CN113703004A - System and method for detecting running reliability of vehicle-mounted radar and computer equipment - Google Patents
System and method for detecting running reliability of vehicle-mounted radar and computer equipment Download PDFInfo
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- CN113703004A CN113703004A CN202110914049.8A CN202110914049A CN113703004A CN 113703004 A CN113703004 A CN 113703004A CN 202110914049 A CN202110914049 A CN 202110914049A CN 113703004 A CN113703004 A CN 113703004A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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Abstract
本申请涉及一种车载雷达运行可靠性检测系统、方法和计算机设备。该系统包括环境模拟装置、测试雷达、雷达模拟器天线、雷达模拟器和控制器，其中：环境模拟装置用于对测试雷达所处的车内环境进行模拟；测试雷达用于在模拟的车内环境中，对经由雷达模拟器按照相应车辆周边场景，模拟出的运动对象的相对位置及运动状态进行定位；雷达模拟器用于通过雷达模拟器天线反馈携带有定位运动信息的回波信号到测试雷达；测试雷达还用于从接收到的回波信号中解析出相应的定位运动信息，并将解析出的定位运动信息传输给控制器；控制器用于根据解析出的定位运动信息，通过相应的检测方式，对测试雷达的运行可靠性进行检测。采用本系统能够提高检测结果全面性。
The present application relates to a system, method and computer equipment for detecting the operational reliability of a vehicle-mounted radar. The system includes an environment simulation device, a test radar, a radar simulator antenna, a radar simulator and a controller, wherein: the environment simulation device is used for simulating the in-vehicle environment where the test radar is located; the test radar is used in the simulated vehicle In the environment, the relative position and motion state of the moving object simulated by the radar simulator according to the surrounding scene of the vehicle are positioned; the radar simulator is used to feed back the echo signal carrying the positioning motion information to the test radar through the radar simulator antenna. The test radar is also used to analyze the corresponding positioning motion information from the received echo signals, and transmit the analyzed positioning motion information to the controller; the controller is used to detect the corresponding positioning motion information according to the analyzed positioning motion information. way to test the operational reliability of the test radar. Using this system can improve the comprehensiveness of test results.
Description
Technical Field
The application relates to the technical field of radar performance testing, in particular to a system and a method for detecting the operational reliability of a vehicle-mounted radar and computer equipment.
Background
The radar is an electronic device for detecting a target by using electromagnetic waves, and the principle of the radar is that the radar transmits electromagnetic waves to irradiate the target and receives echoes of the electromagnetic waves, so that information such as a spacing distance, a distance change rate, an azimuth and a height between the target and an electromagnetic wave transmitting point is obtained. However, the radar is generally arranged in a position with a bad environment and rare people, and some radar arrangements need to complete a radio positioning function in excitation, so that the operational reliability of the radar equipment needs to be detected before the radar is put into use.
At present, a vehicle millimeter wave radar testing system is put into use to detect the operation reliability of a vehicle radar, and although the system can effectively detect the operation reliability of the vehicle radar, the system only verifies the operation reliability performance of the vehicle radar in a normal temperature environment, and for a series of problems of temperature drift, vibration noise and the like of the vehicle radar, no effective coping strategy exists at present, and the problem of incomplete detection result exists.
Disclosure of Invention
In view of the above, it is necessary to provide a system, a method and a computer device for detecting the operational reliability of a vehicle radar, which can improve the comprehensiveness of the detection result.
The utility model provides an on-vehicle radar operational reliability detecting system, the system includes environment simulation device, actually locates test radar and radar simulator antenna, radar simulator and the controller in the target vehicle, wherein:
the environment simulation device is used for determining corresponding target subarea environment indexes according to the set position of the test radar in the target vehicle and simulating the in-vehicle environment of the test radar based on the target subarea environment indexes;
the test radar is used for transmitting detection waves to the radar simulator in a simulated in-vehicle environment so as to position the relative position and the motion state of a simulated moving object through the radar simulator according to corresponding vehicle surrounding scenes;
the radar simulator is used for feeding back an echo signal carrying positioning motion information to the test radar through the antenna of the radar simulator when the detection wave is determined to be received; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between a target vehicle and the moving object;
the test radar is also used for analyzing the positioning motion information from the received echo signal and transmitting the analyzed positioning motion information to the controller;
and the controller is used for detecting the operational reliability of the test radar in a corresponding detection mode according to the positioning motion information.
In one embodiment, the environment simulation apparatus is further configured to obtain a corresponding target partition environment index, and set an environment parameter based on the target partition environment index; the target subarea environment index is determined according to the setting position of the test radar in the target vehicle;
and the environment simulation device is also used for simulating the environment in the vehicle where the test radar is located based on the set environment parameters.
In one embodiment, the environment simulation device comprises a temperature and humidity environment box for simulating a temperature and humidity environment in the vehicle and a vibration table for simulating a vibration environment in the vehicle; wherein:
the test radar and the radar simulator antenna are both arranged inside the box body of the temperature and humidity environment box;
wave absorbing layers are arranged on the four inner walls of the temperature and humidity environment box, and each wave absorbing layer comprises a substrate and a plurality of sharp cones which are fixed on the substrate and used for increasing the wave absorbing area;
the temperature and humidity environment comprises at least one of high temperature and high humidity, high temperature, normal temperature, low temperature and high humidity, and the vibration environment comprises at least one of vibration and impact.
