A radar synchronization test system and method

Abstract

The embodiment of the application discloses a radar synchronous test system and method, the system comprises: a simulation controller, a target simulator and at least two radars to be tested; wherein the simulation controller is used for sending the simulation target information detected by each virtual radar at the same time to the target simulator; the target simulator comprises: a simulation control unit and a target simulation unit; wherein the simulation control unit is used for receiving the simulation target information, and for any different target object detected by an arbitrary virtual radar, the simulation control unit sends the corresponding different simulation target information to the corresponding target simulation unit; the target simulation unit is used for simulating the target object detected by the virtual radar according to the received simulation target information and the transmission signal of the corresponding radar to be tested, and sending the simulated target information to the corresponding radar to be tested, so as to test the function of the radar to be tested. Through the above technical scheme, the synchronous test of multiple radars is realized.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of radar testing, in particular to a radar synchronous testing system and method. BACKGROUND

[0002] Radar is one of the core sensors in the Advanced Driver Assistant System (ADAS) of an automobile, and needs to be tested in various stages such as the radar research and development stage, the production line detection stage, the vehicle factory installation testing stage, and the off-line calibration stage. Therefore, the semi-physical simulation technology based on radar has become an important link of the intelligent driving system.

[0003] The traditional radar semi-physical simulation testing system contains a target simulator, a test dark box, and a multi-layer motion mechanism. In order to ensure that the radar is not interfered by electromagnetic waves during the testing process, only one radar can be placed in the test dark box for testing at the same time. During the testing process, the single radar is fixed on the support of the simulator test dark box, and the radar testing is realized by simulating different targets through the simulator. For the testing of a single radar, only one radar model needs to be provided when building a simulation scene, and the simulation controller can only send the target information detected by the same radar to the simulator each time. If other radars need to be tested, the radar to be tested on the support needs to be replaced, and the corresponding radar simulation model needs to be adjusted.

[0004] Therefore, the traditional testing system only supports the testing of a single radar. If multiple radars need to be tested, the testing must be performed sequentially, which is relatively low in efficiency. Moreover, if multiple radar models work simultaneously in the simulation scene, the traditional testing system does not support the synchronous testing of multiple radars. SUMMARY

[0005] Embodiments of the present application provide a radar synchronous testing system and method, which realizes the synchronous testing of multiple radars.

[0006] In a first aspect, the present application provides a radar synchronous testing system, which comprises a simulation controller, a target simulator in communication connection with the simulation controller, and at least two radars to be tested in air feed connection with the target simulator, wherein

[0007] The simulation controller is configured to build a simulation scene of the running of a host vehicle and a target object, the simulation scene comprising virtual radars corresponding to the radars to be tested and installed on the host vehicle, and the simulation controller is configured to send the simulation target information detected by each virtual radar at the same time to the target simulator;

[0008] The target simulator comprises a simulation control unit and a target simulation unit, wherein

[0009] The simulation control unit is configured to receive the simulation target information, and send different simulation target information of different target objects detected by any virtual radar to a corresponding target simulation unit according to a one-to-one correspondence relationship, wherein the number of target simulation units is the same as the number of target objects.

[0010] For any target simulation unit, the simulation target information of the target object detected by the virtual radar is simulated according to the received simulation target information and the transmission signal of the corresponding radar to be tested, and the simulated simulation target information is sent to the corresponding radar to be tested according to the one-to-one correspondence relationship between the virtual radar and the radar to be tested, so as to test the function of the radar to be tested.

[0011] Optionally, the simulation control unit is configured to:

[0012] send different simulation target information to the corresponding target simulation unit through different simulation channels corresponding to different target objects, wherein the number of simulation channels is the same as the number of target simulation units; and the simulation target information of the target object detected by each virtual radar includes the distance of the target object from the virtual radar, the speed of the target object, the angle of the target object, and the echo intensity.

[0013] Optionally, the enable state of each simulation channel is associated with a flag bit of the virtual radar, and when the virtual radar in the simulation controller detects a target object, the corresponding flag bit outputs a preset value,

[0014] The simulation control unit is configured to enable the simulation channel corresponding to the target object detected by the virtual radar when receiving the preset value of the virtual radar flag bit output by the simulation controller.

[0015] Optionally, the target simulator further comprises a test dark box for placing the radar to be tested,

[0016] The synchronization test system further comprises a simulator rack for fixing the test dark box and the corresponding target simulation unit, wherein each test dark box is used for placing only one radar to be tested,

[0017] Each test dark box is provided with a receiving antenna and a transmitting antenna, wherein,

[0018] The receiving antenna is configured to receive the transmission signal of the radar to be tested,

[0019] The transmitting antenna is configured to send the simulation target information simulated by the target simulation unit to the radar to be tested corresponding to the target simulation unit.

