CN216646797U - Road scene testing equipment of millimeter wave radar - Google Patents
Road scene testing equipment of millimeter wave radar Download PDFInfo
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- CN216646797U CN216646797U CN202120384785.2U CN202120384785U CN216646797U CN 216646797 U CN216646797 U CN 216646797U CN 202120384785 U CN202120384785 U CN 202120384785U CN 216646797 U CN216646797 U CN 216646797U
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Abstract
The utility model provides a road scene testing device of a millimeter wave radar, comprising: a target integrated navigation device, a test integrated navigation device and an industrial personal computer. The target integrated navigation device is arranged on a target vehicle to receive a target satellite positioning signal of the satellite, a target ground signal of the ground base station and a target inertia signal of the target vehicle, and is used for acquiring target real-time position information of the target vehicle. The test integrated navigation device is arranged on a test vehicle to receive a test satellite positioning signal of the satellite, a test ground signal of the ground base station and a test inertial signal of the test vehicle, and is used for acquiring test real-time position information of the test vehicle. The industrial personal computer is arranged on the test vehicle and used for receiving the real-time target position information and the real-time test position information, obtaining a true value of road scene test and receiving an output value of a millimeter wave radar.
Description
Technical Field
The utility model relates to the field of radar detection, in particular to road scene testing equipment 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 methods, which are 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 use as an 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, millimeter wave radars are widely used in blind spot detection alarm systems (BSD), rear vehicle side traffic assistance systems (RCTA), parking and door opening alarm systems (DOW), Lane Change Assistance (LCA), 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 of approximately 50km/h, the target vehicle overtakes from an 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, the LCA function should start to alarm at a position where the target vehicle is 68m away, and continue to overtake the host vehicle. At present, how to judge the alarm position of a target vehicle becomes a difficult problem of road scene testing. In the prior art, 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 large number of road scene test projects 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 device for millimeter wave radar, so as to reduce a lot of time and manpower wasted by the millimeter wave radar in the road scene testing.
An advantage of the present invention is that it provides a road scene testing device for millimeter wave radar, wherein a high-precision integrated navigation system is used to replace the laser radar testing scheme, so as to achieve accurate and rapid confirmation 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 the road scene testing device of the millimeter wave radar is provided, 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, so as to interpret 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 for millimeter wave radar, in which a road scene test for the millimeter wave radar is performed using high-precision navigation positioning, thereby achieving real-time interpretation of test results to achieve time saving and accuracy.
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 utility model 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 utility model as set forth hereinafter.
According to the present invention, the foregoing and other objects and advantages are realized in accordance with the present invention which is a millimeter wave radar road scene testing apparatus adapted to receive signals from a satellite and a ground base station, comprising:
the target integrated navigation device is arranged on a target vehicle, receives a target satellite positioning signal of the satellite, a target ground signal of the ground base station and a target inertia signal of the target vehicle, and is used for acquiring target real-time position information of the target vehicle;
the integrated navigation device for testing is arranged on a testing vehicle to receive a testing satellite positioning signal of the satellite, a testing ground signal of the ground base station and a testing inertial signal of the testing vehicle, and is used for acquiring testing real-time position information of the testing vehicle; and
and the industrial personal computer is arranged on the test vehicle, receives the target real-time position information and the test real-time position information, obtains a true value of the road scene test, and simultaneously receives an output value of the millimeter wave radar.
In an embodiment of the present invention, the road scene testing device of the millimeter wave radar includes a target wireless data device disposed on the target vehicle and a testing wireless data device disposed on the testing vehicle, wherein the target real-time location information is transmitted to the testing wireless data device via the target wireless data device, and the industrial personal computer is connected to the testing wireless data device to receive the target real-time location information.
In an embodiment of the utility model, the industrial personal computer is respectively connected with the wireless data testing device, the combined navigation testing device and the millimeter wave radar, and the target wireless data device is wirelessly connected with the wireless data testing device.
In an embodiment of the present invention, the target integrated navigation device includes a target antenna, a target communication terminal, and a target integrated navigation positioning terminal, wherein the target integrated navigation positioning terminal is connected to the target antenna, the target communication terminal and the target wireless data device, respectively, wherein the target antenna receives the target satellite positioning signal from the satellite, the target communication terminal receives the target ground signal from the ground base station, and the target integrated navigation positioning terminal receives the target inertial signal from a target integrated inertial device of the target vehicle.
In an embodiment of the present invention, the test integrated navigation device includes a test antenna, a test communication terminal, and a test integrated navigation positioning terminal, wherein the test integrated navigation positioning terminal is connected to the test antenna, the test communication terminal, and the industrial personal computer, respectively, wherein the test antenna receives the test satellite positioning signal from the satellite, the test communication terminal receives the test ground signal from the ground base station, and the test integrated navigation positioning terminal receives the test inertial signal from a test integrated inertial device of the test vehicle.
