CN112881991A - Road scene testing equipment and method for millimeter wave radar - Google Patents
Road scene testing equipment and method for millimeter wave radar Download PDFInfo
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- CN112881991A CN112881991A CN202110194023.0A CN202110194023A CN112881991A CN 112881991 A CN112881991 A CN 112881991A CN 202110194023 A CN202110194023 A CN 202110194023A CN 112881991 A CN112881991 A CN 112881991A
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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
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Abstract
The invention provides a road scene testing device of a millimeter wave radar, comprising: a target integrated navigation module, a test integrated navigation module and an industrial personal computer. The target combined navigation module receives a target satellite positioning signal, a target ground signal and a target inertia signal and calculates target real-time position information of a target vehicle. The test combined navigation module receives a test satellite positioning signal, a test ground signal and a test inertial signal, and calculates test real-time position information of a test vehicle. The industrial personal computer receives the target real-time position information and the test real-time position information, obtains a true value of road scene test, and receives an output value of the millimeter wave radar, wherein the true value and the output value are compared to ensure that the millimeter wave radar reaches a preset requirement.
Description
Technical Field
The invention relates to the field of radar detection, in particular to a road scene testing device and method of a millimeter wave radar.
Background
Radars originally originated in military applications and have recently expanded to civilian and industrial applications. The principle of radar is to find objects and determine their spatial position by radio, and is nowadays commonly used in the fields of surveillance, search, detection, navigation, automotive, distance measurement, military, aircraft, weather, etc. Also, in recent years, due to the vigorous development of self-driving and unmanned aerial vehicles, radar has become one of the indispensable sensors for the auxiliary system. In particular, millimeter wave radar is used in the field of autopilot.
Furthermore, the millimeter wave radar has the advantages of small volume, light weight, insusceptibility to weather factors, long detection distance and the like. Therefore, in the automotive field, the millimeter wave radar is widely applied to a blind spot detection alarm system (BSD), a rear vehicle side traffic assistant system (RCTA), a parking and door opening alarm system (DOW), a Lane Change Assistant (LCA), a Rear Collision Warning (RCW), and the like. In other words, when the millimeter wave radar is delivered to the client, a road scene test is required to determine whether the functions (such as BSD, LCA, DOW, RCTA, RCW, etc.) of the millimeter wave radar meet the customer requirements. For example, testing the LCA lane change assist function, the host vehicle is driven at a speed close to 50km/h, the target vehicle overtakes from the adjacent lane at a speed of 120km/h from a position 100m behind the host vehicle, and the TTC collision time is defined as 3.5s, then the LCA function should start to alarm at a position where the target vehicle is 68m away, continuing until the host vehicle is overtaken. At present, how to judge the alarm position of a target vehicle becomes a difficult problem of road scene testing. Some radar manufacturers add a laser radar as a true value to be compared with a measured value of the millimeter wave radar during a road scene test. However, the scheme is limited by the accuracy of the laser radar, and when the laser radar measures multiple targets, the target needs to be discriminated as a test vehicle. The data of the whole test process is generally recorded and manually interpreted through playback. However, because of the numerous road scene test items and the large data, a lot of time and labor are often spent. How to reduce the waste of a large amount of time and manpower for the test of the road scene of the millimeter wave radar is a problem which needs to be solved urgently at present.
Disclosure of Invention
One advantage of the present invention is that it provides a road scene testing apparatus for millimeter wave radar and a method thereof, so as to reduce a lot of time and manpower wasted by the millimeter wave radar in the road scene testing.
One advantage of the present invention is that it provides a road scene testing device and method for millimeter wave radar, in which a high-precision integrated navigation system is used to replace the laser radar testing scheme, so as to achieve the purpose of accurately and quickly confirming that the millimeter wave radar meets the preset requirements. Furthermore, the high-precision integrated navigation positioning precision is in centimeter level, the data refresh rate is 100Hz, and the performance and the real-time performance can meet the requirements of road scene testing.
One advantage of the present invention is that it provides a road scene testing device of millimeter wave radar and a method thereof, wherein the road scene testing device uses high-precision navigation to position the relative position, speed and posture of a target vehicle as an interpretation standard, and compares the position and alarm information calculated by the millimeter wave radar with the interpretation standard through an upper computer software to interpret and read the test result on line in real time, thereby greatly improving the efficiency of the road scene testing of the millimeter wave radar.
