CN110988555B - Hardware-in-loop-based electromagnetic compatibility test platform for automatic driving intelligent automobile - Google Patents
Hardware-in-loop-based electromagnetic compatibility test platform for automatic driving intelligent automobile Download PDFInfo
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- CN110988555B CN110988555B CN201911324234.0A CN201911324234A CN110988555B CN 110988555 B CN110988555 B CN 110988555B CN 201911324234 A CN201911324234 A CN 201911324234A CN 110988555 B CN110988555 B CN 110988555B
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/001—Measuring interference from external sources to, or emission from, the device under test, e.g. EMC, EMI, EMP or ESD testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The invention discloses an automatic driving intelligent automobile electromagnetic compatibility test platform based on a hardware-in-loop, which is provided with an anechoic chamber, wherein a mobile dummy system, a radar target simulator system and a scene simulation system are arranged in the anechoic chamber; the mobile dummy system and the radar target simulator system are used for electromagnetic compatibility test of the vehicle-mounted radar; the scene simulation system is used for the electromagnetic compatibility test of the vehicle-mounted forward-looking camera. The invention realizes the electromagnetic compatibility interference-free simulation test of the hardware-in-loop intelligent automobile sensing system, fills the research blank of the electromagnetic compatibility test without electromagnetic interference, and establishes the whole automobile-level electromagnetic compatibility test evaluation system of the intelligent automobile.
Description
Technical Field
The invention relates to the field of electromagnetic compatibility testing of millimeter wave radars of intelligent automobiles, in particular to an electromagnetic compatibility testing technology of an automatic driving intelligent automobile based on a hardware-in-loop.
Background
As early as 1995, national has carried out a mandatory certification of electromagnetic compatibility of a whole vehicle, and the standard being implemented at that time was GB14023, which was intended to suppress interference of an ignition device of a vehicle engine with broadcasting and television in the surrounding environment. With the continuous development of automobile technology, more and more electronic products are applied to vehicles, and the test certification of narrow-band signals is increased along with the electronic products, so that the influence of the narrow-band signals on mobile communication, vehicle-mounted communication, broadcasting and various controllers is limited. The coming of new energy automobiles in 2005 increases the certification project of the GB/T18387 standard, and the certification content of electric vehicles is increased in the GB14023 standard. The intelligent automobile is a brand new automobile technology, the electromagnetic compatibility testing method is forced to be updated again, the research content is to meet the requirement of electromagnetic compatibility certification of the intelligent automobile, and the intelligent automobile has very important scientific, social and economic values.
With the emergence of intelligent automobiles, both traditional automobile enterprises and industry new armies, research, development and manufacturing of intelligent automobiles are taken as the key points of future competition, and therefore new requirements are provided for detection items, detection methods, detection means and the like of the intelligent automobiles.
The electromagnetic compatibility test is always an important item of the performance test of the whole automobile, the intelligent automobile adopts the pulse modulation reason, so that high electromagnetic interference can be generated, meanwhile, the intelligent automobile is provided with electronic systems such as environment sensing, calculation, control, driving, communication and the like, the working safety of the intelligent automobile is closely related to the electromagnetic compatibility, and the reasonable and effective evaluation of the electromagnetic compatibility of the intelligent automobile is an important direction for guaranteeing the safe driving of the intelligent automobile.
Electromagnetic compatibility research is an important international research field, and currently, only a few internationally-known EMC equipment manufacturers such as Luode and Schwarz, Dongyang, Shid science and technology begin to cooperate with large-scale automobile manufacturing enterprises such as BMW, Toyota, general, Walvo and the like to research and explore. At present, various automobile manufacturers compete to develop the research and development of the intelligent automobile, but the research and development still stay in the function development stage of the intelligent automobile, and the EMC performance research is not paid attention. A certain beneficial attempts are made in the aspect of intelligent vehicle EMC performance research and development by well-known EMC laboratories in China, and partial intelligent vehicle EMC testing methods and performance evaluation related researches are made by combining with domestic intelligent vehicles. In the world, the EMC performance research of the system-level environment sensing radar is also in a starting stage; the research on the EMC performance of the intelligent automobile executing mechanism is not developed domestically; at present, functions such as AEB, FCW and ACC of the intelligent automobile are increasingly popularized, and the functions bring relaxed driving experience, and meanwhile, new potential safety hazards are introduced into the reliability of a high-automation system, so that the deep research on the reliability of the systems such as the AEB, the FCW and the ACC of the intelligent automobile in a complex electromagnetic environment is an important content for improving the safety of the intelligent automobile. The electromagnetic compatibility of the intelligent automobile is correctly checked, so that the safety of the automobile is concerned, and whether communication devices (V2I, V2X, mobile phones, WIFI, 4G and the like) used in the environment can work quickly, accurately and effectively is also concerned, so that the driving safety and accurate communication of the intelligent automobile are guaranteed.