[0020] Optionally, the test dark box is a cylindrical structure, and the center position of the test dark box is used for placing the radar to be tested;

[0021] The outer surface of the cylindrical wall of the cylindrical structure is provided with a plurality of motion devices;

[0022] Each motion device is a rotatable ring structure, and the number of layers of the ring is the same as the number of target simulation units;

[0023] The receiving antenna and the transmitting antenna are arranged on each layer of the ring, and the radiation ports of the receiving antenna and the transmitting antenna are inserted into the test dark box.

[0024] Optionally, the synchronous test system further comprises:

[0025] A driving motor is connected to the motion device, configured to receive the control instruction sent by the target simulation unit, and drive the motion device to rotate according to the control instruction, so as to drive the receiving antenna and the transmitting antenna on the motion device to rotate to simulate different angles of the target object.

[0026] Optionally, the simulation scene is that a plurality of virtual radars are arranged at different positions of the same vehicle in the same road scene, and are used for synchronous detection of surrounding target objects, and for the same target object in the road scene, the simulation target information of the target object detected by each virtual radar at the same time is different.

[0027] Optionally, the simulation scene is that a plurality of virtual radars are arranged at the same position of different vehicles in the same road scene, and are used for synchronous detection of surrounding target objects, and for the same target object in the road scene, the simulation target information of the target object detected by each virtual radar at the same time is the same.

[0028] Optionally, the to-be-tested radar is configured to receive the simulation target information sent by the corresponding target simulation unit, and determine the actual target information of the target object according to the received simulation target information.

[0029] The parameter error value between the simulation target information and the actual target information is used to judge the test result of the to-be-tested radar, and in the case that the parameter error value does not exceed the set threshold, the to-be-tested radar passes the test, and in the case that the parameter error value exceeds the set threshold, the to-be-tested radar fails the test.

[0030] In a second aspect, the embodiment of the present application further provides a synchronous test method of a radar, applied to the simulation control unit provided by any embodiment of the present application, and the synchronous test method comprises:

[0031] Receiving the simulation target information sent by the simulation controller, wherein the simulation target information is the information of the target object detected by each virtual radar in the simulation scene, and the simulation scene is built by the simulation controller.

[0032] For different target objects detected by any virtual radar, different simulation target information corresponding to the target objects is sent to a target simulation unit corresponding to a to-be-tested radar;

[0033] The target simulation unit is controlled to simulate the target objects detected by the virtual radar according to the received simulation target information and a transmission signal of the to-be-tested radar, so as to obtain simulation target information, and the simulation target information is used for function testing of the to-be-tested radar.

[0034] Optionally, the sending of the different simulation target information corresponding to the target objects to the target simulation unit corresponding to the to-be-tested radar comprises:

[0035] The different simulation target information is sent to the target simulation unit through a simulation channel corresponding to the target object, and a number of the simulation channels is the same as a number of the target simulation units.

[0036] Optionally, an enable state of the simulation channel is associated with a flag bit of the virtual radar, and a value of the flag bit is used for judging whether the target object is detected by the virtual radar.

[0037] In a third aspect, an apparatus is also provided in the embodiments of the present application, and the apparatus comprises:

[0038] A memory in which executable program codes are stored;

[0039] An analog control unit coupled to the memory;

[0040] The analog control unit invokes the executable program codes stored in the memory to execute the radar synchronization testing method provided in any of the embodiments of the present application.

[0041] In a fourth aspect, a computer readable storage medium is also provided in the embodiments of the present application, and the storage medium stores a target simulation control program, and the program is executed by a processor to implement the radar synchronization testing method provided in any of the embodiments of the present application.

[0042] The radar synchronous test system provided by the embodiment of the present application comprises: a simulation controller, a target simulator in communication connection with the simulation controller, and at least two radars to be tested in air feed connection with the target simulator. Wherein, the simulation controller and the target simulator are used to realize the synchronous test of multiple radars. The simulation controller is used to send the simulation target information detected by each virtual radar at the same time to the target simulator. The simulation control unit in the target simulator is used to send the received simulation target information to the corresponding target simulation unit. The target simulation unit is used to simulate the target object detected by the radar in the simulation scene, and send the simulated simulation target information to the corresponding radar to be tested, so as to realize the function test of the radar to be tested. Compared with the traditional test mode of a single radar in a single scene, the technical scheme provided by the embodiment of the present application realizes the batch test of the radar, and realizes the synchronous test requirement of multiple radars in the same test scene, and can provide a solution for the subsequent synchronous test requirement of multiple radars of intelligent driving and unmanned vehicles.