One advantage of the present invention is that it provides a road scene testing apparatus of a millimeter wave radar and a method thereof, in which a road scene test of the millimeter wave radar is performed using high-precision navigation positioning, thereby achieving real-time interpretation of a test result to achieve time saving and correctness.
Another advantage of the present invention is that it provides a fitting that does not require precision parts and complex structures, is simple to manufacture, and is inexpensive.
Additional advantages and features of the invention will be set forth in the detailed description which follows and in part will be apparent from the description, or may be learned by practice of the invention as set forth hereinafter.
According to the present invention, the road scene testing device of a millimeter wave radar and the method thereof, which can achieve the foregoing object and other objects and advantages, includes:
the target integrated navigation module receives a target satellite positioning signal, a target ground signal and a target inertial signal and calculates target real-time position information of a target vehicle;
the test integrated navigation module receives a test satellite positioning signal, a test ground signal and a test inertial signal and calculates test real-time position information of a test vehicle; and
and the industrial personal computer receives the target real-time position information and the test real-time position information, obtains a true value of the road scene test, and receives an output value of the millimeter wave radar, wherein the true value and the output value are compared to ensure that the millimeter wave radar reaches a preset requirement.
In an embodiment of the invention, the road scene testing device of the millimeter wave radar comprises a target wireless data module and a testing wireless data module, wherein the target real-time position information is transmitted to the testing wireless data module through the target wireless data module, and the industrial personal computer receives the target real-time position information through the testing wireless data module.
In an embodiment of the present invention, the target integrated navigation module includes a target antenna, a target communication terminal, and a target integrated navigation positioning terminal, where the target integrated navigation positioning terminal is connected to the target antenna, the target communication terminal, and the target wireless data module, respectively.
In an embodiment of the present invention, the target antenna receives the target satellite positioning signal from a satellite, the target communication terminal receives the target ground signal from a ground base station, and the target integrated navigation positioning terminal receives the target inertial signal from a target integrated inertial module of the target vehicle.
In an embodiment of the present invention, the test integrated navigation module includes a test antenna, a test communication terminal, and a test integrated navigation positioning terminal, wherein the test integrated navigation positioning terminal is respectively connected to the test antenna, the test communication terminal, and the industrial personal computer.
In an embodiment of the invention, the test antenna receives the test satellite positioning signal from a satellite, the test communication terminal receives the test ground signal from a ground base station, and the test integrated navigation positioning terminal receives the test inertial signal from a test integrated inertial module of the test vehicle.
In an embodiment of the present invention, the test integrated navigation positioning terminal of the test integrated navigation module integrates the test satellite positioning signal, the test ground signal, and the test inertial signal to calculate the test real-time position information of the test vehicle with a centimeter-level accuracy.
In an embodiment of the invention, an upper computer software of the industrial personal computer combines the target real-time position information of the target vehicle and the test real-time position information of the test vehicle to obtain coordinate information of the target vehicle in a radar coordinate system of the test vehicle.
In an embodiment of the invention, the industrial personal computer further comprises a recording module for recording data of the road scene test, so that the whole test process is conveniently played back.
According to the present invention, the above and other objects and advantages are achieved by a method for testing a road scene by a millimeter wave radar, comprising the steps of:
(A) a target combined navigation module respectively receives a target satellite positioning signal, a target ground signal and a target inertia signal and calculates target real-time position information of a target vehicle;
(B) a test combined navigation module respectively receives a test satellite positioning signal, a test ground signal and a test inertial signal, and calculates test real-time position information of a test vehicle;
(C) an industrial personal computer receives the target real-time position information and the test real-time position information and obtains a true value of the road scene test; and
(D) the industrial personal computer receives an output value of a millimeter wave radar and compares the true value with the output value to ensure that the millimeter wave radar reaches a preset requirement.
In the step (a), the target antenna of the target integrated navigation module receives a satellite to transmit the target satellite positioning signal, the target communication terminal of the target integrated navigation module receives a ground base station to transmit the target ground signal, and the target integrated navigation positioning terminal of the target integrated navigation module receives a target integrated inertia module of the target vehicle to generate the target inertia signal.