The hardware-in-the-loop (HiL) simulation test system simulates the running state of a controlled object by running a simulation model through a real-time processor, is connected with an actual controller to be tested through an I/O interface, and carries out comprehensive and systematic test on the tested controller. In consideration of safety, feasibility and reasonable cost, the HiL hardware in-loop simulation test becomes a very important loop in the process of developing a control system, so that the number of real vehicle road tests is reduced, the development time is shortened, the cost is reduced, the software quality of a controller is improved, and the risk of an automobile factory is reduced.
Disclosure of Invention
The invention aims to research the electromagnetic compatibility testing technology of an intelligent automobile environment sensing system, a vehicle-mounted terminal system and the like under a complex electromagnetic environment condition, build a rotating hub test bed single-automobile hardware-in-the-loop automatic driving intelligent automobile electromagnetic compatibility testing platform under an anechoic chamber environment, and build an intelligent automobile in-the-loop simulation testing technology system.
The scheme of the vehicle-in-loop simulation test platform under the anechoic chamber environment provides research for the whole vehicle-level electromagnetic compatibility test technology, researches EMI and EMS evaluation means and methods of the vehicle-in-loop simulation test platform, and realizes the electromagnetic compatibility test of the whole intelligent vehicle hardware-in-loop. The difficulty of the scheme is how to activate the ADAS function in the anechoic chamber and eliminate the influence of obstacles such as walls, antennae and the like in the test chamber on the test. The key technology is that an AEV hardware-in-the-loop test platform is built under an electromagnetic compatibility test environment, a sensing system and an in-the-loop test platform with an intelligent driving function are built under an anechoic chamber environment, and the electromagnetic compatibility of an automatic driving automobile is researched.
For the function triggering of the AEV intelligent camera, various road scenes are recorded by utilizing a large screen reproduction mode in a road scene darkroom, and the recorded road scenes are debugged in a linkage manner with a real vehicle, so that the LDW function of the whole vehicle is activated in a laboratory, and the EMC verification of the LDW function of the AEV whole vehicle in an electromagnetic compatibility laboratory is realized. For triggering the AEV millimeter wave radar function, a dummy system and a radar target simulator system which can be remotely regulated and controlled are established, the false target reflection of the vehicle in a darkroom is inhibited, and then the ACC, AEB and FCW functions are accurately activated in the darkroom, so that the EMC verification of the ACC, AEB and FCW functions of the AEV whole vehicle in an electromagnetic compatibility laboratory is realized.
The invention adopts the following specific technical scheme:
an electromagnetic compatibility testing platform of an automatic driving intelligent automobile based on a hardware-in-loop comprises an anechoic chamber, wherein an intelligent automatic control antenna tower, a power supply system, a smoke alarm system, a monitoring system, a tail gas exhaust system, a hub rotating system, a mobile dummy system, a radar target simulator system and a scene simulation system are arranged in the anechoic chamber;
the wall body of the anechoic chamber adopts an interlayer shielding structure;
the rotating hub system is arranged on the ground of the anechoic chamber and comprises a rotatable rotating hub platform, a wheel embedding hole is formed in the rotating hub platform, a wheel friction system is arranged at the bottom of the wheel embedding hole, and a test vehicle is parked on the rotating hub platform after being driven into the anechoic chamber;
the mobile dummy system and the radar target simulator system are used for electromagnetic compatibility test of the vehicle-mounted radar; the mobile dummy system is arranged in front of the vehicle, and the dummy transversely moves in front of the vehicle to simulate a real person to cross a road; the radar target simulator system is arranged in front of the vehicle and generates a target simulation signal to be in butt joint with the vehicle-mounted radar;
the scene simulation system is used for electromagnetic compatibility test of the vehicle-mounted forward-looking camera, the scene simulation system is a simulation scene generation system which is built by a projector and a projection screen, and the vehicle-mounted forward-looking camera collects a projection image;
electromagnetic shielding measures are adopted in the anechoic chamber, the intelligent automatic control antenna tower, the power supply system, the smoke alarm system, the monitoring system, the tail gas exhaust system, the rotating hub system, the mobile dummy system, the radar target simulator system and the scene simulation system.
Furthermore, the outermost layer of the anechoic chamber wall body is a shielding steel plate, the middle layer is a ferrite wave-absorbing material layer, and the innermost layer is a polyphenyl wave-absorbing material layer; the shielding steel plate is a double-sided galvanized steel plate, the thickness of the steel plate is 2mm, and the thickness of a zinc coating is more than or equal to 20 mu m.