In an embodiment of the present invention, the test integrated navigation positioning terminal of the test integrated navigation device integrates the test satellite positioning signal, the test ground signal, and the test inertial signal to obtain the test real-time position information of the test vehicle with a centimeter-level accuracy.
In an embodiment of the utility model, 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 utility model, 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 road scene testing method of a millimeter wave radar of the present invention, which can achieve the aforementioned object and other objects and advantages, comprises the steps of:
(A) a target combined navigation device 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 integrated navigation device 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 direct value with the output value.
In one embodiment of the present invention, in step (a), the target antenna of the target integrated navigation device receives a satellite to transmit the target satellite positioning signal, the target communication terminal of the target integrated navigation device receives a ground base station to transmit the target ground signal, and the target integrated navigation positioning terminal of the target integrated navigation device receives a target integrated inertial device of the target vehicle to generate the target inertial signal.
In one embodiment of the present invention, in step (B), the test antenna of the test integrated navigation device receives a satellite to transmit the test satellite positioning signal, the test communication terminal of the test integrated navigation device receives a ground base station to transmit the test ground signal, and the test integrated navigation positioning terminal of the test integrated navigation device receives a test integrated inertial device of the test vehicle to generate the test inertial signal.
In an implementation method of the present invention, the method further includes a step (E) of recording the target real-time location information, the test real-time location 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 utility model 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 apparatus of a millimeter wave radar according to a first modified embodiment of the first preferred embodiment of the present invention.
Fig. 5 is a logic diagram of a road scene testing apparatus of a millimeter wave radar according to a second modification of the first preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the utility model so as to enable any person skilled in the art to practice the utility model. 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 utility model, 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 utility model.
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 understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not 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 utility model 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 both 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 labor 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 predetermined 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 apparatus 1 includes a target integrated navigation device 10, a test integrated navigation device 20, a target wireless data device 30, a test wireless data device 40, an industrial personal computer 50, and the millimeter wave radar 60. The target integrated navigation device 10 is connected to the target wireless data device 30 and respectively disposed on a target vehicle 100. The industrial personal computer 50 is respectively connected with the test integrated navigation device 20, the test wireless data device 40 and the millimeter wave radar 60 and respectively arranged on a test 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 target integrated navigation device 10 receives a target satellite positioning signal, a target ground signal and a target inertial signal, wherein the target integrated navigation device 10 integrates the three signals to calculate a target real-time position information of the target vehicle 100. The target real-time location information is then transmitted to the testing wireless data device 40 via the target wireless data device 30, and to the industrial personal computer 50 via the testing wireless data device 40. The integrated test navigation device 20 receives a test satellite positioning signal, a test ground signal and a test inertial signal, wherein the integrated test navigation device 20 integrates the three signals to calculate a test real-time position information of the test vehicle 200. Then, the test integrated navigation device 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 integrated navigation device 10. A terrestrial base station 800 transmits the target terrestrial signal to the target integrated navigation device 10. A target combined inertial device 101 of the target vehicle 100 generates the target inertial signal to the target combined navigation device 10. The target integrated navigation device 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. The target real-time location information of the target vehicle 100 is then transmitted to the test wireless data device 40 on the test vehicle 200 by the target wireless data device 30 on the target vehicle 100. In addition, the satellite 900 transmits the test satellite positioning signal to the test integrated navigation device 20. The ground base station 800 transmits the test ground signal to the test integrated navigation device 20. A test combination inertial device 201 of the test vehicle 200 generates the test inertial signal to the test combination navigation device 20. The test integrated navigation device 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 the 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 comprises position, attitude, speed and the like, and under the known two-wheel profile, the coordinate information is the true value of the 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 device 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 device 30. The integrated navigation device 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 device 10. The ground base station 800 transmits the target ground signal to the target communication terminal 12 of the target integrated navigation device 10. A target integrated inertia device 101 of the target vehicle 100 generates the target inertia signal to the target integrated navigation positioning terminal 13 of the target integrated navigation device 10. The target integrated navigation positioning terminal 13 of the target integrated navigation device 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. The target real-time location information of the target vehicle 100 is then transmitted to the test wireless data device 40 on the test vehicle 200 by the target wireless data device 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 device 20. The ground base station 800 transmits the test ground signal to the test communication terminal 22 of the test integrated navigation device 20. A test integrated inertial device 201 of the test vehicle 200 generates the test inertial signal to the test integrated navigation positioning terminal 23 of the test integrated navigation device 20. The test integrated navigation positioning terminal 23 of the test integrated navigation device 20 will test satellite positioning signals, test ground signals and test inertial signals are integrated to calculate the precision at centimeter level the test vehicle 200 tests the real-time position information. The upper computer software 51 of the industrial personal computer 50 respectively receives the target real-time position information of the target vehicle 100 and the test real-time position information of the test vehicle 200, 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, the present invention uses high-precision navigation to locate 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 the output value of the message detected by the millimeter wave radar 60 is transmitted 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 the 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 device 30 may be implemented as an embedded device of the target vehicle 100. The test wireless data device 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, if the target vehicle 100 is originally provided with the target wireless data device 30, the target integrated navigation device 10 can be directly connected to the target wireless data device 30 of the target vehicle 100, and the road scene testing apparatus 1 does not need to additionally provide the target wireless data device 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 device 40 and the industrial personal computer 50, wherein the test wireless data device 40 is connected with the industrial personal computer 50, the test integrated navigation device 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 device 40 and the industrial personal computer 50 on the test vehicle 200.