In one embodiment of the present invention, in step (B), the test antenna of the test integrated navigation module receives a satellite to transmit the test satellite positioning signal, the test communication terminal of the test integrated navigation module receives a ground base station to transmit the test ground signal, and the test integrated navigation positioning terminal of the test integrated navigation module receives a test integrated inertia module of the test vehicle to generate the test inertia signal.
In an embodiment of the present invention, the method further includes a step (E) of recording the target real-time position information, the test real-time position information, the coordinate information, the true value, and the output value by a recording module, so as to facilitate playback of the entire test process.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
Fig. 1 to 3 are logic diagrams of a road scene testing apparatus of a millimeter wave radar according to a first preferred embodiment of the present invention.
Fig. 4 is a logic diagram of a road scene testing device of a millimeter wave radar according to a first variant of the first preferred embodiment of the present invention.
Fig. 5 is a logic diagram of a road scene testing device of a millimeter wave radar according to a second variant embodiment of the first preferred embodiment of the present invention.
Fig. 6 is a flow chart illustrating a road scene testing method of a millimeter wave radar according to a preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is to be understood that the terms "a" and "an" are to be interpreted as meaning "at least one" or "one or more," i.e., that a single element may be present in a single embodiment, while in other embodiments the element may be present in a plurality, and the terms "a" and "an" are not to be interpreted as limiting the number.
As shown in fig. 1 to 3, a road scene testing apparatus of a millimeter wave radar and a method thereof according to a first preferred embodiment of the present invention are provided to reduce the problem that a millimeter wave radar 60 wastes a lot of time and labor in the road scene test. Furthermore, the invention utilizes the high-precision integrated navigation with the positioning precision in centimeter level to carry out the test, wherein the performance and the real-time performance of the high-precision integrated navigation can meet the requirement of the road scene test so as to complete the road scene test of the millimeter wave radar 60, and the waste of time and manpower can be reduced by the equipment and the mode. The road scene testing device 1 of the present invention is suitable for two vehicles to ensure that the millimeter wave radar 60 meets a preset requirement. Further, a true value is obtained by the road scene testing device 1 and is compared with an output value of the millimeter wave radar 60 to determine whether the output value of the millimeter wave radar 60 meets the preset requirement.
In the embodiment of the present invention, the road scene testing device 1 includes a target integrated navigation module 10, a test integrated navigation module 20, a target wireless data module 30, a test wireless data module 40, an industrial personal computer 50, and the millimeter wave radar 60. The target integrated navigation module 10 is connected to the target wireless data module 30 and respectively disposed on a target vehicle 100. The industrial personal computer 50 is respectively connected with the testing integrated navigation module 20, the testing wireless data module 40 and the millimeter wave radar 60 and is respectively arranged on a testing vehicle 200. It should be noted that the connection mentioned in the present invention can be a wireless connection or a wired connection, which is mainly for practical applications and is not a limitation of the present invention.
In the embodiment of the present invention, the integrated target navigation module 10 receives a target satellite positioning signal, a target ground signal and a target inertial signal, wherein the integrated target navigation module 10 integrates the three signals to calculate a target real-time position information of the target vehicle 100. Then, the target real-time location information is transmitted to the testing wireless data module 40 through the target wireless data module 30, and the target real-time location information is transmitted to the industrial personal computer 50 through the testing wireless data module 40. The test integrated navigation module 20 receives a test satellite positioning signal, a test ground signal and a test inertial signal, wherein the test integrated navigation module 20 integrates the three signals to calculate a test real-time position information of the test vehicle 200. Then, the test integrated navigation module 20 transmits the test real-time location information to the industrial personal computer 50. Then, the industrial personal computer 50 obtains the true value as the road scene test according to the target real-time position information and the test real-time position information. The industrial personal computer 50 compares the true value with the output value of the millimeter wave radar 60 to determine whether the millimeter wave radar 60 meets the preset requirement.