Furthermore, the mobile dummy system comprises a track platform, a platform slide rail, a mobile device, a traction device, a lifting device and a dummy, which are all made of materials without electromagnetic interference; the platform slide rail is arranged on the rail platform, the moving device is arranged on the platform slide rail in a sliding mode, the dummy is fixed on the moving device, the moving device is pulled by the traction device, and the lifting device drives the traction device.
Further, the moving device is arranged on the platform sliding rail in a sliding mode through a ball wheel; the traction device comprises a traction rope, a pulley and a lifting slide block; the two traction ropes are respectively connected to two ends of the dummy platform base along the moving direction in a fastening mode, the other ends of the two traction ropes are respectively connected to the lifting slide block in a turning mode through pulleys, and the two traction ropes form a traction loop through the pulleys and the lifting slide block; the lifting slide block is sleeved on the lifting tower; the lifting device comprises a lifting tower, a motor and a chain/belt, and the chain/belt drives a lifting slide block.
Furthermore, the radar target simulator system is used for conducting 77G millimeter wave radar testing, a shielding box is arranged, a radar target simulator host and a radar target simulator are arranged in the shielding box, space communication is conducted between the radar target simulator and the vehicle-mounted radar through a radar target simulator waveguide tube, and remote butt joint is achieved through a fiber waveguide tube by remote control fibers of the radar target simulator host.
Furthermore, the waveguide tube of the radar target simulator is formed by combining an outer layer metal tube and an inner layer wave-absorbing paper tube, the wave-absorbing paper tube is rolled into a tube shape and sleeved inside the metal tube, the inner diameter of the waveguide tube of the radar target simulator is 13mm, and the thickness of the wave-absorbing paper tube is 0.2 mm.
Furthermore, the projector and the power supply of the scene simulation system are arranged in a shielding box, shielding glass for projection is arranged on the box body, and the projection screen is arranged between the front of the projector and the vehicle.
Furthermore, a steel plate and a conductive cotton sliver are additionally arranged at the mounting position of the shielding glass; the middle of the steel plate is provided with a hole, a conductive cotton sliver is clamped between the shielding glass and the steel plate, the conductive cotton sliver is arranged at the edge of the shielding glass, the shielding glass is attached to the box body, the steel plate is connected with the box body through bolts, and the conductive cotton sliver and the shielding glass are clamped in the middle.
Further, the shielding box comprises a stainless steel metal box body and a metal upper cover; a cylindrical copper wire mesh and an upper cover fastening device are arranged on the upper edge of the metal box body, and the cylindrical copper wire mesh is placed on the upper edge of the metal box body in a looped manner; when the metal box body is buckled with the metal upper cover, the upper cover fastening device compresses the metal upper cover, and the cylindrical copper wire mesh is pressed between the metal box body and the metal upper cover.
Furthermore, the shielding case is provided with a ventilation waveguide window, the ventilation waveguide window comprises a waveguide window, a sealing copper mesh and a fan, the sealing copper mesh is clamped between the waveguide window and the case body, and the fan is installed on the inner side of the case body.
The invention realizes the electromagnetic compatibility interference-free simulation test of the hardware-in-loop intelligent automobile sensing system, fills the research blank of the electromagnetic compatibility test without electromagnetic interference, and establishes the whole automobile-level electromagnetic compatibility test evaluation method of the intelligent automobile. 1. The platform completes the construction of a test environment by adopting a series of measures such as an anechoic chamber, a wave-absorbing material, a shielding box and the like, has no influence on an electromagnetic environment, and has strong anti-interference capability of the system. 2. And the test environment has simple structure and simple and convenient operation, can be completely operated by a single person and is controlled outside a darkroom. 3. The platform has high shielding effectiveness which can reach 20-25 dB. 4. An independent 220V filtering power supply can be used for supplying power, interference signals sent by the equipment can be reflected by the shielding shell, and the influence on the test environment in the anechoic chamber is avoided. 5. The hub system can simulate the straight-ahead and turning of the vehicle. 6. Is suitable for various vehicles. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
FIG. 1 is a diagram of an electromagnetic compatibility testing platform system layout;
FIG. 2 is a view of the wall structure of an anechoic chamber;
FIG. 3 is a surface view of the rotating hub system;
FIG. 4 is a diagram of a mobile dummy system;
FIG. 5 is a diagram of a radar target simulator system one;
FIG. 6 is a diagram of a radar target simulator system two;
FIG. 7 is a view of a cylindrical copper wire mesh;
FIG. 8 is a diagram of a waveguide structure of a radar target simulator;
FIG. 9 is a view of a ventilation waveguide window structure;
FIG. 10 is a diagram of a scene simulation system;
FIG. 11 is a view of a metal enclosure of a shielded box;
fig. 12 is a structure view of mounting a shield glass.
