CN218003719U - Radar dolly capable of locking target object - Google Patents
Radar dolly capable of locking target object Download PDFInfo
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- CN218003719U CN218003719U CN202221294706.XU CN202221294706U CN218003719U CN 218003719 U CN218003719 U CN 218003719U CN 202221294706 U CN202221294706 U CN 202221294706U CN 218003719 U CN218003719 U CN 218003719U
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- radar
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- positioning
- millimeter wave
- target object
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Abstract
The utility model relates to a radar trolley capable of locking a target object, which comprises a movable frame, and a millimeter wave radar, a positioning antenna, a directional antenna, a power supply device, a high-precision positioning device and a synchronous acquisition device which are arranged on the movable frame; the millimeter wave radar is arranged on the front side of the frame, and the positioning antenna and the directional antenna are respectively positioned on two sides of the millimeter wave radar; the power supply device is used for supplying power to all devices on the movable frame; the high-precision positioning equipment is matched with the positioning antenna and the directional antenna to position the measured object; the synchronous acquisition equipment is used for acquiring data of the millimeter wave radar, the positioning antenna and the directional antenna; according to the scheme, the target object is positioned by matching the high-precision positioning equipment with the positioning antenna and the directional antenna; and then, the synchronous acquisition equipment and the millimeter wave radar are matched, and the radar data near the target point is regarded as the data of the target object, so that the target object is locked, the continuous radar reflection characteristic data can be obtained, and whether the target object can be used continuously or not can be detected.
Description
Technical Field
The utility model relates to a radar dolly of lockable target belongs to the real car test field of autopilot function and car driver assistance function.
Background
With the advent of automatic driving technology, vehicles equipped with various automatic driving or driving assistance functions have begun to appear, and vehicles equipped with these functions need to be tested and verified before being put on the market in order to ensure the safety and reliability of these functions. Most of the tests need to verify the perception and decision-making ability of the automobile to surrounding targets, and in the tests, a great collision risk exists between the test vehicle and the perceived targets, so that in order to ensure the safety of the tests, a soft target capable of simulating the characteristics of the actual target is needed, and the soft target can bear the collision of the automobile and cannot cause damage to the test vehicle and personnel.
However, after multiple impacts are performed on such target objects, the original design structure or material of the target objects can be damaged, so that the characteristics of the target objects, such as appearance or local characteristics, deviate from the design target, and if the target objects which deviate from the design target are continuously used for testing, the function of debugging cannot be associated with the actual condition directly, and great potential safety hazards exist for subsequent vehicle functions.
Therefore, the radar characteristics of the target object need to be tested, and whether the radar characteristics of the target object are kept in a design range or not can be confirmed before use; however, the millimeter wave radar can search 16 to 256 targets at the same time, and the ID numbers of the targets are randomly changed, so that data of continuous radar reflection characteristics of a certain target cannot be obtained.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the purpose is in order to overcome prior art not enough and provide a radar dolly of lockable target, measures the continuous radar reflection characteristic of target.
In order to achieve the purpose, the utility model adopts the technical proposal that: a radar trolley capable of locking a target object comprises a moving frame, and a millimeter wave radar, a positioning antenna, a directional antenna, a power supply device, high-precision positioning equipment and synchronous acquisition equipment which are arranged on the moving frame; the millimeter wave radar is arranged on the front side of the frame, and the positioning antenna and the directional antenna are respectively positioned on two sides of the millimeter wave radar; the power supply device is used for supplying power to all devices on the moving frame; the high-precision positioning equipment is matched with the positioning antenna and the directional antenna to position the measured object; the synchronous acquisition equipment is used for acquiring data of the millimeter wave radar, the positioning antenna and the directional antenna.
Preferably, the distance between the centers of the positioning antenna and the directional antenna is greater than 1 meter.
Preferably, the high-precision positioning equipment and the synchronous acquisition equipment are integrally installed in an equipment box of the moving vehicle frame.
Preferably, a pushing handle is arranged on the movable frame.
Preferably, the moving frame is provided with an operating device, and the operating device is provided with a display screen and is communicated with the high-precision positioning device and the synchronous acquisition device.
Because of the application of above-mentioned technical scheme, compared with the prior art, the utility model has the following advantage:
the radar trolley capable of locking the target object in the scheme of the utility model is matched with the positioning antenna and the directional antenna through the high-precision positioning equipment to position the target object; and then, the synchronous acquisition equipment and the millimeter wave radar are matched, and the radar data near the target point is taken as the data of the target object, so that the target object is locked, the continuous radar reflection characteristic data can be obtained, and whether the target object can be used continuously or not can be detected.
Drawings
The technical scheme of the utility model is further explained by combining the attached drawings as follows:
fig. 1 is a schematic structural diagram of a radar dolly capable of locking a target object according to the present invention;
fig. 2 is a schematic structural view of another view angle of the radar dolly capable of locking the target object according to the present invention;
FIG. 3 is a schematic diagram of a carrier coordinate system and a millimeter wave radar coordinate system before superposition;
fig. 4 is a schematic diagram after superposition of the carrier coordinate system and the millimeter wave radar coordinate system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in attached drawings 1 and 2, the radar trolley capable of locking the target object comprises a moving frame 1, and a millimeter wave radar 2, a positioning antenna 3, a directional antenna 4, a power supply device 5, high-precision positioning equipment and synchronous acquisition equipment which are arranged on the moving frame 1.
The moving frame 1 can move by installing a plurality of rollers and steering wheels, and a pushing handle 7 can be installed on the moving frame 1, so that the operation of personnel is facilitated.