In one of them embodiment, the test radar includes radar revolving stage and sets up the radar body on the radar revolving stage, the inside heat preservation cabin that still is equipped with of box of humiture environment case, the shaking table includes vibration generating device and vibration mesa, wherein:
the heat preservation cabin is arranged at the top of the box body of the temperature and humidity environment box, the radar simulator antenna is arranged in the heat preservation cabin, and the heat preservation cabin is used for isolating the radar simulator antenna from a currently simulated temperature and humidity environment in the vehicle so as to keep the operation temperature and humidity of the radar simulator antenna at a preset temperature and humidity level;
the radar rotary table is arranged at the bottom of the box body of the temperature and humidity environment box and is fixed on the vibration table surface, and the radar rotary table is used for adjusting the rotation angle of the radar body so that the radar body can transmit detection waves according to the adjusted corresponding rotation angle and receive echo signals;
the vibration generating device is used for transmitting the output vibration to the radar body so as to construct a vibration environment in the vehicle.
In one embodiment, the controller is further configured to invoke a preset simulation model to simulate a vehicle surrounding environment, and transmit environment information corresponding to the vehicle surrounding environment to the radar simulator, so as to trigger the radar simulator to simulate a vehicle surrounding scene adapted to the working condition environment according to the environment information; wherein:
the vehicle surroundings include at least one of other vehicles, pedestrians, animals, moving obstacles, and fixed obstacles, which are located around the target vehicle and are in a driving state or a parking state.
In one embodiment, the detection mode includes an environment adaptability evaluation mode and an environment adaptability differentiation evaluation mode, and the controller is further configured to, when judging the operational reliability of the test radar based on the environment adaptability evaluation mode, acquire actual motion information of the moving object in a scene around the vehicle, match the positioning motion information with the actual motion information to obtain a corresponding environment adaptability matching result, and verify the operational reliability of the test radar through the environment adaptability matching result;
the target vehicle is internally provided with a plurality of radar arrangement points, the controller is further used for acquiring environment adaptability matching results corresponding to the test radar at each radar arrangement point respectively when judging the operational reliability of the test radar based on the environment adaptability differentiation evaluation mode, comparing the acquired environment adaptability matching results to obtain corresponding environment adaptability differentiation comparison results, and verifying the operational reliability of the test radar through the environment adaptability differentiation comparison results.
In one embodiment, the radar simulator is further configured to perform frequency conversion on the echo signal to be fed back based on a preset frequency conversion rule, so as to feed back the echo signal with different frequencies to the test radar through the radar simulator antenna;
the test radar includes a radar post-processing module connected to the controller, wherein:
the radar post-processing module is used for decoding the coded signal when the received echo signal is determined to be the coded signal, and analyzing the positioning motion information based on the decoded signal obtained by decoding;
and the radar post-processing module is also used for transmitting the positioning motion information obtained by analysis to a controller so as to trigger the controller to detect the operation reliability of the test radar according to the positioning motion information.
A method for detecting the operational reliability of a vehicle-mounted radar suitable for use in any one of the above systems, the method comprising:
determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through the environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index;
transmitting detection waves to the radar simulator through the test radar in a simulated in-vehicle environment so as to position the relative position and the motion state of a simulated moving object according to corresponding surrounding scenes of the vehicle through the radar simulator;
when the radar simulator determines that the probe waves are received, the radar simulator feeds back echo signals carrying positioning motion information to the test radar through the antenna of the radar simulator; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between a target vehicle and the moving object;
analyzing the positioning motion information from the received echo signal through the test radar, and transmitting the analyzed positioning motion information to the controller;
and detecting the operational reliability of the test radar through the controller according to the positioning motion information and a corresponding detection mode.
A computer device adapted for use in the system of any preceding claim, comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program:
determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through the environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index;
transmitting detection waves to the radar simulator through the test radar in a simulated in-vehicle environment so as to position the relative position and the motion state of a simulated moving object according to corresponding surrounding scenes of the vehicle through the radar simulator;
when the radar simulator determines that the probe waves are received, the radar simulator feeds back echo signals carrying positioning motion information to the test radar through the antenna of the radar simulator; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between a target vehicle and the moving object;
analyzing the positioning motion information from the received echo signal through the test radar, and transmitting the analyzed positioning motion information to the controller;
and detecting the operational reliability of the test radar through the controller according to the positioning motion information and a corresponding detection mode.
A computer-readable storage medium adapted for use in the system of any one of the preceding claims, having a computer program stored thereon which, when executed by a processor, performs the steps of:
determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through the environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index;
transmitting detection waves to the radar simulator through the test radar in a simulated in-vehicle environment so as to position the relative position and the motion state of a simulated moving object according to corresponding surrounding scenes of the vehicle through the radar simulator;
when the radar simulator determines that the probe waves are received, the radar simulator feeds back echo signals carrying positioning motion information to the test radar through the antenna of the radar simulator; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between a target vehicle and the moving object;
analyzing the positioning motion information from the received echo signal through the test radar, and transmitting the analyzed positioning motion information to the controller;
and detecting the operational reliability of the test radar through the controller according to the positioning motion information and a corresponding detection mode.