[0043] The technical effects of the embodiment of the present application include:

[0044] 1. The simulation controller is used to send the simulation target information detected by each virtual radar at the same time to the target simulator. The simulation control unit in the target simulator is used to send the received simulation target information to the corresponding target simulation unit. The target simulation unit is used to simulate the target object detected by the radar in the simulation scene, and send the simulated simulation target information to the corresponding radar to be tested, so as to realize the function test of the radar to be tested.

[0045] 2. Each simulator test bench of the radar to be tested comprises multiple simulation channels and corresponding multiple target simulation units, each simulation channel and target simulation unit corresponds to the simulation of a target object, and the simulation control unit of the target simulator can control different channels in different test benches at the same time, so as to realize the simulation of different target objects. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0047] Figure 1a A structural block diagram of a radar synchronous test system provided by the embodiment of the present application is provided.

[0048] Figure 1bA schematic diagram of a demand scene for multiple radar synchronous testing provided by embodiment one of the present application is shown in FIG. 1.

[0049] Figure 1c A schematic diagram of the architecture of a multiple radar synchronous testing system provided by embodiment one of the present application is shown in FIG. 2.

[0050] Figure 1d A flowchart of a process of synchronous testing of multiple radars provided by embodiment one of the present application is shown in FIG. 3.

[0051] Figure 1e A flowchart of another process of batch testing of radars provided by embodiment one of the present application is shown in FIG. 4.

[0052] Figure 2 A flowchart of a synchronous testing method of a radar provided by embodiment two of the present application is shown in FIG. 5.

[0053] Figure 3 A structural schematic diagram of a computing device provided by embodiment three of the present application is shown in FIG. 6. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0055] It should be noted that the terms “include” and “have” and any variations thereof in the embodiments of the present application and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0056] The embodiments of the present application disclose a synchronous testing system and method of a radar. The following are described in detail respectively.

[0057] Embodiment one

[0058] Figure 1a A structural block diagram of a synchronous testing system of a radar provided by embodiment one of the present application is shown in FIG. 1. The system can be applied in the testing process of multiple radars under the same road scene. For example, Figure 1aAs shown, the system comprises: a simulation controller 110, a target simulator 120 in communication connection with the simulation controller 110, and at least two radars to be tested (two radars to be tested are shown in the figure, which are radar to be tested 130 and radar to be tested 140) in air connection with the target simulator 120; wherein,

[0059] The simulation controller 110 is configured to build a simulation scene of the vehicle and the target object in operation. The simulation scene can be built by a vehicle dynamics model and a traffic scene model, so as to simulate the motion state of the vehicle and the state of the surrounding target object. In the simulation scene, the initial position of the target object needs to be set, and the running state of the vehicle and the running state of the target object need to be set. The target object can be a pedestrian, a traffic sign, a building, and other vehicles outside the vehicle, etc.

[0060] In addition, in the simulation controller, a virtual radar sensor model needs to be established, and the installation position of the virtual radar on the vehicle, the detection angle of each virtual radar, the detection distance, and other performance parameters need to be set. The installation position of each virtual radar on the vehicle in the simulation scene corresponds to the installation position of each radar to be tested on the vehicle in the actual application process.

[0061] In this embodiment, the simulation controller 110 is configured to send the simulation target information detected by each virtual radar at the same time to the target simulator. The target simulator 120 comprises a simulation control unit 121 and a target simulation unit 122; wherein,

[0062] The simulation control unit 121 is configured to receive the simulation target information, and for any one virtual radar to detect different target objects, send the corresponding different simulation target information of the target objects to the corresponding target simulation unit 122; wherein, the number of target simulation units is the same as the number of target objects.

[0063] For any one target simulation unit 122, according to the received simulation target information and the transmission signal of the corresponding radar to be tested, the target object detected by the virtual radar is simulated, and the simulation target information obtained by simulation is sent to the corresponding radar to be tested according to the corresponding relationship between the virtual radar and the radar to be tested, so as to test the function of the radar to be tested.

[0064] The simulation target information of the target object detected by the virtual radar includes the distance of the target object from the virtual radar, the speed of the target object, the angle of the target object, and the echo intensity, etc.

[0065] For example, if only one virtual radar detects a target object at a certain moment, the simulation target information corresponding to the target object is sent to the simulation control unit. If multiple virtual radars detect a target object at a certain moment, the simulation target information detected by the multiple virtual radars is simultaneously sent to the simulation control unit. The number of target objects can be one or multiple. If the number of target objects is multiple, the simulation control unit sends the simulation target information corresponding to each target object to the simulation control unit. The communication link between the simulation control unit and the simulation control unit can use the interactive mode of Ethernet.