The millimeter wave radar 2 is arranged on the front side of the frame 1, and the positioning antenna 3 and the directional antenna 4 are respectively positioned on two sides of the millimeter wave radar 2; the center distance between the positioning antenna 3 and the directional antenna 4 needs to be larger than 1 meter, and the front area of the millimeter wave radar 2 must be ensured to be free of any sheltered object.
The high-precision positioning equipment and the synchronous acquisition equipment are integrally installed in an equipment box 6 of the moving frame 1, and the power supply device 5 is used for supplying power to all devices on the moving frame 1; the high-precision positioning equipment can adopt GPS equipment, and the GPS equipment is matched with the positioning antenna 3 and the directional antenna 4 to position the measured object; the synchronous acquisition equipment is used for acquiring data of the millimeter wave radar 2, the positioning antenna 3 and the directional antenna 4.
The mobile vehicle frame 1 is provided with an operating device 8, and the operating device 8 is provided with a display screen and is communicated with a high-precision positioning device and a synchronous acquisition device.
FIGS. 3 and 4 illustrate an example of an antenna mounting location and a millimeter radar mounting location; the GPS equipment can be used for establishing carrier coordinates which take the center of the positioning antenna as an original point and the connecting line of the center of the positioning antenna and the center of the directional antenna as a coordinate axis X1, the Y1 axis in the carrier coordinates is the vertical direction of the coordinate axis X1, the millimeter wave radar also has a carrier coordinate system of the millimeter wave radar, the X2 axis is the forward direction of the center of the radar, the Y2 axis is two sides of the center of the radar, as shown in the figure, the transverse vertical distance between the center of the positioning antenna and the millimeter wave radar is a and the longitudinal vertical distance is b according to the design.
The origin of a carrier coordinate system of the GPS equipment is deviated from the direction pointed by the X1 axis by a and deviated from the Y1 direction by b, so that the GPS is superposed with the origin of the carrier coordinate system of the millimeter wave radar, the GPS carrier coordinate system is rotated clockwise by 90 degrees after superposition, the X1 axis is superposed with the X2 axis, and the Y1 axis is superposed with the Y2 axis, thereby realizing the superposition of the carrier coordinate system of the GPS equipment and the millimeter wave radar coordinate system.
For a static target object, the target object is only required to be placed at a test position, the trolley is pushed to a position where the positioning antenna is in contact with the target object or is about to be in contact with the target object, and then the trolley stops, and the GPS equipment on the trolley is used for recording the longitude and latitude of the GPS of the positioning antenna at the moment, namely the GPS longitude and latitude of the target object. At the moment, the position of the point appears in a converted carrier coordinate system, the position of the point in the coordinate system is changed along with the position conversion of the trolley, and millimeter wave radar data and GPS data acquired by synchronous acquisition equipment are acquired.
For a dynamic target object, high-precision GPS equipment and acquisition equipment need to be installed on the target object so as to obtain real-time GPS data of the target object, when the acquisition is completed, the GPS data of the target object in an acquisition time period needs to be combined with the acquired data on the trolley, and the combination method uses UTC time to synchronize time lines so as to realize the combination synchronization of the data.
Regarding the collected or combined data, regarding radar data within a range of 10cm of the radius of the target point attachment as data of a target object, thereby realizing the locking of the target object and obtaining continuous radar reflection characteristic data.
The above is only a specific application example of the present invention, and the protection scope of the present invention is not limited at all; all the technical solutions formed by equivalent transformation or equivalent replacement fall within the protection scope of the present invention.
Claims (5)
1. A radar trolley capable of locking a target object is characterized in that: the device comprises a moving vehicle frame (1), and a millimeter wave radar (2), a positioning antenna (3), a directional antenna (4), a power supply device (5), high-precision positioning equipment and synchronous acquisition equipment which are arranged on the moving vehicle frame (1); the millimeter wave radar (2) is arranged on the front side of the frame (1), and the positioning antenna (3) and the directional antenna (4) are respectively positioned on two sides of the millimeter wave radar (2); the power supply device (5) is used for supplying power to all devices on the moving frame (1); the high-precision positioning equipment is matched with the positioning antenna (3) and the directional antenna (4) to position the measured object; the synchronous acquisition equipment is used for acquiring data of the millimeter wave radar (2), the positioning antenna (3) and the directional antenna (4).
2. The target-lockable radar cart of claim 1, wherein: the center distance between the positioning antenna (3) and the directional antenna (4) is larger than 1 meter.
3. The target-lockable radar cart of claim 1, wherein: the high-precision positioning equipment and the synchronous acquisition equipment are integrally installed in an equipment box (6) of the moving vehicle frame (1).
4. The target-lockable radar cart of claim 1, wherein: a pushing handle (7) is arranged on the movable frame (1).
5. The target-lockable radar cart of claim 1, wherein: the mobile vehicle frame (1) is provided with an operating device (8), and the operating device (8) is provided with a display screen and is communicated with a high-precision positioning device and a synchronous acquisition device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221294706.XU CN218003719U (en) | 2022-05-26 | 2022-05-26 | Radar dolly capable of locking target object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221294706.XU CN218003719U (en) | 2022-05-26 | 2022-05-26 | Radar dolly capable of locking target object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218003719U true CN218003719U (en) | 2022-12-09 |
Family
ID=84293003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221294706.XU Active CN218003719U (en) | 2022-05-26 | 2022-05-26 | Radar dolly capable of locking target object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218003719U (en) |
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2022
- 2022-05-26 CN CN202221294706.XU patent/CN218003719U/en active Active
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