Performance testing system and method

Abstract

The performance test system and method provided in the application can automatically and jointly test the performance of a radar+camera module. The method comprises: a main controller sending a first radar test case to a radar target simulation controller, the first radar test case comprising a correspondence relationship between a common characteristic and a first characteristic value and a correspondence relationship between a first unique characteristic and a second characteristic value; sending a first camera test case to a camera screen projection controller, the first camera test case comprising a correspondence relationship between the common characteristic and the first characteristic value and a correspondence relationship between a second unique characteristic and a third characteristic value; the radar target simulation controller controlling an antenna array to simulate a first target return signal based on the first radar test case; the camera screen projection controller controlling a projector to simulate a first target image on a wave-transparent curtain based on the first camera test case; and a test device testing target detection performance based on the first target return signal and the first target image.

Description

Technical Field

[0001] This application relates to the field of sensors, and more specifically, to performance testing systems and methods in the field of sensors. Background Technology

[0002] The combination of vehicle radar and vehicle camera is one of the important types of fusion perception in advanced driver assistance systems (ADAS). Before vehicle radar is installed in a vehicle, it needs to undergo tests for indicators such as radio frequency testing, target detection, and tracking. Similarly, vehicle camera needs to undergo tests for indicators such as internal parameter calibration, resolution testing, target detection, and tracking before installation.

[0003] However, while performance testing methods and systems for individual radar and camera modules are largely mature in the industry, there is no automated joint performance testing method or system for radar and camera modules. Therefore, there is an urgent need to provide a technical solution for automated joint performance testing of radar and camera modules. Summary of the Invention

[0004] The performance testing system and method provided in this application are capable of performing automated joint performance testing on radar + camera modules.

[0005] In a first aspect, embodiments of this application provide a performance testing system, comprising: a main controller, a radar target simulation controller, a camera projection controller, a radar target simulator antenna array, a projector, a transparent screen, and a three-dimensional high-precision turntable. A fixture under test is mounted on the three-dimensional high-precision turntable, which has degrees of freedom for pitch rotation, azimuth rotation, and / or vertical lifting. The fixture under test includes a radar module and a camera module. The radar target simulator antenna array includes multiple radio frequency antennas arranged in a spatial spherical arc shape, with each antenna aligned with the center of the radar module. The projector is located above the three-dimensional high-precision turntable. The transparent screen is positioned between the three-dimensional high-precision turntable and the radar target simulator antenna array, and is close to the radar target simulator antenna array. The mounting center of the backplate of the three-dimensional high-precision turntable, the center of the sphere, and the center of the transparent screen are collinear. The main controller is used to send a first radar test case to the radar target simulation controller. The first radar test case includes common characteristics and a correspondence between the common characteristics and a first characteristic value corresponding to a first target, as well as a first unique characteristic. The system establishes a correspondence between a characteristic and a first unique characteristic corresponding to a second characteristic value of the first target. The common characteristic includes at least one characteristic shared by the radar module and the camera module, and the first unique characteristic includes at least one characteristic unique to the radar module. A first camera test case is sent to the camera projection controller. This first camera test case includes the correspondence between the common characteristic and the first characteristic value, as well as the correspondence between a second unique characteristic and a third characteristic value of the second unique characteristic corresponding to the first target. The second unique characteristic includes at least one characteristic unique to the camera module. The first characteristic value, the second characteristic value, and the third characteristic value are synchronized in time. The radar target simulation controller is used to control the antenna array to simulate the echo signal of the first target based on the first radar test case. The camera projection controller is used to control the projector to simulate the image of the first target on the transparent screen based on the first camera test case. The fixture under test is used to test the target detection performance based on the echo signal and the image of the first target.

[0006] In one possible implementation, the first target includes at least one target, and the common characteristics include at least one of the following: the number of the at least one target, the trajectory of each of the at least one target, the center position of each target, the velocity of each target, the volume of each target, and the shape of each target; the first unique characteristic includes at least one of the following: the material of each target, the reflectivity of the radar cross section of each target in various directions; and the second unique characteristic includes at least one of the following: the color of each target, the texture of each target, and the brightness of each target.

[0007] In one possible implementation, the target simulation space of the first target is the overlapping portion of the first target simulation space and the second target simulation space; the projection of the first target simulation space onto the XY plane is a sector O1B2C. c The projection of the first target simulation space onto the YZ plane is a sector O1D2E c Wherein, O1 is the mounting center of the backplate of the three-dimensional high-precision turntable; B2 is the farthest point that can be simulated on the first side of the first maximum horizontal angle of the antenna array in the XY plane; C2 is the farthest point that can be simulated on the second side of the first maximum horizontal angle of the antenna array; D2 is the farthest point that can be simulated on the first side of the first maximum elevation angle of the antenna array in the XY plane; E2 is the farthest point that can be simulated on the second side of the first maximum elevation angle of the antenna array; the XY plane is perpendicular to the YZ plane; the projection of the second target simulation space on the XY plane is region Z1B1C1Z2; the projection of the second target simulation space on the YZ plane is region Z3D1E1Z4; wherein, B1 is the farthest point that can be simulated on the XY plane by the wave-transparent curtain. The closest point that can be simulated on the first side of the second maximum horizontal angle, Z1 is the farthest point that can be simulated on the first side of the second maximum horizontal angle, Z2 is the closest point that can be simulated on the second side of the second maximum horizontal angle, C1 is the farthest point that can be simulated on the second side of the second maximum horizontal angle, D1 is the closest point that can be simulated on the first side of the second maximum pitch angle in the YZ plane, Z1 is the farthest point that can be simulated on the first side of the second maximum pitch angle, Z2 is the closest point that can be simulated on the second side of the second maximum pitch angle, and C1 is the farthest point that can be simulated on the second side of the second maximum pitch angle.