[0066] It should be noted that, in order to meet the simulation requirements of multiple target objects, each simulator bench where the radar to be tested is located can include multiple simulation channels and corresponding multiple target simulation units, each simulation channel and target simulation unit corresponds to the simulation of one target object, and the simulation control unit of the target simulator can simultaneously control different channels in different benches to realize the simulation of different target objects.

[0067] In this embodiment, the simulation control unit can use a flag bit to detect whether each virtual radar detects a target object. The flag bit of each virtual radar can be associated with the enable state bit of the simulator channel corresponding to the virtual radar, that is, when the virtual radar in the simulation control unit detects a target, the flag bit is output, and then the simulation control unit enables the simulation channel corresponding to the target object.

[0068] Specifically, whether the virtual radar detects a target object can be determined by the specific value of the radar flag bit output by the simulation control unit. For example, if the value of the output flag bit is 0, it means that the virtual radar does not detect a target object, and if the value of the output flag bit is 1, it means that the virtual radar detects a target object. Correspondingly, when the simulation control unit receives the flag bit output by the simulation control unit, the simulation control unit enables the simulation channel corresponding to the virtual radar corresponding to the flag bit.

[0069] In this embodiment, by associating the radar with the target simulation channel, it can be ensured that the target simulated by the target simulation unit can be provided to the corresponding radar to be tested, and normal testing is ensured.

[0070] Further, in this embodiment, the target simulator further includes a test dark box for placing the radar to be tested. The test dark box is fixed on the radar simulator bench. One simulator bench is used to fix one test dark box. The number of simulator benches and test dark boxes is the same as the number of radars to be tested, that is, several test dark boxes and several simulator benches are needed for testing several radars. The center of the test dark box has a radar mounting bracket for fixing and initial position calibration of the radar to be tested, so as to ensure that the phase center of the radar to be tested is aligned with the antenna of the target simulation unit.

[0071] For example, in an embodiment, the test dark box is filled with wave-absorbing materials to ensure that the radar test environment is free of interference.

[0072] It should be noted that each radar simulator rack can be regarded as a subsystem, and the subsystems can be independently operated or synchronously operated, and do not interfere with each other, facilitating the increase or decrease of the test subsystem. When the number of radars increases, the test can be realized by increasing the simulator racks. For any simulator rack, the number of target simulation units arranged thereon is the same as the number of target objects in the simulation scene. When the number of target objects in the simulation scene increases, the test can be realized by increasing the number of target simulation units arranged on the rack.

[0073] Further, the test dark box is configured with a receiving antenna and a transmitting antenna (referred to as a transceiving antenna), wherein the receiving antenna is configured to receive the transmitting signal of the radar under test; and the transmitting antenna is configured to transmit the simulated target information simulated by the target simulation unit to the radar under test in the form of a return signal.

[0074] In this embodiment, each target simulation unit simulates the distance of the target object from the radar under test, the speed of the target object, the angle, and the return signal strength, i.e., the simulated target information includes the parameter values of the distance parameter, the speed parameter, the angle parameter, and the return signal strength parameter of the target object. For any target simulation unit, the specific simulation process can be realized by the following way:

[0075] According to the received transmitting signal of the radar under test and the received simulation target information, the target object detected by the virtual radar is simulated.

[0076] The simulation of the distance of the target object needs to consider the actual position of the radar under test in the test dark box. The actual position is determined by the actual distance between the radar under test and the transceiving antenna. Specifically, for the simulation of the distance of the target object, the theoretical distance between the radar under test and the target object in the simulation target information is the actual distance to be simulated, and the physical spatial distance between the radar under test and the transceiving antenna can be compensated. For example, if the theoretical distance is 100 meters and the physical distance between the radar under test and the transceiving antenna is 0.5 meters, the target distance to be simulated is 99.5 meters.

[0077] In this embodiment, the simulation of the speed of the target object can be realized by the following way:

[0078] After receiving the transmitting signal of the radar to be tested, the receiving antenna reduces the frequency to intermediate frequency signal through the down-conversion component, and then the analog control unit controls the intermediate frequency signal to simulate the target speed. After the simulation is completed, the intermediate frequency signal is increased to the working frequency band of the radar to be tested through the up-conversion component. In the process of up-conversion and down-conversion, different Doppler frequency changes are realized, so as to realize the simulation of different target speeds.