According to the vehicle-mounted radar operational reliability detection system, the vehicle-mounted radar operational reliability detection method, the computer equipment and the storage medium, before the test radar is put into use, states of the radar in different use environments, such as high temperature and high humidity, high temperature, normal temperature, low temperature and the like, are simulated through the environment simulation device according to the set position of the test radar in the target vehicle, the radar operational reliability is not limited to be verified in the normal temperature environment, the comprehensiveness of detection results is guaranteed under the condition that the simulation environment is matched with the working environment of the real radar, and the detection effect is better. In addition, the operation reliability of the test radar is detected through the controller based on the detected positioning motion information of the test radar in the simulated in-vehicle environment, so that the environment reliability test verification of the radar in the working state is realized, and the reliability of the detection data is ensured.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of a system for detecting operational reliability of a vehicle radar;
FIG. 2 is a block diagram of an embodiment of a system for detecting operational reliability of a vehicle radar;
FIG. 3 is a schematic diagram illustrating an embodiment of a process for determining operational reliability of a test radar based on an environment adaptive evaluation method;
FIG. 4 is a schematic flow chart illustrating the operation reliability of the test radar determined based on the evaluation method of the environment adaptability differentiation in one embodiment;
FIG. 5 is a schematic flow chart illustrating a method for detecting operational reliability of a vehicle radar according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Description of the drawings: 1. a vibration generating device; 2. a temperature and humidity environment box; 3. vibrating the table top; 4. a radar rotary table; 5. a wave-absorbing layer; 6. a heat preservation cabin; 7. a radar body; 8. a radar simulator antenna; 9. a radar simulator transmission line; 10. testing the radar transmission line; 11. a radar simulator; 12. radar post-processing; 13. a controller; 14. a control line; 15. and controlling the lines.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The vehicle-mounted radar operation reliability detection system can be applied to the application environment shown in fig. 1. In the application environment illustrated in fig. 1, the system includes an environment simulation device composed of a vibration generation device 1, a temperature and humidity environment box 2, a vibration table 3, a wave-absorbing layer 5 and a heat-insulating chamber 6, a test radar composed of a radar rotary table 4, a radar body 7 and radar postprocessing 12, a radar simulator antenna 8, a radar simulator 11 and a controller 13. Wherein:
(1) the radar simulator antenna is connected to the radar simulator through a radar simulator transmission line, the radar body is connected to radar post-processing through a test radar transmission line, the controller is connected to the radar simulator through a control line, and the controller is connected to the radar post-processing through the control line.
(2) The vibration generating device and the temperature and humidity environment box are two independent environment simulators, and the vibration generating device 1 is arranged under the temperature and humidity environment box.
(3) Radar body detachable sets up on the radar revolving stage, and the radar revolving stage is fixed on the vibration mesa, like this, can transmit the radar body through the vibration that vibration generating device will export to carry out the construction of vibration environment in the car. The radar simulator antenna is arranged in the heat preservation cabin, the width of the heat preservation cabin is adapted to the width of the temperature and humidity environment box, and the height of the heat preservation cabin is adapted to the height of the radar simulator antenna.
(5) The wave-absorbing layer is laid on the four inner walls of the temperature and humidity environment box, and comprises a substrate and a plurality of sharp cones which are fixed on the substrate and used for increasing the wave-absorbing area.
(6) The controller can be an upper computer capable of directly sending out control commands. The wave-absorbing layer can be further understood as a wave-absorbing material laid on the four inner walls of the temperature and humidity environment box. The radar rotary table can be a stepping control system, and the radar body can be driven to rotate in a large angle through the radar rotary table.
In one embodiment, the operation reliability of the vehicle-mounted radar is detected by the following steps:
and step S11, determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through the environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index.
Step S12, transmitting detection waves to a radar simulator in the simulated in-vehicle environment through a test radar so as to position the relative position and the motion state of the simulated moving object according to the corresponding surrounding scene of the vehicle through the radar simulator; when the radar simulator determines that the detection waves are received, the radar simulator feeds back an echo signal carrying the positioning motion information to a test radar through an antenna of the radar simulator; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between the target vehicle and the moving object;
and step S13, analyzing the positioning motion information from the received echo signal through the test radar, and transmitting the analyzed positioning motion information to the controller.
And step S14, detecting the operation reliability of the test radar through the controller according to the positioning motion information and a corresponding detection mode.
In the application scenario, the environment simulation device simulates states of the radar in different use environments, so that the simulation environment is matched with the working environment of the real radar, and the detection effect is better. Wave absorbing layers are arranged on the inner walls of the four sides of the temperature and humidity environment box, radar wave reflection is prevented, and the application environment of an open field is further simulated.
In one embodiment, as shown in fig. 2, there is provided an in-vehicle radar operational reliability detection system 200, the system 200 including an environment simulation apparatus 201, a test radar 202 and a radar simulator antenna 203 actually provided in a target vehicle, a radar simulator 204, and a controller 205, wherein:
the environment simulation device 201 is configured to determine a corresponding target zone environment index according to a set position of the test radar 202 in the target vehicle, and simulate an in-vehicle environment where the test radar 202 is located based on the target zone environment index.
Specifically, the environment simulation device is further configured to obtain a corresponding target partition environment index, and set an environment parameter based on the target partition environment index; the target subarea environment index is determined according to the setting position of the test radar in the target vehicle; and the environment simulation device is also used for simulating the environment in the vehicle where the test radar is located based on the set environment parameters.