Detailed Description
The invention is described in detail below with reference to the drawings, which form a part hereof, and which are shown by way of illustration, embodiments of the invention. However, it should be understood by those skilled in the art that the following examples are not intended to limit the technical scope of the present invention, and any equivalent changes or modifications made within the spirit of the technical scope of the present invention should be considered as falling within the protection scope of the present invention.
The intelligent automobile is provided with a large number of electronic components and communication devices, and the importance of electromagnetic compatibility evaluation is highlighted. The electromagnetic compatibility performance is directly related to whether the vehicle can work normally or not, and whether the communication information from a base station, WIFI, other vehicles and the environment can be received correctly or not. The electromagnetic compatibility test needs to be carried out in a special environment without external electromagnetic interference, and hardware is needed to simulate the running of a vehicle and the working state of components in a ring.
The invention is provided with an anechoic chamber. The anechoic chamber adopts an independent steel supporting structure to bear the weight of all shielding and installation facilities (comprising wave-absorbing materials and the like) and resist the requirement of 7-grade seismic intensity. The anechoic chamber ensures the shielding performance and the electromagnetic energy absorption performance when the electromagnetic compatibility test is carried out in the frequency range of 9k-18 GHz. The main components of the anechoic chamber include: the intelligent monitoring system comprises a steel structure house body, a shielding door 1, an intelligent automatic control antenna tower 2, a power supply system 3, a smoke alarm system 4, a monitoring system 5, a tail gas exhaust system 6, a rotating hub system 7 and the like, wherein all devices which are possible to generate electromagnetic interference are shielded by wave absorbing plates, as shown in figure 1.
The darkroom wall body adopts an interlayer structure, as shown in figure 2, the outermost layer of the wall body is a shielding steel plate 11, the middle layer is a ferrite wave-absorbing material layer 12, the innermost layer is a polyphenyl wave-absorbing material layer 13, and the door is also the same. Ferrite wave-absorbing material with the wave-absorbing range of 30-300 MHz; the polyphenyl wave-absorbing material has a wave-absorbing range of 300MHz-18GHz, and has good wave-absorbing effect by combining the polyphenyl wave-absorbing material and the polyphenyl hard material, and the polyphenyl hard material does not sag or deform. The white reflecting cover plate is additionally arranged on the darkroom top plate to provide a white and smooth inner surface, so that the brightness and the attractiveness of a working area in the darkroom are improved, and the working space is not influenced. Furthermore, the shielding steel plate is a double-sided galvanized steel plate with the thickness of 2mm, and the thickness of the galvanized layers on the two sides of the steel plate is more than or equal to 20 mu m (namely more than or equal to 275 g/m)2) And the thickness of the plating layer is uniform.
Laying a grounding steel plate on the ground of an anechoic chamber, and designing a rotary hub system 7, wherein the rotary hub system 7 comprises a rotary hub platform 71, and the rotary hub platform 71 can be driven to rotate by a driving system arranged underground as shown in figure 3; the wheel embedding holes 72 are formed in the hub platform, a vehicle is driven into a dark room to stay on the hub platform 71, four wheels are embedded into the wheel embedding holes 72, and a wheel friction system is arranged at the bottom of the hub platform and drives the wheels to rotate by means of friction. The rotating hub platform rotates and simultaneously the wheels rotate to simulate the running and turning of the vehicle; the rotary hub platform does not rotate, and only the wheels rotate to simulate the straight running of the vehicle.
Besides basic test facilities including an intelligent automatic control antenna tower 2, a power supply system 3, a smoke alarm system 4, a monitoring system 5 and a tail gas exhaust system 6, the anechoic chamber is also provided with a radar simulation system and a scene simulation system for EMI and EMS tests.
The radar simulation system adopts two means, one is that a mobile dummy system 8 is arranged in front of the vehicle to simulate transverse pedestrians in front of the vehicle; the other is that a radar target simulator system 9 is arranged in front of the vehicle to simulate various obstacles in front; both are to test the electromagnetic compatibility induction of the vehicle radar. The scene simulation system 10 is used for simulating a scene in front of a vehicle by arranging a projector and a screen in front of the vehicle, and is used for testing the electromagnetic compatibility induction of a vehicle-mounted front camera.
Therefore, in order to be used for the electromagnetic compatibility test of the vehicle-mounted sensing system, the key point of the scheme is to construct an electromagnetic interference free environment and a simulation system, and electromagnetic shielding measures are taken for the mobile dummy system 8, the radar target simulator system 9 and the scene simulation system 10, so that electromagnetic interference cannot be generated outwards when interference emission test is carried out, background noise of an electric wave darkroom is influenced, high-field-intensity signals emitted by a test equipment radiation antenna in the process of carrying out the anti-interference emission test cannot damage the test system, and the shielding measures are not available at present.