[0079] In this embodiment, the simulation of the echo intensity of the target object is realized by the power control module in the target simulator. The theoretical value of the echo signal intensity can be calculated through the simulated distance of the target object, and the transmission power of the intermediate frequency signal is controlled to realize the theoretical value, so as to generate the simulated echo parameters.

[0080] Further, the test dark box is a cylindrical structure, and the central position is used to place the radar to be tested. The outer surface of the cylindrical wall of the cylindrical structure is provided with a plurality of motion devices. Each motion device is a rotatable ring structure, and the number of layers of the ring is the same as the number of target objects. The receiving antenna and the transmitting antenna are arranged on each layer of the ring, and the antenna radiation port is inserted into the test dark box. In this embodiment, the rotation of the motion device can drive the rotation of the receiving and transmitting antennas, so that different angles of the target object can be simulated.

[0081] Specifically, the rotation of the motion device can be driven by the rotation of the driving motor. The driving motor is connected to the motion device and the target simulation unit, respectively, for receiving the control instruction sent by the target simulation unit and driving the motion device to rotate according to the received control instruction.

[0082] Further, when the radar to be tested is tested by using the simulated target information, the radar to be tested can determine the actual parameter value of the related parameters of the target object according to the simulated target information, such as the distance value, the speed value and the angle value. The radar can compare the actual parameter value with the corresponding parameter value obtained by simulation. If the error value between the two is within the set range, it means that the radar index meets the requirements and the test is passed. If the error value between the two exceeds the set threshold, it means that the radar test fails and the performance of the radar has a problem.

[0083] Next, the working principle of the radar synchronous test system provided in this embodiment will be described in detail in combination with two specific application scenarios.

[0084] Scenario one, when a vehicle installs multiple radars in different positions, multiple radars will detect the surrounding targets synchronously in the same road scene. For the same target, it may be detected by multiple radars, but for different radars, the time or parameter information of the same target, such as distance, speed and angle, is different. Using the test system provided by the embodiment, different target parameter information of different radars can be simulated respectively, and then the synchronous test of multiple radars in the same road scene can be realized.

[0085] Scenario two, if the installation positions of radars on different vehicles are the same, the simultaneous test of multiple radars on different vehicles can be realized based on the same test scene. The target parameter information simulated by the target simulation unit for multiple radars is consistent during the test, and the test efficiency of the radar can be improved.

[0086] Next, the test system and test process of multiple radars in scenario one are introduced in detail.

[0087] Figure 1b A schematic diagram of a demand scenario for synchronous test of multiple radars provided by the embodiment one of the present application is shown in FIG. 1. Figure 1b As shown in the figure, three radars are installed on the vehicle 1, which are radar 3, radar 4 and radar 5 in the figure. Among them, radar 3 is installed at the front of the vehicle, and its coverage range is detection range A; radar 4 is installed at the left front of the vehicle, and its coverage range is detection range B; radar 5 is installed at the back of the vehicle, and its coverage range is detection range C. The target vehicle 2 drives from position M, then overtakes the vehicle 1, and finally is at position N. The target vehicle appears in the detection range of radar 5, radar 4 and radar 3 respectively, and for a period of time, it appears in the detection range of radar 4 and radar 3 at the same time. Therefore, the three radars detect the target in different time periods. If synchronous test of the three radars is to be performed, the test scene needs to be built using simulation software, and then when the target vehicle 2 is in the detection range of different radars, the information of the target vehicle 2 is sent to the target control unit corresponding to different radars to be tested in the target simulator for target simulation, so as to realize synchronous test of radar 3, radar 4 and radar 5.

[0088] Specifically, Figure 1c The architecture schematic diagram of the synchronous test system of multiple radars provided by the embodiment one of the present application is shown in FIG. 2. Figure 1d The flowchart of synchronous test of multiple radars provided by the embodiment one of the present application is shown in FIG. 3. Figure 1d As shown in the figure, before the test, the preparation work of test system building needs to be performed, for example, the radars to be tested are fixed into different test dark boxes. Figure 1cAs shown, radar 3 is placed in test dark box 31, radar 4 is placed in test dark box 41, and radar 5 is placed in test dark box 51, ensuring that each test dark box only has one radar. In addition, a simulation scene needs to be built, and a virtual radar sensor needs to be configured in the simulation controller, the installation position of the radar on the vehicle and each performance index parameter need to be set, and each radar needs to be associated with the corresponding simulation channel of the target simulator. For example, for the test scene of Figure 1b , there is only one target vehicle, so one channel of the dark box where the three radars are located can meet the test. Specifically, radar 3 can be assigned to simulation channel one, radar 4 can be assigned to simulation channel two, and radar 5 can be assigned to simulation channel three, and the target simulation units of the three channels are connected to the simulation control unit through radio frequency cables. Then connect the communication link between the simulation controller and the simulation control unit, and in the state that each radar is powered on and works normally, run the simulation software to start the test process.

