input unit transmits the radio frequency signal of the radar to be tested to the signal processing unit, the signal processing unit generates an echo signal of a virtual target in a preset driving scene according to time delay and frequency change information, relative to the radio frequency signal of the radar to be tested, of the echo signal to be transmitted, which is output by the echo simulation control unit, the echo signal of the virtual target is transmitted to the radio frequency output module, and finally the echo signal of the virtual target is transmitted to the radar to be tested through the antenna. When the signal processing unit simulates the echo of the virtual target, the distance and speed information of the virtual target can be simultaneously simulated and virtually generated, the signal processing unit firstly carries out down-conversion processing on the received signal to convert the signal into an intermediate frequency signal, then the distance information of the virtual target is introduced through a delay line in the signal processing unit, the speed information of the virtual target is simulated by introducing Doppler frequency shift, then the processed intermediate frequency signal is up-converted and transmitted to an antenna through a radio frequency output unit, and finally the echo signal of the virtual target is transmitted to a radar to be detected through the antenna.
As shown in figure 1, the signal output part of the radar to be tested is connected with the signal input part of the signal acquisition module, the signal output part of the signal acquisition module is connected with the signal input part of the display, during testing, the signal acquisition module acquires and stores the detection signal of the radar to be tested, the detection signal is transmitted to the display to be displayed in real time, and the stored radar signal data is used for analyzing the performance of the radar in the later period.
As shown in FIG. 6, a concrete working process brief for on-vehicle millimeter wave radar test system for multi-target dynamic simulation follows:
step 1: adjusting a radar clamping device according to the size of the radar to be detected, so that the radar to be detected is positioned on the rotation central line of the radar holder;
step 2: a tester sets a test scene in an upper control machine;
and step 3: starting testing, and cooperatively controlling the radar pan-tilt control unit, the antenna turntable control unit and the echo simulation control unit in real time by the upper control machine; the radar control unit controls a horizontal rotation servo motor and a pitching rotation servo motor of the radar pan-tilt to realize horizontal and pitching rotation of the radar motion module, and the radar motion module drives the detected radar to move together; the antenna turntable control unit controls the antenna turntable servo motor to realize the rotation of the antenna motion module, and the antenna motion module drives the antenna to move together; the echo simulation control unit controls the radar echo simulation module to enable the antenna to emit a radio-frequency signal which is the same as a reflected echo signal of a target in a preset test scene; the dynamic simulation of the test scene is cooperatively realized through the process;
and 4, step 4: during testing, the signal acquisition module acquires and records an output signal of the radar to be tested, namely a detection result of the radar to be tested on a target in a preset test scene;
and 5: and after the test is finished, analyzing the performance of the tested radar through the radar detection data acquired by the signal acquisition module.
To sum up, test system passes through antenna revolving stage and radar cloud platform and simulates the change of the posture of this car and the direction of travel and the change of the relative angle of this car and other vehicles in to the test scene to simulate the relative distance and the relative speed of this car and other vehicles in to the test scene through radar echo simulation module, realized the dynamic simulation to predetermineeing the test scene jointly, test system can simulate various multiobjective, complicated scene of traveling dynamically to can convenient and fast ground realize the capability test to the millimeter wave radar in various complicated scenes of traveling.
Claims (3)
1. A on-vehicle millimeter wave radar test system for multi-target dynamic simulation, its characterized in that:
the radar system comprises an antenna turntable, a radar holder, a radar echo simulation module, a control module, a signal acquisition module and a display;
the radar to be detected is arranged on the radar holder and is driven by the radar holder to rotate horizontally or rotate in a pitching mode, the radar to be detected is arranged in a darkroom module of the antenna turntable, and the antenna is driven by the antenna turntable to rotate horizontally;
the radar echo simulation module is formed by sequentially connecting a radio frequency input unit, a signal processing unit and a radio frequency output unit through signals, and the radio frequency input unit and the radio frequency output unit are respectively connected with an antenna signal;
the control module is formed by respectively connecting an upper control machine with a radar pan-tilt control unit, an antenna turntable control unit and an echo simulation control unit, the radar pan-tilt control unit is in control connection with a radar pan-tilt, the antenna turntable control unit is in control connection with an antenna turntable, the echo simulation control unit is in signal connection with a signal processing unit, the upper control machine sends horizontal azimuth angle and front and back pitch angle signals of a detected radar to a radar pan-tilt through the radar pan-tilt control unit, sends horizontal azimuth angle signals of an antenna in the antenna turntable to the antenna turntable through the antenna turntable control unit, processes relative distance and relative speed signals of a vehicle carrying the detected radar and a virtual target vehicle through the signal processing unit, and then transmits the relative distance and relative speed signals to the detected radar through an antenna;
the signal acquisition module is connected with the display after being connected with the detected radar signal, acquires and stores the detection signal of the detected radar, and transmits the detection signal of the detected radar to the display for real-time display.