As shown in fig. 4, the mobile dummy system 8 is mainly composed of a rail platform 81, a platform slide rail 82, a dummy 83, a moving device 84, a traction device 85, and a lifting device 86.
During the test, the track platform 81 is transported to an anechoic chamber through a platform truck; the platform rail 82 is mounted on the rail platform 81, the dummy 83 is fixed on the moving device 84, and the moving device 84 is pulled by the pulling device 85 to move on the platform rail 82. The whole set of dummy system is made of material without electromagnetic interference.
The moving device comprises a fixed support, a dummy platform base and a ball wheel. The dummy passes through the fixed bolster to be fixed on dummy platform base, and the platform base can the back-and-forth movement at track platform, and the embodiment is unrestricted, for example: two platform slide rails are fixed on the track platform and arranged in parallel; the dummy platform base is arranged on the platform slide rail in a sliding manner and can slide on the platform slide rail; for example, the platform slide rail is designed into a groove rail, the ball roller is arranged at the bottom of the dummy platform base, and the ball roller is combined with the platform slide rail, so that the dummy platform base slides along the platform slide rail; the dummy is fixed on the dummy platform base through the fixed support, and the dummy can move on the rail platform when the dummy platform base moves.
The moving power of the dummy platform base comes from a traction device, and the traction device comprises a traction rope, a pulley and a lifting slide block; the two traction ropes are respectively fastened at two ends of the dummy platform base along the moving direction, the other ends of the two traction ropes are respectively connected to the lifting slide block in a turning manner through the pulleys, and the two traction ropes form a traction loop through the pulleys and the lifting slide block. The lifting slide block is sleeved on the lifting tower; the lifting slide block is used as a connecting piece of the traction device and the lifting device.
The lifting device comprises a lifting tower, a motor and a chain/belt, wherein the lifting tower is vertically arranged in the anechoic chamber and is provided with a tower rod and a tower seat; the chain/belt is connected with a lifting slide block, and the motor drives the chain/belt to drive the lifting slide block to move on the tower pole. The motor is arranged in the tower base, and electromagnetic interference can not be generated.
The dummy simulates a pedestrian walking in front of the vehicle and serves as a radar test target. The control signal of the lifting tower is transmitted to a control cabinet outside the electric wave darkroom through the optical fiber, and a tester can control the moving track of the dummy at any time. No electromagnetic reflection and interference signals are generated in the test process, and the background noise of the whole anechoic chamber is not influenced.
When the test is carried out, a track platform in the mobile dummy system is placed right in front of the rotary drum, a test environment is set, the position of the dummy is well adjusted, a test vehicle loaded with the radar system is adjusted to the middle position of the rotary drum, the vehicle is fixed on the rotary drum, the vehicle is operated to a constant-speed cruising state, and at the moment, the mobile dummy is in front of the vehicle. And then, starting test software in a control room to start an electromagnetic compatibility test, controlling the dummy system to start to advance or retreat, and detecting the automatic alarm and emergency brake electromagnetic compatibility test states of the vehicle when the dummy system enters the millimeter wave radar visual field range of the vehicle.
As shown in fig. 5-6, the radar target simulator system 9 can perform a 77G millimeter wave radar test, the radar target simulator system 9 adopts a shielding system, a shielding box is designed, the radar target simulator and all the devices which may generate electromagnetic interference are all installed in the shielding box, and a signal channel is opened on the shielding box. The radar target simulator generates a simulation target which is sent out by a horn antenna, and a millimeter wave radar on the intelligent automobile is activated through a waveguide tube of the radar target simulator. The radar target simulator is controlled by a radar target simulator host, and the power supply voltage of the radar target simulator host is supplied with power through a 220V power supply filter. During the test, the shielding box is arranged in front of the vehicle. The shielding box comprises a metal box body 91 and a metal upper cover 92, a radar target simulator host 93 and a radar target simulator 94 are arranged in the shielding box, a waveguide tube 95 is arranged on the box wall, and a power filter 96 is arranged outside the shielding box and supplies power to equipment.
A cylindrical copper wire mesh 97 and a shielding box upper cover fastening device 98 are arranged on the upper edge of the metal box body 91, and the cylindrical copper wire mesh 97 is placed on the upper edge of the metal box body in a looped manner; when the metal box body is buckled with the metal upper cover, the metal upper cover is tightly pressed by the shielding box upper cover fastening device, and the cylindrical copper wire mesh is pressed between the metal box body and the metal upper cover gap. The cylindrical copper wire mesh is arranged between the metal upper cover and the metal box body, so that good contact is ensured between the metal upper cover and the metal box body, and the overall shielding efficiency of the shielding box is improved. The cylindrical copper wire mesh structure is shown in fig. 7.