[0089] During the test process, as shown in Figure 1b , radar 5 first sees the target, and its corresponding flag bit has an output. The simulation control unit can determine whether radar 5 detects the target through the radar flag bit. Through the association of the radar flag bit and simulation channel three, when the simulation control unit determines that radar 5 detects the target according to the flag bit, the simulation control unit enables simulation channel three, at this time, the simulation control unit transmits the virtual radar detected simulation target information to the target simulation unit 53 of the simulation bench of radar 5 through simulation channel three. The receiving antenna in the transceiving antenna 52 corresponding to channel three receives the transmission waveform of the radar under test 5, and then the simulation control unit controls the target simulation unit 53 to realize target simulation, and transmits the simulated target information to the radar under test 5 through the transmitting antenna in the transceiving antenna 52, at this time, the radar under test 5 should be able to detect the echo of the simulated target, and the function of the radar under test 5 can be tested by using the echo.

[0090] As shown in Figure 1b , the target vehicle exceeds the detection range C of radar 5, at this time, no simulation target information is sent to the simulation control unit, so the target simulation unit 53 does not simulate the target.

[0091] Similarly, as the target vehicle gradually enters the detection range B of radar 4, according to the radar flag bit, if the simulation control unit determines that radar 4 detects the target, the simulation control unit enables simulation channel two, and sends the virtual radar detected simulation target information to the target simulation unit 43 corresponding to radar 4 through simulation channel two, and the simulation control unit controls the target simulation unit 43 to simulate the corresponding target.

[0092] Then, the target vehicle gradually moves forward, and its position can be detected by radar 3 and radar 4 together. The simulation control unit enables the simulation channels one and two. However, the relative distance, relative speed and relative angle information of the target detected by the two radars are different. At this time, radar 3 and radar 4 respectively output two different target information, and are respectively sent to the target simulation unit 33 corresponding to radar 3 and the target simulation unit 43 corresponding to radar 4 through the channel one and the channel two of the simulator, and different targets are simulated by simultaneously controlling the target simulation unit 33 and the target simulation unit 43.

[0093] Similarly, if there are more radars to be tested, for example Figure 1c radar 6, radar 7 and radar 8 shown in the figure, the radars can be tested in the above-mentioned manner. That is, according to the radar flag bit, if the simulation control unit determines that a certain radar detects a certain target, the simulation channel corresponding to the target is enabled, and the simulation target information detected by the radar is sent to the target simulation unit corresponding to the radar through the simulation channel. The simulator control unit controls the target simulation unit to simulate the corresponding target.

[0094] In the above-mentioned manner, the simulation of Figure 1b the scene can be realized. Figure 1b Taking the synchronous test of three radars as an example, the test bench of each radar can be regarded as a subsystem, and the subsystems are independently operated. It is convenient to increase or decrease the test subsystem. When the number of radars increases, the test can be realized by increasing the simulator bench. Each simulator bench only contains a test dark box. The number of motion devices and target simulation units is the same, and mainly depends on the number of targets to be simulated.

[0095] Through the above-mentioned manner, the simulation of Figure 1cThe test system shown can perform simultaneous hardware-in-the-loop simulation tests of multiple radar functions. For example, the front radar can perform tests of functions such as ACC (Adaptive Cruise Control), AEB (Autonomous Emergency Braking), and FCW (Forward Collision Warning). The corner radar can perform tests of functions such as BSD (Blind Spot Detection), RCTA (Rear Cross Traffic Alerting), DOW (Door Open Warning), RCW (Rear Collision Warning), and FCTA (Front Cross Traffic Alerting). When testing the above functions using the test system provided in this embodiment, the specific test methods are similar to those in the above scenario, except that the simulated target information sent by the simulation controller differs. The specific test methods can refer to the test methods for radar 3, radar 4, or radar 5 in the above scenario, and will not be repeated here.

[0096] The following section provides a detailed introduction to the testing system and process for the multiple radars in Scenario 2.

[0097] Figure 1e This is another flowchart for batch testing of radar provided in Embodiment 1 of the present invention. Figure 1e As shown, the preparations before the test and Figure 1d The preparation work shown is the same. Unlike the radar test in Scenario 1, in this scenario, the radar needs to be associated with all channels of the simulator to ensure that the target state simulated by all target simulation units is consistent.