In one embodiment, please refer to fig. 3, first, the zone environment indexes (i.e. temperature, humidity, and vibration environment indexes) of each zone in the vehicle are collected by the data collecting device installed in the vehicle; and then, defining the vehicle in a subarea, wherein the involved subareas comprise the inner top of the cockpit, the outer top of the cockpit, the floor in the cockpit, the instrument desk in the cockpit, the front bumper outside the cockpit, the left side of the chassis and the right side of the chassis. And then, screening the collected subarea environment indexes of each subarea according to the setting position of the test radar 202 in the target vehicle to obtain the corresponding target subarea environment indexes. For example, assuming that the test radar 202 is disposed on the left side of the chassis, the partition environment index on the left side of the chassis may be used as the target partition environment index. Subsequently, the environment simulation device simulates the environment in the vehicle based on the target subarea environment index, so that the running reliability of the test radar can be verified in the simulated environment in the vehicle.
In this way, in the present embodiment, the vehicle is partitioned to distinguish the partitions having different actual working environments. At present, only the environmental indexes of the subareas where the test radars are located need to be screened out from the obtained subarea areas. At present, the detection efficiency of the running reliability of the vehicle-mounted radar is further improved by simplifying the simulation process of the environment in the vehicle.
The test radar 202 is configured to transmit a probe wave to the radar simulator 204 in the simulated in-vehicle environment, so as to locate the relative position and the motion state of the moving object simulated by the radar simulator 204 according to the corresponding surrounding scene of the vehicle.
Specifically, the test radar includes a transmitter, a transmitter antenna, a receiver, and a receiver antenna. The test radar finds the targets and determines their spatial positions by radio methods. When the method is implemented, firstly, a transmitter emits electromagnetic waves (namely detection waves) to a certain direction in space through a transmitting antenna, and the electromagnetic waves which are collided are reflected by an object (namely a corresponding moving object) in the direction; then, the reflected wave is received by a receiving antenna of the receiver, and the received reflected wave is analyzed by a processor built in the receiver, so as to extract some positioning information about the object, such as the distance from the corresponding moving object to the test radar, the distance change rate, the radial speed, the azimuth, the altitude, and the like.
Therefore, the target positioning is carried out based on the test radar, so that the target can be detected at a long distance in the daytime and at night, is not blocked by fog, cloud and rain, has the characteristics of all weather and all day time, and has certain penetrating power.
The radar simulator 204 is used for feeding back an echo signal carrying positioning motion information to the test radar 202 through the radar simulator antenna 203 when the detection wave is determined to be received; the positioning motion information includes at least one of a separation distance, a relative position, a relative motion direction, and a relative motion speed between the target vehicle and the moving object.
Specifically, the radar simulator is further configured to perform frequency conversion on the echo signal to be fed back based on a preset frequency conversion rule, so that the echo signal with different frequencies is fed back to the test radar through the antenna of the radar simulator; the test radar includes a radar post-processing module connected to the controller, wherein: the radar post-processing module is used for decoding the coded signals when the received echo signals are determined to be the coded signals, and analyzing the positioning motion information based on the decoded signals obtained by decoding; and the radar post-processing module is also used for transmitting the positioning motion information obtained by analysis to the controller so as to trigger the controller to detect the operational reliability of the test radar according to the positioning motion information.
In one embodiment, the radar simulator is further used for adjusting down or up on the basis of the natural frequency through the time and frequency relation so as to carry out frequency conversion on the echo signal needing to be fed back. The radar post-processing module is also used for decoding the echo signals in a preset decoding mode according to the positioning motion information carried in the echo signals when the echo signals are received so as to analyze the positioning motion information from the echo signals.
The test radar 202 is further configured to parse the positioning motion information from the received echo signal, and transmit the parsed positioning motion information to the controller 205.
Specifically, the test radar is further configured to verify connectivity between the test radar and the controller in a preset connection verification manner (for example, sending a TCP message to confirm whether the controller is in a normal operating state) before transmitting the analyzed positioning operation information to the controller, so as to ensure that the positioning operation information can be accurately transmitted to the controller. The test radar is also connected to a handheld terminal of a detector and is also used for transmitting the analyzed positioning operation information to the handheld terminal so as to trigger a display screen built in the handheld terminal to display the positioning operation information in real time and help the detector master the current detection progress. In one embodiment, the handheld terminal may be, but is not limited to, various smart phones, tablets, and portable wearable devices.
And the controller 205 is used for detecting the operational reliability of the test radar in a corresponding detection mode according to the positioning motion information.
Specifically, the detection mode comprises an environment adaptability evaluation mode and an environment adaptability differentiation evaluation mode, the controller is further used for acquiring actual motion information of the moving object in a scene around the vehicle when judging the running reliability of the test radar based on the environment adaptability evaluation mode, matching the positioning motion information with the actual motion information to obtain a corresponding environment adaptability matching result, and verifying the running reliability of the test radar through the environment adaptability matching result; the target vehicle is internally provided with a plurality of radar arrangement points, the controller is further used for acquiring environment adaptability matching results respectively corresponding to the test radar at each radar arrangement point when judging the operational reliability of the test radar based on the environment adaptability differentiation evaluation mode, comparing the acquired environment adaptability matching results to obtain corresponding environment adaptability differentiation comparison results, and verifying the operational reliability of the test radar through the environment adaptability differentiation comparison results.