Further, a satellite 900 transmits the target satellite positioning signal to the target combined navigation module 10. A ground base station 800 transmits the target ground signal to the target integrated navigation module 10. A target combined inertia module 101 of the target vehicle 100 generates the target inertia signal to the target combined navigation module 10. The target integrated navigation module 10 integrates the target satellite positioning signal, the target ground signal and the target inertial signal to calculate the target real-time position information of the target vehicle 100 with the accuracy of centimeter level. Then, the target real-time location information of the target vehicle 100 is sent to the testing wireless data module 40 on the testing vehicle 200 through the target wireless data module 30 on the target vehicle 100. In addition, the satellite 900 transmits the test satellite positioning signal to the test integrated navigation module 20. The ground base station 800 transmits the test ground signal to the test combination navigation module 20. A test combination inertial module 201 of the test vehicle 200 generates the test inertial signal to the test combination navigation module 20. The test integrated navigation module 20 integrates the test satellite positioning signal, the test ground signal and the test inertial signal to calculate the test vehicle 200 real-time position information with the precision at centimeter level. An upper computer software 51 of the industrial personal computer 50 combines the target real-time position information of the target vehicle 100 and the test real-time position information of the test vehicle 200 to obtain coordinate information of the target vehicle 100 in a radar coordinate system of the test vehicle 200, wherein the coordinate information includes a position, an attitude, a speed and the like, and under a known two-wheel profile, the coordinate information is the true value of a road scene test. The upper computer software 51 of the industrial personal computer 50 compares the true value with the output value of the millimeter wave radar 60, and displays and interprets the true value in real time so as to improve the road scene testing efficiency of the millimeter wave radar 60. And, it is determined whether the millimeter wave radar 60 meets the preset requirement.
In addition, the industrial personal computer 50 further includes a recording module 52 to record data of the road scene test, so as to facilitate playback of the whole test process. Further, the recording module 52 records the data of the target real-time position information, the test real-time position information, the coordinate information, the true value, the output value, and the like, so that the problem occurring in the test process can be quickly and accurately located.
In the embodiment of the present invention, the target integrated navigation module 10 includes a target antenna 11, a target communication terminal 12, and a target integrated navigation positioning terminal 13. The target antenna 11 and the target communication terminal 12 are respectively connected with the target integrated navigation positioning terminal 13. The target integrated navigation positioning terminal 13 is connected with the target wireless data module 30. The testing integrated navigation module 20 includes a testing antenna 21, a testing communication terminal 22, and a testing integrated navigation positioning terminal 23. The test antenna 21 and the test communication terminal 22 are respectively connected to the test integrated navigation positioning terminal 23. The test combination navigation positioning terminal 23 is connected with the industrial personal computer 50. It should be noted that the connection mentioned in the present invention can be a wireless connection or a wired connection, which is mainly for practical applications and is not a limitation of the present invention.
Further, the satellite 900 transmits the target satellite positioning signal to the target antenna 11 of the target integrated navigation module 10. The ground base station 800 transmits the target ground signal to the target communication terminal 12 of the target integrated navigation module 10. A target combination inertia module 101 of the target vehicle 100 generates the target inertia signal to the target combination navigation positioning terminal 13 of the target combination navigation module 10. The target integrated navigation positioning terminal 13 of the target integrated navigation module 10 integrates the target satellite positioning signal, the target ground signal and the target inertial signal to calculate the target real-time position information of the target vehicle 100 with the accuracy of centimeter level. Then, the target real-time location information of the target vehicle 100 is sent to the testing wireless data module 40 on the testing vehicle 200 through the target wireless data module 30 on the target vehicle 100.
In addition, the satellite 900 transmits the test satellite positioning signal to the test antenna 21 of the test integrated navigation module 20. The ground base station 800 transmits the test ground signal to the test communication terminal 22 of the test integrated navigation module 20. A test combination inertial module 201 of the test vehicle 200 generates the test inertial signal to the test combination navigation positioning terminal 23 of the test combination navigation module 20. The test integrated navigation positioning terminal 23 of the test integrated navigation module 20 will test the satellite positioning signal, the ground signal and the inertial signal to calculate the precision in centimeter level the test vehicle 200 tests the real-time position information. The upper computer software 51 of the industrial personal computer 50 receives the target real-time position information of the target vehicle 100 and the test real-time position information of the test vehicle 200 respectively, and calculates to obtain the coordinate information of the target vehicle 100 in the radar coordinate system of the test vehicle 200, wherein the coordinate information is the true value of the road scene test. It is understood that the millimeter wave radar 60 disposed on the test vehicle 200 detects and generates the output value to the upper computer software 51 of the industrial personal computer 50 while the vehicle is moving. Therefore, the upper computer software 51 of the industrial personal computer 50 compares the true value with the output value to determine whether the output value of the millimeter wave radar 60 meets the preset requirement. That is to say, the present invention uses high-precision navigation to position the relative position, speed, and posture of the target vehicle 100, and the relative position, speed, and posture are accurate and unique as the interpretation standard, and the position and alarm information that are calculated by the millimeter wave radar 60 are compared with the interpretation standard through the upper computer software 51, so as to interpret the test result on line in real time, and greatly improve the efficiency of the road scene test.