[0098] Specifically, during the testing process, the radar under test is powered on and operates normally, running a simulation control scenario. After the virtual radar in the simulation scenario detects a target, the simulation control unit enables all simulation channels. The simulation controller sends the target information to the simulation control unit, which then sends the target information to each target simulation unit through each simulation channel and controls each target simulation unit to perform target simulation. The simulated target information is then sent to the corresponding radar under test, thereby achieving batch testing of the radar.

[0099] The technical scheme provided by the embodiment can realize synchronous testing of multiple radars by using a simulation controller and a target simulator. The simulation controller can send the simulation target information detected by each virtual radar at the same time to the target simulator. The simulation control unit in the target simulator can send the received simulation target information to the corresponding target simulation unit. The target simulation unit can simulate the target object detected by the radar in the simulation scene and send the simulation target information obtained by simulation to the corresponding radar to be tested to test the function of the radar to be tested. By using the above technical scheme, batch testing of radars is realized, and synchronous testing of multiple radars in the same test scene is realized, which can provide a solution for subsequent synchronous testing of multiple radars for intelligent driving and unmanned vehicles.

[0100] Embodiment two

[0101] Figure 2 A flowchart of a radar synchronous testing method provided by the second embodiment of the application. The method can be applied to the test system provided by the above-mentioned embodiments and is mainly executed by the simulation control unit in the test system. As shown in the figure, the method comprises the following steps. Figure 2

[0102] S210, receiving simulation target information.

[0103] The simulation target information is the information of the target object detected by each virtual radar in the simulation scene, and the simulation scene is built by the simulation controller.

[0104] S220, for different target objects detected by any virtual radar, sending the corresponding different simulation target information to the corresponding target simulation unit.

[0105] Specifically, the different simulation target information can be sent to the corresponding target simulation unit through the simulation channel corresponding to the different target objects, and the number of simulation channels is the same as the number of target simulation units. The enable state of the simulation channel is associated with the flag bit of the virtual radar, and the value of the flag bit is used to determine whether the virtual radar detects the target object.

[0106] S230, controlling each target simulation unit to simulate the target object detected by the virtual radar according to the received simulation target information and the transmission signal of the corresponding radar to be tested, to obtain simulation target information, which is used for function testing of the radar to be tested.

[0107] ​The target simulation unit is configured to simulate the target object detected by the virtual radar according to the received simulation target information and the transmitting signal of the corresponding radar to be tested, and send the simulated simulation target information to the corresponding radar to be tested according to the corresponding relationship between the virtual radar and the radar to be tested, so as to test the function of the radar to be tested.

[0108] Specifically, the specific working process of the target simulation unit and the function test process of the radar to be tested can refer to the description of the above-mentioned embodiments, which will not be repeated here.

[0109] In the embodiment, the simulation control unit can send different simulation target information corresponding to different target objects to the corresponding target simulation unit according to the received simulation target information. The target simulation unit is configured to simulate the target object detected by the virtual radar according to the received simulation target information and the transmitting signal of the corresponding radar to be tested, and send the simulated simulation target information to the corresponding radar to be tested according to the corresponding relationship between the virtual radar and the radar to be tested, so as to test the function of the radar to be tested. By using the above technical solution, the synchronous test of multiple radars is realized.

[0110] Embodiment three

[0111] Please refer to Figure 3 , Figure 3 is a structural schematic diagram of a device provided by the embodiment three of the present application. As Figure 3 shown, the device can include:

[0112] a memory 701 storing executable program codes;

[0113] a simulation control unit 702 coupled with the memory 701;

[0114] The simulation control unit 702 calls the executable program codes stored in the memory 701 to execute the synchronous test method of the radar provided by any embodiment of the present application.

[0115] The embodiment of the present application discloses a computer readable storage medium storing a target simulation control program, wherein the computer program makes the computer execute the synchronous test method of the radar provided by any embodiment of the present application.

[0116] In various embodiments of the present application, it should be understood that the size of the serial number of the above-mentioned processes does not mean the inevitable sequence of execution, and the execution sequence of the processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0117] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0118] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0119] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. The computer software product is stored in a memory, and includes a number of steps for causing a computer device (which can be a personal computer, a server or a network device, and specifically can be a processor in the computer device) to execute some or all of the steps of the above-mentioned methods of the embodiments of the present application.

[0120] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by programs instructing relevant hardware, and the programs can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0121] Those skilled in the art can understand that the modules or flows in the drawings are not necessarily required for implementing the present application.