In one embodiment, please refer to fig. 3 and fig. 4, it should be noted that: 1. the environment adaptability evaluation mode is that whether the radar can normally work under the requirement of the environment index is determined according to the environment index of a certain subarea in the vehicle, and if the radar is determined to normally work under the requirement of the environment index, the radar is considered to be adaptive to the environment index. On the contrary, the adaptability of the radar in the environment is considered to be poor, and since the foregoing embodiments have already made detailed descriptions on how to evaluate the adaptability of the test radar to the environment in a specific setting position, the embodiments of the present application will not be described in detail. 2. The environment adaptability differentiation evaluation mode is that aiming at certain subareas in the vehicle, respective environment adaptability evaluation results of the same radar in the subareas are determined so as to determine the optimal environment adaptability evaluation result of the radar in which subarea. Therefore, by the mode, the environment adaptability evaluation of the test radar at the set position in the specific vehicle can be realized, the environment adaptability difference evaluation of the test radar at different set positions in the vehicle can also be realized, and the effective detection of the operational reliability of the test radar is further ensured.
In the vehicle-mounted radar operational reliability detection system, before the test radar is put into use, according to the setting position of the test radar in the target vehicle, the states of the radar in different use environments are simulated through the environment simulation device, such as high temperature and high humidity, high temperature, normal temperature, low temperature and the like, the environment simulation device is not limited to verifying the radar operational reliability in the normal temperature environment, the simulation environment is enabled to be matched with the working environment of the real radar more, the comprehensiveness of the detection result is ensured, and the detection effect is enabled to be better. In addition, the operation reliability of the test radar is detected through the controller based on the detected positioning motion information of the test radar in the simulated in-vehicle environment, so that the environment reliability test verification of the radar in the working state is realized, and the reliability of the detection data is ensured.
In one embodiment, the environment simulation apparatus 201 includes a temperature and humidity environment box for simulating a temperature and humidity environment in the vehicle, and a vibration table for simulating a vibration environment in the vehicle; wherein: the test radar and the radar simulator antenna are both arranged inside the box body of the temperature and humidity environment box; wave absorbing layers are arranged on the four inner walls of the temperature and humidity environment box, and each wave absorbing layer comprises a substrate and a plurality of sharp cones which are fixed on the substrate and used for increasing the wave absorbing area; the temperature and humidity environment comprises at least one of high temperature and high humidity, high temperature, normal temperature, low temperature and high humidity, and the vibration environment comprises at least one of vibration and impact.
Specifically, high temperature specifically refers to higher temperature. The specific values referred to may differ in different instances, for example, in some technologies it refers to temperatures above several thousand degrees celsius; for another example, in china meteorology, when the daily maximum temperature reaches 35 ℃ or higher, it is called high temperature weather, and based on this, the embodiment of the present application does not limit the temperature range of high temperature, and it can be determined by the host factory according to the installation location and the use condition of the sample. The normal temperature specifically refers to a general temperature or room temperature, which is generally defined as 25 ℃ in a general case; of course, the temperature range may also be determined by the host factory according to the installation position and the use condition of the sample, and the temperature range of the normal temperature is not limited in the embodiment of the present application. The low temperature is commonly called cold, which can also be determined by the host factory according to the installation position and the use condition of the sample, and this is not limited in the embodiments of the present application. High temperature and high humidity is a relative concept and refers to a certain climate or weather characteristic. For example, the necessary conditions for the formation of tropical rainforests are high temperature and high humidity, the annual average temperature reaches more than 25 ℃, the annual rainfall reaches more than 1800mm, and the relative humidity is more than 95%, which is the characteristic of high temperature and high humidity climate. However, the characteristic of high-temperature and high-humidity weather has no absolute index, and if the high-temperature and high-humidity weather is in a certain place for a certain period of time, the human body feels extremely damp and hot at the moment, and the relative humidity is more than 90% and the temperature is more than 30 ℃. The wave absorbing layer adopts a wave absorbing plate capable of absorbing radar waves, wherein the wave absorbing plate can be made of rare silicon materials, and the material of the wave absorbing plate can also be made of other materials. In one embodiment, the wave-absorbing layer is laid on the four inner walls of the temperature and humidity environment box, and the thickness of the wave-absorbing layer can be adaptively adjusted according to the shape of the test radar.
In the above embodiment, set up the layer of absorbing the ripples on the four sides inner wall of humiture environment case, prevent to take place the reflection of radar wave, further simulate out the application environment in spacious field.
In one embodiment, the test radar includes radar revolving stage and the radar body of setting on the radar revolving stage, and the inside heat preservation cabin that still is equipped with of box of humiture environment case, shaking table include vibration generating device and vibration mesa, wherein:
the heat preservation cabin sets up at the box top of temperature and humidity environment case, and the heat preservation cabin is located to the radar simulator antenna, and the heat preservation cabin is used for keeping apart the current interior temperature and humidity environment that simulates out of car with the radar simulator antenna to make the operation humiture of radar simulator antenna keep at predetermined humiture level.
Specifically, on one hand, the humiture environment box simulates a series of environment states of high temperature, high humidity, high temperature, normal temperature, low temperature, high humidity, vibration, impact and the like encountered by vehicle running, and can realize radar performance test based on the real road environment. On the other hand, because the radar simulator antenna is built by the consumer-grade circuit, the temperature use requirement of-40 ℃ to 125 ℃ in the vehicle cannot be met, therefore, in the embodiment, the heat preservation cabin is made of a non-metal temperature-resistant material, so that a high-temperature high-humidity environment caused by a temperature and humidity environment box can be isolated, and the normal use of the radar simulator antenna and the real-time transmission of echo signals can also be ensured.