Space communication is carried out between radar target simulator and the intelligent automobile millimeter wave radar through the waveguide tube, and remote control optical fiber of radar target simulator host computer can accomplish long-range butt joint through the fiber waveguide tube. The wave guide 95 is formed by combining an outer layer metal tube 951 and an inner layer wave-absorbing paper tube 952, the wave-absorbing paper tube is rolled into a tube shape and sleeved in the metal tube, and the wave-absorbing paper can effectively improve the shielding efficiency, as shown in fig. 8. The internal diameter of the waveguide of the radar target simulator is 13mm, and the wave-absorbing paper tube with the thickness of 0.2mm is placed on the inner wall of the waveguide, so that target signals sent by the radar target simulator are prevented from being reflected by the wall of the waveguide, stray signals which are not needed by a radar are generated, and normal work of the intelligent automobile millimeter wave radar is influenced. The shielding effectiveness of the entire shielding box may be reduced if a thicker waveguide is used; if a waveguide tube with a small point is used, a target signal sent by the radar simulator cannot be transmitted through the space and reaches the inside of the intelligent automobile millimeter wave radar.
When the radar target simulator host works, heat is generated, so that the heat dissipation is completed by ventilating the waveguide window 99, and a fan is additionally arranged at the position of the waveguide window; meanwhile, in order to improve the shielding effectiveness, a sealing copper mesh or a shielding conductive gasket 992 is additionally installed on the waveguide window 991 to be closely connected with the metal case 91, and a fan 993 is installed on the inner side, as shown in fig. 9.
The 220V power filter belongs to a shielding device, the internal structure form is a passive filter network formed by filter inductance and capacitance, and when a power line enters a shell, the power line completely passes through the filter. The 220V power filter is welded or fastened to the box body through bolts.
During the test, the debugged 77G millimeter wave radar target simulator is placed in a movable shielding box and corresponds to a waveguide tube of the shielding box, a signal output horn of the simulator corresponds to a fiber waveguide tube of the shielding box, a filtering power supply is used for supplying power to the radar simulator, the left position, the right position and the height of a lifting table surface are adjusted, two waveguide tubes of the shielding box directly face the front of a millimeter wave radar of an intelligent automobile, and the millimeter wave radar simulator is used for performing automatic following (ACC) function electromagnetic compatibility test on the intelligent automobile.
As shown in fig. 10, the virtual shooting scene of the vehicle camera is designed by the present invention, and the scene simulation system 10 is used for imaging, and also, the key point is to take shielding measures for the scene simulation system 10. The scene simulation system 10 is constituted by: comprises a shielding box 101, a projector 102 and a power supply 103 are arranged in the shielding box, and a shielding glass 104 and a ventilation waveguide window 105 are arranged on the box; the projection screen is arranged between the front of the projector and the vehicle, so that the camera can acquire screen images.
Also, the shield case includes a metal case body 106 and a metal upper cover 107, as shown in fig. 11; the upper edge of the metal box body is stepped, a circle of cylindrical copper wire mesh 108 is placed around the box body on the lower stepped surface, a fastening device 109 is arranged on the upper stepped surface, the metal upper cover is tightly pressed on the metal box body through the fastening device, and the cylindrical copper wire mesh is clamped between the metal box body and the metal upper cover. Furthermore, the fastening device is an assembly of a connecting piece and a bolt, the connecting piece is welded on the metal box body, the connecting piece is provided with a bolt hole, the bolt is connected to the upper surface, and when the metal upper cover is pressed, the bolt is screwed downwards to prop against the metal upper cover. Good contact between metal box, metal upper cover and the cylindrical copper wire net reduces the connecting gap, has guaranteed the holistic shielding effectiveness of shielded cell. Furthermore, the fastening device is an assembly of a connecting piece and a bolt, the connecting piece is welded on the metal box body, and the bolt penetrates through the connecting piece and is pressed on the metal upper cover.
The shielding glass is a transparent shielding device for preventing electromagnetic radiation and electromagnetic interference, relates to the fields of optics, electrics, metal materials, chemical raw materials, glass, machinery and the like, is widely used in the field of electromagnetic compatibility, generates attenuation to the electromagnetic interference, does not distort various observed images (including dynamic color images) and has the characteristics of high fidelity and high definition. The invention adds conductive cotton on the shielding glass to form multi-stage protection, as shown in figure 12, the shielding glass 113 is fastened on a box body by a steel plate 110, a conductive cotton strip 111 and bolts 112, a large hole is opened in the middle of the steel plate, bolt holes are arranged on the periphery of the steel plate, the steel plate is polished when the shielding glass is installed, then the conductive cotton strip is clamped between the steel plate and the shielding glass, the conductive cotton strip is arranged on the edge of the shielding glass, the three are tightly attached to a metal box body, the large hole and the bolt holes are also opened in the box body in advance, then the steel plate and the metal box body are connected by the bolts, the shielding glass and the conductive cotton strip are clamped in the middle, and the shielding glass transmits light through the large hole.