As shown in fig. 4, is a first modified embodiment according to the first preferred embodiment of the present invention, in which the millimeter wave radar 60 is not included in the road scene testing device 1. That is, the millimeter wave radar 60 is separately installed on the test vehicle 200, and forms the output value of the message detected by the millimeter wave radar 60 and transmits the output value to the upper computer software 51 of the industrial personal computer 50 for comparison with the true value. It is to be understood that the contents of this modified embodiment are substantially the same as those of the first preferred embodiment, and therefore, the description thereof is omitted.
It is worth mentioning that fig. 5 shows a second variant embodiment of the first preferred embodiment of the present invention, wherein the target wireless data module 30 can be implemented as an embedded device of the target vehicle 100. The test wireless data module 40 and the industrial personal computer 50 may also be implemented as a device included in the test vehicle 200. In order to reduce the cost of the road scene testing device 1. That is to say, if the target vehicle 100 is originally provided with the target wireless data module 30, the target integrated navigation module 10 may be directly connected to the target wireless data module 30 of the target vehicle 100, and the road scene testing apparatus 1 does not need to additionally provide the target wireless data module 30 on the target vehicle 100, so as to reduce the cost and simplify the apparatus structure. Similarly, when the test vehicle 200 is originally provided with the test wireless data module 40 and the industrial personal computer 50, wherein the test wireless data module 40 is connected with the industrial personal computer 50, then the test integrated navigation module 20 can be directly connected with the industrial personal computer 50 of the test vehicle 200, and the road scene test equipment 1 does not need to additionally provide the test wireless data module 40 and the industrial personal computer 50 in the test vehicle 200.
As shown in fig. 6, the road scene testing device of a millimeter wave radar and the method thereof according to a preferred embodiment of the present invention includes the following steps:
(A) a target integrated navigation module 10 receives a target satellite positioning signal, a target ground signal and a target inertial signal, respectively, and calculates a target real-time position information of a target vehicle 100;
(B) a test integrated navigation module 20 receives a test satellite positioning signal, a test ground signal and a test inertial signal, respectively, and calculates a test real-time position information of a test vehicle 200;
(C) an industrial personal computer 50 receives the target real-time position information and the test real-time position information and obtains a true value of the road scene test; and
(D) the industrial personal computer 50 receives an output value of a millimeter wave radar 60, and compares the true value with the output value to ensure that the millimeter wave radar reaches a preset requirement.
According to the step (a), the target antenna 11 of the target integrated navigation module 10 receives a satellite 900 to transmit the target satellite positioning signal. The target communication terminal 12 of the target integrated navigation module 10 receives a ground base station 800 and transmits the target ground signal. The target integrated navigation positioning terminal 13 of the target integrated navigation module 10 receives a target integrated inertia module 101 of the target vehicle 100 to generate the target inertia signal.
According to the step (A), the target integrated navigation positioning terminal 13 integrates the target satellite positioning signal, the target ground signal and the target inertial signal to calculate the target real-time position information of the target vehicle 100 with the precision of centimeter level.
According to the step (B), the test antenna 21 of the test integrated navigation module 20 receives the test satellite positioning signal transmitted by the satellite 900. The testing communication terminal 22 of the testing integrated navigation module 20 receives the testing ground signal transmitted by the ground base station 800. The test integrated navigation positioning terminal 23 of the test integrated navigation module 20 receives the test inertial signal generated by a test integrated inertial module 201 of the test vehicle 200.
According to the step (B), the test integrated navigation positioning terminal 23 integrates the test satellite positioning signal, the test ground signal and the test inertial signal to calculate the test real-time position information of the test vehicle 200 with the precision at centimeter level.
According to the step (C), the target wireless data module 30 transmits the target real-time location information to the test wireless data module 40, and transmits the target real-time location information to the industrial personal computer 50 through the test wireless data module 40.