The radar rotary table is arranged at the bottom of the box body of the temperature and humidity environment box and fixed on the vibration table surface, and the radar rotary table is used for adjusting the rotation angle of the radar body, so that the radar body can transmit detection waves according to the adjusted corresponding rotation angle, and echo signals can be received.
Specifically, the radar rotary table drives the radar body to rotate in a large angle based on a manual mechanical adjusting mode. In one embodiment, the radar body may also be driven to rotate step by step at a fixed angle (the angle is generally referred to as a "step angle") according to a preset rotation direction, wherein the angular displacement may be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning.
The vibration generating device is used for transmitting the output vibration to the radar body so as to construct a vibration environment in the vehicle.
Specifically, the vibration generating device is driven by the electromagnetic vibration table to rotate at a high speed, so that high-frequency and micro-amplitude vibration is generated, and the vibration frequency can reach 12000-15000 times/min. The electromagnetic vibration table mainly pushes the working table top to perform amplitude and amplitude reduction vibration in the vertical direction through an electromagnetic excitation control device.
In the above embodiment, keep apart the interior temperature and humidity environment of car that simulates out at present with radar simulator antenna through the heat preservation cabin to the high temperature and high humidity environment that brings of isolation zone temperature and humidity environment case has guaranteed radar simulator antenna's normal use, and echo signal's real-time transmission.
In one embodiment, the controller is further configured to call a preset simulation model to simulate a working condition environment, and transmit environment information corresponding to the working condition environment to the radar simulator, so as to trigger the radar simulator to simulate a vehicle surrounding scene adapted to the working condition environment according to the environment information; wherein: the working condition environment comprises at least one of traffic road conditions, driver states, vehicle types and weather conditions; the moving objects simulated via the radar simulator include at least one of other vehicles, pedestrians, animals, moving obstacles, and fixed obstacles, which are located around the target vehicle and in a driving state or a parking state.
In the above embodiment, the verification of the key parameters is performed based on the called automatic test script, the script maintenance and maintenance cost is lower than that of the linear script writing method, the development cost is lower than that of the structured script writing method, and a lot of copying labor can be reduced.
In one embodiment, as shown in fig. 5, there is provided a method for detecting the operational reliability of a vehicle-mounted radar suitable for use in the system disclosed in any one of the above embodiments, including the following steps:
and step S502, determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through the environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index.
Step S504, the detection wave is transmitted to the radar simulator in the simulated vehicle environment through the test radar, so that the relative position and the motion state of the simulated moving object are positioned through the radar simulator according to the corresponding vehicle surrounding scene.
Step S506, when the radar simulator determines that the detection waves are received, the radar simulator feeds back echo signals carrying positioning motion information to a test radar through an antenna of the radar simulator; the positioning motion information includes at least one of a separation distance, a relative position, a relative motion direction, and a relative motion speed between the target vehicle and the moving object.
And step S508, analyzing the positioning motion information from the received echo signals through the test radar, and transmitting the analyzed positioning motion information to the controller.
And step S510, detecting the operation reliability of the test radar through a corresponding detection mode according to the positioning motion information through the controller.
In one embodiment, the method further comprises: acquiring a corresponding target partition environment index through the environment simulation device, and setting an environment parameter based on the target partition environment index; the target subarea environment index is determined according to the setting position of the test radar in the target vehicle; and simulating the environment in the vehicle where the test radar is located through the environment simulation device based on the set environment parameters.
In one embodiment, the method further comprises: the currently simulated in-vehicle temperature and humidity environment is isolated from the radar simulator antenna through the heat preservation cabin, so that the running temperature and humidity of the radar simulator antenna are kept at the preset temperature and humidity level.
In one embodiment, the method further comprises: the rotation angle of the radar body is adjusted through the radar rotary table, so that the radar body transmits the detection waves according to the adjusted corresponding rotation angle, and the echo signals are received.
In one embodiment, the method further comprises: the output vibration is transmitted to the radar body through the vibration generating device so as to construct a vibration environment in the vehicle.
In one embodiment, the method further comprises: calling a preset simulation model through the controller to simulate the surrounding environment of the vehicle, and transmitting environment information corresponding to the surrounding environment of the vehicle to the radar simulator so as to trigger the radar simulator to simulate a corresponding surrounding scene of the vehicle according to the environment information; wherein: the vehicle surroundings scene includes at least one of other vehicles, pedestrians, animals, moving obstacles, and fixed obstacles, which are located around the target vehicle and are in a driving state or a parking state.
In one embodiment, the detection mode comprises an environment adaptability evaluation mode and an environment adaptability differentiation evaluation mode, and a plurality of radar arrangement points are arranged in the target vehicle; through the controller according to the location motion information, through corresponding detection mode, detect the operational reliability of test radar, include: when the running reliability of the test radar is judged based on the environment adaptability evaluation mode through the controller, the actual motion information of the moving object in the surrounding scene of the vehicle is obtained, the positioning motion information is matched with the actual motion information to obtain a corresponding environment adaptability matching result, and the running reliability of the test radar is verified through the environment adaptability matching result; when the operational reliability of the test radar is judged based on the environment adaptability dissimilarity evaluation mode through the controller, environment adaptability matching results respectively corresponding to the test radar at each radar arrangement point are obtained, the obtained environment adaptability matching results are compared to obtain corresponding environment adaptability dissimilarity comparison results, and the operational reliability of the test radar is verified through the environment adaptability dissimilarity comparison results.