When a forward-looking camera electromagnetic compatibility test is carried out, the debugged projector is placed into a movable shielding box, whether a cooling fan of a projector and a projector power supply corresponds to a vent of the shielding box or not is checked, whether a lens of the projector corresponds to shielding glass or not is checked, the power supply is used for supplying power to the projector, a video image is displayed on a projection screen through the shielding glass after the equipment is opened, and a metal upper cover is closed after the image is normal. The recorded actual road condition video is played by the projector, is displayed on the projection screen through the shielding glass, and in order to meet the requirement that the video image played by the projector is in butt joint with the front-view camera of the intelligent automobile, the height and the angle of the side-tipping platform can be adjusted, the vehicle is activated, and the test is carried out. The projector projects images to the screen, the vehicle front-view camera collects images to activate the LDW function, and the electromagnetic compatibility test is carried out in an interference-free environment.
Above-mentioned used shielded cell, the metal all adopts stainless steel, and steel sheet thickness: 1.5mm, and the welding mode of the box body is argon arc welding precision welding.
The embodiment is as follows:
rotating the hub platform by a rotating angle: -180;
the hub platform rotates for-185 degrees to 185 degrees;
rotating speed of the rotating hub: 0-200 km/h;
firstly, the EMI test scheme of the whole vehicle has the equipment requirements:
1) a receiver: frequency range 30 MHz-1 GHz, accuracy: f is less than or equal to 3.6G and 0.6 dB;
2) a receiving antenna: the frequency range is 30 MHz-3 GHz, the accuracy is 0-100M +/-1.5 dB; 100M-3G, ± 1.0 dB;
3) a projection device: the projection size (160 inches), the USB interface can identify MP4 video files, the rear projection mode can be adjusted, the definition is higher than 1080p, and the brightness is larger than 2000ANSI lumens;
4) a screen: the size is more than or equal to 3.5 x 2m, and the rear projection soft screen is arranged;
5) radar target simulator: the frequency range is 76GHz-81GHz, the simulated target distance is 5-300m, the simulated target speed range is-100 Km/h, and the RCS value range is-20 dBsm-30 dBsm;
6) the dummy is moved, the moving distance range is 0-6m, and the speed is adjustable within the range of 0m/s-1.5 m/s;
II, the EMS test scheme of the whole vehicle has the following equipment requirements:
1) a radio frequency signal generator: the frequency range is 9k-18GHz, and the accuracy is less than +/-0.5 dB;
2) field intensity probe: the frequency range is 9K-18GHz, and the accuracy is less than +/-0.5 dB;
3) a power probe: the frequency range is 9K-18GHz, and the accuracy is less than +/-0.10 dB;
4) a projection device: the projection size (160 inches), the USB interface can identify MP4 video files, the rear projection mode can be adjusted, the definition is higher than 1080p, and the brightness is larger than 2000ANSI lumens;
5) a screen: the size is more than or equal to 3.5 x 2m, and the rear projection soft screen is arranged;
6) radar target simulator: the frequency range is 76GHz-81GHz, the simulated target distance is 5-300m, the simulated target speed range is-100 Km/h, and the RCS value range is-20 dBsm-30 dBsm;
7) the dummy is moved, the moving distance range is 0-6m, and the speed is adjustable within the range of 0m/s-1.5 m/s;
8) a shielding box: the shielding range is 9 KHz-18G, and the shielding effectiveness is 20 dB.