2. The vehicle-mounted millimeter wave radar test system for multi-objective dynamic simulation of claim 1, wherein:
the antenna turntable consists of an antenna motion module and a darkroom module, the darkroom module is positioned in the antenna motion module, and the radar holder and a detected radar fixedly arranged on the radar holder are both arranged in the darkroom module;
the antenna motion module consists of an antenna turntable small belt wheel (101), an antenna turntable synchronous belt (102), an antenna turntable rack (103), an antenna turntable large belt wheel (104), a sliding bearing (105), a wear-resistant gasket (108), an antenna (109), an antenna turntable servo motor (111), an antenna turntable end cover (112) and a waveguide line (113), wherein the plurality of antenna turntable large belt wheels (104) are sleeved outside the circumference of a sleeve in the middle of the antenna turntable rack (103) through the sliding bearing (105), the antenna turntable large belt wheels (104) rotate independently, the wear-resistant gasket (108) is arranged between the end surfaces of two adjacent antenna turntable large belt wheels (104), the antenna turntable end cover (112) is fixed at the top of the sleeve of the antenna turntable rack (103) to axially fix the antenna turntable large belt wheels (104) and correspond to the antenna turntable large belt wheels (104) one by one, the antenna turntable servo motors (111) are fixedly installed on a vertical frame on the side face of an antenna turntable rack (103), the output ends of the antenna turntable servo motors (111) are coaxially and fixedly connected with an antenna turntable small belt wheel (101), the antenna turntable small belt wheel (101) is in transmission connection with an antenna turntable large belt wheel (104) through an antenna turntable synchronous belt (102), antennas (109) are horizontally fixed on the antenna turntable large belt wheel (104) in a one-to-one correspondence mode respectively, one end of each antenna (109) penetrates through the antenna turntable large belt wheel (104) and extends into an annular wave-absorbing material (106) on the inner side of a sleeve of the antenna turntable rack (103), and the other end of each antenna (109) is connected with a radio frequency input unit and a radio frequency output unit through a waveguide line (113);
the darkroom module is of a semi-closed cavity structure consisting of an annular wave-absorbing material (106) and a wedge-shaped wave-absorbing material (107), the annular wave-absorbing material (106) is installed on the inner wall of a sleeve of the antenna turntable rack (103) from bottom to top, the wedge-shaped wave-absorbing material (107) is fixedly installed at the bottom of an antenna turntable end cover (112), and a radar holder and a detected radar installed on the radar holder enter the darkroom module cavity from a through hole in the middle of the antenna turntable rack (103);
and the antenna turntable servo motor (111) is in signal connection with the antenna turntable control unit.
3. The vehicle-mounted millimeter wave radar test system for multi-objective dynamic simulation of claim 1, wherein:
the radar pan-tilt head consists of a radar clamping module and a radar motion module;
the radar clamping module is composed of a radar clamping baffle (201), a radar clamping support (211) and a radar clamping bottom plate (202), the radar clamping support (211) is vertically fixed on the radar clamping bottom plate (202), the radar clamping baffle (201) is fixed at the front end of the radar clamping support (211), strip-shaped mounting holes distributed in a matrix are formed in the radar clamping baffle (201), and the radar to be detected is fixedly mounted on the radar clamping baffle (201) through the strip-shaped mounting holes;
the radar motion module consists of a horizontal rotation small belt wheel (203), a horizontal rotation synchronous belt (204), a thrust ball bearing (205), a radar pan-tilt end cover (206), a radar pan-tilt upper rotary table (207), a spline shaft (208), a pitching rotation small belt wheel (209), a pitching rotation servo motor (210), a horizontal rotation large belt wheel (212), a horizontal rotation servo motor (213), a pitching rotation large belt wheel (214) and a radar pan-tilt lower rotary table (215), wherein the horizontal rotation large belt wheel (212) is arranged above the radar pan-tilt upper rotary table (207) through the thrust ball bearing (205), the bottom of the horizontal rotation large belt wheel (212) is fixed on the radar pan-tilt upper rotary table (207) through the radar pan-tilt end cover (206) to realize axial fixation, the horizontal rotation large belt wheel (212) is coaxially and fixedly connected at the bottom of the radar clamping bottom plate (202), and the horizontal rotation servo motor (213) is fixed on the radar pan, the small horizontal rotation belt wheel (203) is coaxially and fixedly connected with the output end of a horizontal rotation servo motor (213), the small horizontal rotation belt wheel (203) is in transmission connection with a large horizontal rotation belt wheel (212) through a horizontal rotation synchronous belt (204), the bottom of an upper rotary table (207) of the radar pan-tilt is hinged with the top of a lower rotary table (215) of the radar pan-tilt, a large pitching rotation belt wheel (214) is connected with the bottom of the upper rotary table (207) of the radar pan-tilt through a spline shaft (208), the hinged axis of the upper radar pan-tilt rotating platform (207) and the lower radar pan-tilt rotating platform (215) is collinear with the axis of the spline shaft (208), the outer shell of the pitching rotation servo motor (210) is fixed on the base of the lower radar pan-tilt rotating platform (215), the small pitching rotation belt wheel (209) is coaxially and fixedly connected with the output end of the pitching rotation servo motor (210), and the small pitching rotation belt wheel (209) is in transmission connection with the large pitching rotation belt wheel (214) through a pitching rotation synchronous belt;
the pitching rotation servo motor (210) and the horizontal rotation servo motor (213) are respectively in signal connection with the radar pan-tilt control unit.
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