[0122] Those skilled in the art can understand that the modules in the devices in the embodiments can be distributed in the devices in the embodiments as described in the embodiments, or can be changed to be located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A synchronous test system for radars, characterized by, The synchronization test system comprises a simulation controller, a target simulator in communication connection with the simulation controller, and at least two radars to be tested in air feed connection with the target simulator, wherein the simulation controller is configured to build a simulation scene of a vehicle and target objects in operation, the simulation scene comprising virtual radars corresponding to the radars to be tested and installed on the vehicle, and the simulation controller is configured to send simulation target information detected by each virtual radar at the same time to the target simulator; the target simulator comprises a simulation control unit and a target simulation unit, wherein the simulation control unit is configured to receive the simulation target information, and send different simulation target information corresponding to different target objects detected by any virtual radar to a corresponding target simulation unit, and the number of target simulation units is the same as the number of target objects; for any target simulation unit, the target simulation unit is configured to simulate the target objects detected by the virtual radars according to the received simulation target information and the transmission signal of the corresponding radar to be tested, and send simulation target information obtained by simulation to the corresponding radar to be tested according to the correspondence between the virtual radars and the radars to be tested, so as to test the function of the radar to be tested; the simulation control unit is specifically configured to: enable the simulation channel corresponding to the target objects detected by the virtual radars when a preset value of a virtual radar flag bit output by the simulation controller is received, wherein the enable state of each simulation channel is associated with the flag bit of the virtual radar, and the corresponding flag bit outputs the preset value when the virtual radar in the simulation controller detects the target objects; send different simulation target information to the corresponding target simulation unit through the simulation channel corresponding to different target objects, wherein the number of simulation channels is the same as the number of target simulation units, and the simulation target information of the target objects detected by each virtual radar comprises the distance of the target objects from the virtual radar, the speed of the target objects, the angle of the target objects, and the echo intensity; the target simulator further comprises a test dark box for placing the radars to be tested; the synchronization test system further comprises a simulator rack for fixing the test dark box and the corresponding target simulation unit, wherein the test dark box is a cylindrical structure, and the center position of each test dark box is used for placing only one radar to be tested, the outer surface of the cylindrical wall of the cylindrical structure is provided with a plurality of motion devices, each motion device is a rotatable circular ring structure, and the number of layers of the circular ring is the same as the number of target simulation units, each layer of the circular ring is provided with a receiving antenna and a transmitting antenna, and the radiation ports of the receiving antenna and the transmitting antenna are inserted into the test dark box, wherein the receiving antenna is configured to receive the transmission signal of the radar to be tested, the transmitting antenna is configured to send the simulation target information obtained by the target simulation unit to the radar to be tested corresponding to the target simulation unit. the synchronization test system further comprises 2. The synchronous test system of claim 1, wherein, ​ The driving motor is connected with the moving device, and is used for receiving the control instruction sent by the target simulation unit and driving the moving device to rotate according to the control instruction, so as to drive the receiving antenna and the transmitting antenna on the moving device to rotate, so as to simulate different angles of the target object.

3. The synchronized test system of claim 1, wherein, The simulation scene is that a plurality of virtual radars are arranged at different positions of the same vehicle in the same road scene, and are used for synchronously detecting surrounding target objects, and simulation target information of the same target object in the road scene detected by each virtual radar at the same time is different.

4. The synchronized test system of claim 1, wherein, The simulation scene is that a plurality of virtual radars are arranged at the same positions of different vehicles in the same road scene, and are used for synchronously detecting surrounding target objects, and simulation target information of the same target object in the road scene detected by each virtual radar at the same time is the same.

5. The synchronized test system of claim 1, wherein, The to-be-tested radar is used for receiving the simulation target information sent by the corresponding target simulation unit, and determining actual target information of the target object according to the received simulation target information. The parameter error value between the simulation target information and the actual target information is used for judging a test result of the to-be-tested radar. In a case where the parameter error value does not exceed a set threshold, the to-be-tested radar passes the test. In a case where the parameter error value exceeds the set threshold, the to-be-tested radar fails the test.

6. A method for synchronizing testing of a radar, applied to the analog control unit according to claim 1, characterized in that, The method comprises the following steps: receiving simulation target information sent by a simulation controller, wherein the simulation target information is information of a target object detected by each virtual radar in a simulation scene, and the simulation scene is built by the simulation controller; for different target objects detected by any virtual radar, sending corresponding different simulation target information to a corresponding target simulation unit of a corresponding to-be-tested radar; controlling each target simulation unit to simulate the target object detected by the virtual radar according to the received simulation target information and a transmitting signal of the corresponding to-be-tested radar, to obtain simulation target information, wherein the simulation target information is used for function testing of the to-be-tested radar.

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