In addition, a road scene testing device of a millimeter wave radar and a method thereof according to a preferred embodiment of the present invention includes the steps of:
(A) a target integrated navigation device 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 device 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 direct value with the output value.
According to step (a), the target antenna 11 of the target integrated navigation device 10 receives a satellite 900 transmitting the target satellite positioning signal. The target communication terminal 12 of the target integrated navigation device 10 receives a ground base station 800 to transmit the target ground signal. The target integrated navigation positioning terminal 13 of the target integrated navigation device 10 receives a target integrated inertial device 101 of the target vehicle 100 to generate the target inertial 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 step (B), the test antenna 21 of the test integrated navigation device 20 receives the test satellite positioning signal transmitted by the satellite 900. The test communication terminal 22 of the test integrated navigation device 20 receives the test ground signal transmitted by the ground base station 800. The test integrated navigation positioning terminal 23 of the test integrated navigation device 20 receives the test inertial signal generated by a test integrated inertial device 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 vehicle 200 real-time position information with the precision at centimeter level.
According to step (C), the target wireless data device 30 transmits the target real-time location information to the test wireless data device 40, and transmits the target real-time location information to the industrial personal computer 50 via the test wireless data device 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 utility model described above and shown in the drawings are given by way of example only and are not limiting of the utility model.
The objects of the utility model have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (7)
1. Road scene test equipment of millimeter wave radar, its characterized in that includes:
the target integrated navigation device is arranged on a target vehicle, receives a target satellite positioning signal of a satellite, a target ground signal of a ground base station and a target inertia signal of the target vehicle, and is used for acquiring target real-time position information of the target vehicle;
the integrated navigation device for testing is arranged on a testing vehicle to receive a testing satellite positioning signal of the satellite, a testing ground signal of the ground base station and a testing inertial signal of the testing vehicle, and is used for acquiring testing real-time position information of the testing vehicle; and
and the industrial personal computer is arranged on the test vehicle, receives the target real-time position information and the test real-time position information, obtains a true value of the road scene test, and simultaneously receives an output value of the millimeter wave radar.
2. The apparatus for testing a road scene using millimeter wave radars according to claim 1, comprising a target wireless data device provided on the target vehicle and a testing wireless data device provided on the testing vehicle, wherein the real-time position information of the target is transmitted to the testing wireless data device via the target wireless data device, and the industrial personal computer is connected to the testing wireless data device to receive the real-time position information of the target.
3. The millimeter wave radar road scene testing device of claim 2, wherein the industrial personal computer is connected to the wireless data testing device, the integrated navigation device and the millimeter wave radar, and the wireless target data device is connected to the wireless data testing device in a wireless manner.
4. The apparatus for testing a road scene by using a millimeter wave radar as claimed in claim 3, wherein said target integrated navigation device 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 device, respectively, wherein said target antenna receives said target satellite positioning signal from said satellite, said target communication terminal receives said target ground signal from said ground base station, and said target integrated navigation positioning terminal receives said target inertial signal from a target integrated inertial device of said target vehicle.
5. The apparatus for testing a road scene of a millimeter wave radar according to claim 3, wherein the integrated testing navigation device 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, wherein the testing antenna receives the testing satellite positioning signal from the satellite, the testing communication terminal receives the testing ground signal from the ground base station, and the integrated testing navigation positioning terminal receives the testing inertial signal from an integrated testing inertial device of the testing vehicle.
6. The road scene testing device of millimeter wave radar according to claim 5, wherein the test integrated navigation positioning terminal of the test integrated navigation device integrates the test satellite positioning signal, the test ground signal, and the test inertial signal to obtain the test real-time position information of the test vehicle with an accuracy of centimeter level.
7. 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.
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