The method further includes a step (E) of recording the target real-time position information, the test real-time position information, the coordinate information, the true value and the output value by a recording module 52, so as to facilitate playback of the whole test process.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention.
The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments, and any modifications or changes may be made to the embodiments of the present invention without departing from the principles.
Claims (10)
1. A road scene test equipment of millimeter wave radar, its characterized in that includes:
the target integrated navigation module receives a target satellite positioning signal, a target ground signal and a target inertia signal and calculates target real-time position information of a target vehicle;
the test integrated navigation module receives a test satellite positioning signal, a test ground signal and a test inertial signal and calculates test real-time position information of a test vehicle; and
and the industrial personal computer receives the target real-time position information and the test real-time position information, obtains a true value of the road scene test, and receives an output value of the millimeter wave radar, wherein the true value and the output value are compared to ensure that the millimeter wave radar reaches a preset requirement.
2. The apparatus for testing a road scene of a millimeter wave radar according to claim 1, comprising a target wireless data module and a testing wireless data module, wherein the target real-time location information is transmitted to the testing wireless data module via the target wireless data module, and the industrial personal computer receives the target real-time location information via the testing wireless data module.
3. The apparatus for testing road scene of millimeter wave radar according to claim 2, wherein said target integrated navigation module comprises a target antenna, a target communication terminal, and a target integrated navigation positioning terminal, wherein said target integrated navigation positioning terminal is connected to said target antenna, said target communication terminal and said target wireless data module, respectively.
4. The apparatus for road scene testing of millimeter wave radar as claimed in claim 3, wherein said target antenna receives said target satellite positioning signal from a satellite, said target communication terminal receives said target ground signal from a ground base station, and said target integrated navigation positioning terminal receives said target inertial signal from a target integrated inertial module of said target vehicle.
5. The apparatus for testing a road scene of a millimeter wave radar according to claim 2, wherein the integrated testing navigation module comprises a testing antenna, a testing communication terminal, and an integrated testing navigation positioning terminal, wherein the integrated testing navigation positioning terminal is connected to the testing antenna, the testing communication terminal, and the industrial personal computer, respectively.
6. The road scene testing apparatus of the millimeter wave radar according to claim 5, wherein the test antenna receives the test satellite positioning signal from a satellite, the test communication terminal receives the test ground signal from a ground base station, and the test integrated navigation positioning terminal receives the test inertial signal from a test integrated inertial module of the test vehicle.
7. The road scene testing device of millimeter wave radar according to claim 5, wherein the testing integrated navigation positioning terminal of the testing integrated navigation module integrates the testing satellite positioning signal, the testing ground signal and the testing inertial signal to calculate the testing real-time position information of the testing vehicle with accuracy on the centimeter level.
8. The road scene testing device of the millimeter wave radar as claimed in claim 1, wherein an upper computer software of the industrial personal computer combines the target real-time position information of the target vehicle and the test real-time position information of the test vehicle to obtain coordinate information of the target vehicle in a radar coordinate system of the test vehicle.
9. The apparatus for testing road scene of millimeter wave radar according to claim 1, wherein said industrial personal computer further comprises a recording module for recording data of road scene test, so as to facilitate playback of the whole test process.
10. A road scene testing method of a millimeter wave radar is characterized by comprising the following steps:
(A) a target combined navigation module respectively receives a target satellite positioning signal, a target ground signal and a target inertia signal and calculates target real-time position information of a target vehicle;
(B) a test combined navigation module respectively receives a test satellite positioning signal, a test ground signal and a test inertial signal, and calculates test real-time position information of a test vehicle;
(C) an industrial personal computer receives the target real-time position information and the test real-time position information and obtains a true value of the road scene test; and
(D) the industrial personal computer receives an output value of a millimeter wave radar and compares the true value with the output value to ensure that the millimeter wave radar reaches a preset requirement.
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| CN115825901A (en) * | 2023-02-21 | 2023-03-21 | 南京楚航科技有限公司 | Vehicle-mounted sensor perception performance evaluation truth value system |
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| CN115825901A (en) * | 2023-02-21 | 2023-03-21 | 南京楚航科技有限公司 | Vehicle-mounted sensor perception performance evaluation truth value system |
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