The power filter comprises alternating current 380V and 220V, and direct current 12V and 24V supplies.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. The utility model provides an automatic drive intelligent automobile electromagnetic compatibility test platform based on hardware is in ring which characterized in that: the method comprises the steps that an anechoic chamber is arranged, and an intelligent automatic control antenna tower, a power supply system, a smoke alarm system, a monitoring system, a tail gas exhaust system, a hub rotating system, a mobile dummy system, a radar target simulator system and a scene simulation system are arranged in the anechoic chamber;
the wall body of the anechoic chamber adopts an interlayer shielding structure; the outermost layer of the anechoic chamber wall body is a shielding steel plate, the middle layer is a ferrite wave-absorbing material layer, and the innermost layer is a polyphenyl wave-absorbing material layer; the shielding steel plate is a double-sided galvanized steel plate, the thickness of the steel plate is 2mm, and the thickness of a zinc coating is more than or equal to 20 mu m;
the rotating hub system is arranged on the ground of the anechoic chamber and comprises a rotatable rotating hub platform, a wheel embedding hole is formed in the rotating hub platform, a wheel friction system is arranged at the bottom of the wheel embedding hole, and a test vehicle is parked on the rotating hub platform after being driven into the anechoic chamber;
the mobile dummy system and the radar target simulator system are used for electromagnetic compatibility test of the vehicle-mounted radar; the mobile dummy system is arranged in front of the vehicle, and the dummy transversely moves in front of the vehicle to simulate a real person to cross a road; the radar target simulator system is arranged in front of the vehicle and generates a target simulation signal to be in butt joint with the vehicle-mounted radar;
the scene simulation system is used for electromagnetic compatibility test of the vehicle-mounted forward-looking camera, the scene simulation system is a simulation scene generation system which is built by a projector and a projection screen, and the vehicle-mounted forward-looking camera collects a projection image; the projector and the power supply are arranged in the shielding box, shielding glass for projection is arranged on the box body, and the projection screen is arranged between the front of the projector and the vehicle;
electromagnetic shielding measures are adopted in the anechoic chamber, the intelligent automatic control antenna tower, the power supply system, the smoke alarm system, the monitoring system, the tail gas exhaust system, the rotating hub system, the mobile dummy system, the radar target simulator system and the scene simulation system;
the mobile dummy system comprises a track platform, a platform slide rail, a mobile device, a traction device, a lifting device and a dummy, which are all made of materials without electromagnetic interference;
the platform sliding rail is arranged on the rail platform, the moving device is arranged on the platform sliding rail in a sliding mode, the dummy is fixed on the moving device, the moving device is pulled by the traction device, and the lifting device drives the traction device;
the moving device is arranged on the platform sliding rail in a sliding manner through a ball wheel;
the traction device comprises a traction rope, a pulley and a lifting slide block; the two traction ropes are respectively connected to two ends of the dummy platform base along the moving direction in a fastening mode, the other ends of the two traction ropes are respectively connected to the lifting slide block in a turning mode through pulleys, and the two traction ropes form a traction loop through the pulleys and the lifting slide block; the lifting slide block is sleeved on the lifting tower;
the lifting device comprises a lifting tower, a motor and a chain/belt, and the chain/belt drives a lifting slide block;
the radar target simulator system is used for testing 77G millimeter wave radar and is provided with a shielding box, a radar target simulator host and a radar target simulator are arranged in the shielding box, space communication is carried out between the radar target simulator and a vehicle-mounted radar through a radar target simulator waveguide tube, and remote butt joint is completed through a fiber waveguide tube by remote control optical fibers of the radar target simulator host.
2. The hardware-in-loop based autopilot smart car electromagnetic compatibility testing platform of claim 1 wherein: the radar target simulator waveguide tube is formed by combining an outer-layer metal tube and an inner-layer wave-absorbing paper tube, the wave-absorbing paper tube is rolled into a tube shape and sleeved in the metal tube, the inner diameter of the radar target simulator waveguide tube is 13mm, and the thickness of the wave-absorbing paper tube is 0.2 mm.
3. The hardware-in-loop based autopilot smart car electromagnetic compatibility testing platform of claim 1 wherein: a steel plate and a conductive cotton sliver are additionally arranged at the mounting position of the shielding glass; the middle of the steel plate is provided with a hole, a conductive cotton sliver is clamped between the shielding glass and the steel plate, the conductive cotton sliver is arranged at the edge of the shielding glass, the shielding glass is attached to the box body, the steel plate is connected with the box body through bolts, and the conductive cotton sliver and the shielding glass are clamped in the middle.
4. The hardware-in-loop based autopilot smart car electromagnetic compatibility testing platform of claim 1 wherein: the shielding box comprises a stainless steel metal box body and a metal upper cover; a cylindrical copper wire mesh and an upper cover fastening device are arranged on the upper edge of the metal box body, and the cylindrical copper wire mesh is placed on the upper edge of the metal box body in a looped manner; when the metal box body is fastened with the metal upper cover, the upper cover fastening device compresses the metal upper cover, and the cylindrical copper wire mesh is pressed between the metal box body and the metal upper cover.
5. The hardware-in-loop based autopilot smart car electromagnetic compatibility testing platform of claim 1 wherein: the shielding case is provided with the ventilation waveguide window, the ventilation waveguide window includes waveguide window, sealed copper mesh and fan, press from both sides between waveguide window and the box and establish sealed copper mesh, the fan is installed in the box inboard.
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