In one embodiment, the method further comprises: the frequency of the echo signals required to be fed back is converted through the radar simulator based on a preset frequency conversion rule, so that the echo signals with different frequencies are fed back to the test radar through the antenna of the radar simulator.
In one embodiment, the analyzing the positioning motion information from the received echo signal by the test radar and transmitting the analyzed positioning motion information to the controller includes: when the received echo signal is determined to be a coded signal through the radar post-processing module, decoding the coded signal, and analyzing the positioning motion information based on the decoded signal obtained by decoding; and transmitting the positioning motion information obtained by analysis to a controller through a radar post-processing module so as to trigger the controller to detect the operation reliability of the test radar according to the positioning motion information.
According to the method for detecting the running reliability of the vehicle-mounted radar, before the test radar is put into use, states of the radar in different use environments, such as high temperature and high humidity, high temperature, normal temperature, low temperature and the like, are simulated through the environment simulation device according to the set position of the test radar in the target vehicle, the running reliability of the radar is not limited to be verified in the normal temperature environment, the comprehensiveness of a detection result is guaranteed under the condition that the simulation environment is matched with the working environment of the real radar, and the detection effect is better. In addition, the operation reliability of the test radar is detected through the controller based on the detected positioning motion information of the test radar in the simulated in-vehicle environment, so that the environment reliability test verification of the radar in the working state is realized, and the reliability of the detection data is ensured.
It should be understood that although the various steps in the flow charts of fig. 3-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
For specific limitations of the vehicle radar operation reliability detection method, reference may be made to the above limitations of the vehicle radar operation reliability detection device, and details are not described herein again. All or part of each module in the vehicle-mounted radar operation reliability detection device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal or a server, and its internal structure diagram may be as shown in fig. 6. The computer device includes a processor, a memory, and a communication interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to realize a method for detecting the operational reliability of the vehicle-mounted radar.
Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through an environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index; transmitting detection waves to a radar simulator by a test radar in a simulated in-vehicle environment so as to position the relative position and the motion state of a simulated moving object according to corresponding surrounding scenes of the vehicle by the radar simulator; when the radar simulator determines that the detection waves are received, the radar simulator feeds back an echo signal carrying the positioning motion information to a test radar through an antenna of the radar simulator; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between the target vehicle and the moving object; analyzing positioning motion information from the received echo signals through a test radar, and transmitting the analyzed positioning motion information to a controller; and detecting the running reliability of the test radar in a corresponding detection mode through the controller according to the positioning motion information.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a corresponding target partition environment index through the environment simulation device, and setting an environment parameter based on the target partition environment index; the target subarea environment index is determined according to the setting position of the test radar in the target vehicle; and simulating the environment in the vehicle where the test radar is located through the environment simulation device based on the set environment parameters.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the currently simulated in-vehicle temperature and humidity environment is isolated from the radar simulator antenna through the heat preservation cabin, so that the running temperature and humidity of the radar simulator antenna are kept at the preset temperature and humidity level.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the rotation angle of the radar body is adjusted through the radar rotary table, so that the radar body transmits the detection waves according to the adjusted corresponding rotation angle, and the echo signals are received.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the output vibration is transmitted to the radar body through the vibration generating device so as to construct a vibration environment in the vehicle.
In one embodiment, the processor, when executing the computer program, further performs the steps of: calling a preset simulation model through the controller to simulate the surrounding environment of the vehicle, and transmitting environment information corresponding to the surrounding environment of the vehicle to the radar simulator so as to trigger the radar simulator to simulate a corresponding surrounding scene of the vehicle according to the environment information; wherein: the vehicle surroundings scene includes at least one of other vehicles, pedestrians, animals, moving obstacles, and fixed obstacles, which are located around the target vehicle and are in a driving state or a parking state.
In one embodiment, the detection mode comprises an environment adaptability evaluation mode and an environment adaptability differentiation evaluation mode, and a plurality of radar arrangement points are arranged in the target vehicle; the processor, when executing the computer program, further performs the steps of: when the running reliability of the test radar is judged based on the environment adaptability evaluation mode through the controller, the actual motion information of the moving object in the surrounding scene of the vehicle is obtained, the positioning motion information is matched with the actual motion information to obtain a corresponding environment adaptability matching result, and the running reliability of the test radar is verified through the environment adaptability matching result; when the operational reliability of the test radar is judged based on the environment adaptability dissimilarity evaluation mode through the controller, environment adaptability matching results respectively corresponding to the test radar at each radar arrangement point are obtained, the obtained environment adaptability matching results are compared to obtain corresponding environment adaptability dissimilarity comparison results, and the operational reliability of the test radar is verified through the environment adaptability dissimilarity comparison results.
In one embodiment, the processor, when executing the computer program, further performs the steps of: the frequency of the echo signals required to be fed back is converted through the radar simulator based on a preset frequency conversion rule, so that the echo signals with different frequencies are fed back to the test radar through the antenna of the radar simulator.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the received echo signal is determined to be a coded signal through the radar post-processing module, decoding the coded signal, and analyzing the positioning motion information based on the decoded signal obtained by decoding; and transmitting the positioning motion information obtained by analysis to a controller through a radar post-processing module so as to trigger the controller to detect the operation reliability of the test radar according to the positioning motion information.
Before the test radar is put into use, the computer equipment simulates states of the radar in different use environments, such as high temperature and high humidity, high temperature, normal temperature, low temperature and the like, through the environment simulation device according to the setting position of the test radar in the target vehicle, the operation reliability of the radar is not limited to be verified in the normal temperature environment, the comprehensiveness of a detection result is ensured under the condition that the simulation environment is matched with the working environment of the real radar, and the detection effect is better. In addition, the operation reliability of the test radar is detected through the controller based on the detected positioning motion information of the test radar in the simulated in-vehicle environment, so that the environment reliability test verification of the radar in the working state is realized, and the reliability of the detection data is ensured.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: determining a corresponding target subarea environment index according to the set position of the test radar in the target vehicle through an environment simulation device, and simulating the in-vehicle environment of the test radar based on the target subarea environment index; transmitting detection waves to a radar simulator by a test radar in a simulated in-vehicle environment so as to position the relative position and the motion state of a simulated moving object according to corresponding surrounding scenes of the vehicle by the radar simulator; when the radar simulator determines that the detection waves are received, the radar simulator feeds back an echo signal carrying the positioning motion information to a test radar through an antenna of the radar simulator; the positioning motion information comprises at least one of a spacing distance, a relative position, a relative motion direction and a relative motion speed between the target vehicle and the moving object; analyzing positioning motion information from the received echo signals through a test radar, and transmitting the analyzed positioning motion information to a controller; and detecting the running reliability of the test radar in a corresponding detection mode through the controller according to the positioning motion information.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a corresponding target partition environment index through the environment simulation device, and setting an environment parameter based on the target partition environment index; the target subarea environment index is determined according to the setting position of the test radar in the target vehicle; and simulating the environment in the vehicle where the test radar is located through the environment simulation device based on the set environment parameters.
In one embodiment, the computer program when executed by the processor further performs the steps of: the currently simulated in-vehicle temperature and humidity environment is isolated from the radar simulator antenna through the heat preservation cabin, so that the running temperature and humidity of the radar simulator antenna are kept at the preset temperature and humidity level.
In one embodiment, the computer program when executed by the processor further performs the steps of: the rotation angle of the radar body is adjusted through the radar rotary table, so that the radar body transmits the detection waves according to the adjusted corresponding rotation angle, and the echo signals are received.
In one embodiment, the computer program when executed by the processor further performs the steps of: the output vibration is transmitted to the radar body through the vibration generating device so as to construct a vibration environment in the vehicle.
In one embodiment, the computer program when executed by the processor further performs the steps of: calling a preset simulation model through the controller to simulate the surrounding environment of the vehicle, and transmitting environment information corresponding to the surrounding environment of the vehicle to the radar simulator so as to trigger the radar simulator to simulate a corresponding surrounding scene of the vehicle according to the environment information; wherein: the vehicle surroundings scene includes at least one of other vehicles, pedestrians, animals, moving obstacles, and fixed obstacles, which are located around the target vehicle and are in a driving state or a parking state.
In one embodiment, the detection mode comprises an environment adaptability evaluation mode and an environment adaptability differentiation evaluation mode, and a plurality of radar arrangement points are arranged in the target vehicle; the computer program when executed by the processor further realizes the steps of: when the running reliability of the test radar is judged based on the environment adaptability evaluation mode through the controller, the actual motion information of the moving object in the surrounding scene of the vehicle is obtained, the positioning motion information is matched with the actual motion information to obtain a corresponding environment adaptability matching result, and the running reliability of the test radar is verified through the environment adaptability matching result; when the operational reliability of the test radar is judged based on the environment adaptability dissimilarity evaluation mode through the controller, environment adaptability matching results respectively corresponding to the test radar at each radar arrangement point are obtained, the obtained environment adaptability matching results are compared to obtain corresponding environment adaptability dissimilarity comparison results, and the operational reliability of the test radar is verified through the environment adaptability dissimilarity comparison results.
In one embodiment, the computer program when executed by the processor further performs the steps of: the frequency of the echo signals required to be fed back is converted through the radar simulator based on a preset frequency conversion rule, so that the echo signals with different frequencies are fed back to the test radar through the antenna of the radar simulator.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the received echo signal is determined to be a coded signal through the radar post-processing module, decoding the coded signal, and analyzing the positioning motion information based on the decoded signal obtained by decoding; and transmitting the positioning motion information obtained by analysis to a controller through a radar post-processing module so as to trigger the controller to detect the operation reliability of the test radar according to the positioning motion information.
Before the test radar is put into use, the storage medium simulates states of the radar in different use environments, such as high temperature and high humidity, high temperature, normal temperature, low temperature and the like, through the environment simulation device according to the setting position of the test radar in the target vehicle, the operation reliability of the radar is not only verified in the normal temperature environment, and under the condition that the simulation environment is matched with the working environment of the real radar, the comprehensiveness of a detection result is ensured, so that the detection effect is better. In addition, the operation reliability of the test radar is detected through the controller based on the detected positioning motion information of the test radar in the simulated in-vehicle environment, so that the environment reliability test verification of the radar in the working state is realized, and the reliability of the detection data is ensured.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
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