[0008] In one possible implementation, the main controller is specifically configured to: obtain a test case feature library, the test case feature library including the common feature, the first unique feature and the second unique feature; and, based on the test case feature library, obtain a test case library, the test case library including the first radar test case and the first camera test case.

[0009] In one possible implementation, the main controller is specifically configured to: acquire test data collected by the standard gold module within a test scenario, wherein the test scenario includes the first target, and the test data includes the first characteristic value of the common characteristic corresponding to the first target, the second characteristic value of the first unique characteristic corresponding to the first target, and the third characteristic value of the second unique characteristic corresponding to the first target, wherein the standard gold module includes a standard radar module and a standard camera module; and obtain the first radar test case and the first camera test case based on the test case feature library and the test data.

[0010] Secondly, this application embodiment also provides another performance testing system, including: a module loading and unloading area, an anechoic chamber testing area, and an instrument control area. The module loading and unloading area includes a first housing, a module loading and unloading mechanism disposed within the first housing, and a material chassis below the module loading and unloading mechanism. The anechoic chamber testing area includes a second housing and a projector, a three-dimensional high-precision turntable, a wave-transparent screen, a wave-transparent screen lifter, a wave-absorbing material, and a radar target simulator antenna array disposed within the second housing. The second housing has a shielding function, and the wave-absorbing material is disposed on the inner surface of the second housing. The instrument control area includes an instrument control cabinet and an instrument control cabinet... The system includes a camera projection controller, a radar target simulation controller, and a main controller. The first side surface of the first housing and the first side surface of the second housing are adjacent, and an openable shielding door is provided between the first housing and the second housing to connect or separate them. The second side surface of the second housing is adjacent to the instrument control cabinet. At least one standard fixture to be tested is placed in the material chassis, and each of the at least one standard fixture to be tested contains a radar module and / or a camera module. The three-dimensional high-precision turntable is positioned near the second housing. The first side surface of the first housing is located on one side and directly opposite the opening of the shielding door. The three-dimensional high-precision turntable has degrees of freedom for pitch rotation, azimuth rotation, and / or vertical lifting. The module loading and unloading mechanism is located on one side of the first side surface of the first housing and directly opposite the opening of the shielding door. The module loading and unloading mechanism has degrees of freedom for movement along the X-axis, movement along the Y-axis, movement along the Z-axis, and / or rotation along the Y-axis, wherein the X-axis, the Y-axis, and the Z-axis are perpendicular to each other. The module unloading mechanism is used to install standard tooling from the material chassis onto the three-dimensional high-precision turntable. The radar target simulator antenna array is located on one side of the first side surface of the first housing and directly opposite the opening of the shielding door. On the second side surface of the second housing, the radar target simulator antenna array includes multiple radio frequency antennas arranged in a spatial spherical arc shape, with each radio frequency antenna aligned with the center of the radar module in the standard fixture; the projector is located above the three-dimensional high-precision turntable, and the transparent screen is positioned between the three-dimensional high-precision turntable and the radar target simulator antenna array and close to the radar target simulator antenna array; the transparent screen lifter is installed on top of the transparent screen, and the mounting center of the back plate of the three-dimensional high-precision turntable, the center of the sphere, and the center of the transparent screen are collinear.

[0011] In one possible implementation, the module loading and unloading mechanism includes a main support, two X-axis slide rails with racks, an X-axis moving slide, two X-axis moving drive motors, a Y-axis slide rail with racks, a Y-axis moving slide, a Y-axis moving drive motor, a Y-axis rotating block, a Y-axis rotating drive motor, a Z-axis slide rail with racks, a Z-axis moving drive motor, a robotic arm, and a robotic hand. The two X-axis slide rails are mounted parallel to each other on the main support along the X-axis. The X-axis moving slide is mounted across the two X-axis slide rails. The two X-axis moving drive motors are respectively mounted at both ends of the X-axis moving slide. The two X-axis moving drive motors are used to drive the X-axis moving slide along the X-axis slide rails via racks on the two X-axis slide rails. The Y-axis slide rails are mounted along the Y-axis on the X-axis moving slide, the Y-axis moving slide is mounted on the Y-axis slide rails, and the Y-axis moving drive motor is mounted on the Y-axis moving slide. The Y-axis movement drive motor drives the Y-axis movement slide to move along the Y-axis along the Y-axis via a rack on the Y-axis slide rail. The Y-axis rotation block is hinged to the Y-axis movement slide, and the Y-axis rotation drive motor is mounted on the Y-axis rotation block, driving the Y-axis rotation block to rotate along the Y-axis. The Z-axis movement drive motor is mounted on the flange of the Y-axis rotation block, and the Z-axis slide rail is mounted along the Z-axis on the Y-axis rotation block. The robotic arm is sleeved on the Z-axis slide rail, and a rack is provided on the outer side of the robotic arm. The Z-axis movement drive motor drives the robotic arm to move along the Z-axis via the rack. The robotic hand is mounted on one end of the robotic arm near the material chassis, and multiple metal columns are mounted on the robotic hand along the Z-axis. The robotic hand picks up the standard tooling from the material chassis via the multiple metal columns.

[0012] In one possible implementation, the standard fixture includes a fixture base, a radar mounting post (camera mounting base), a first positioning groove, a second positioning groove, a first camera plug, a first radar adapter, a second camera plug, a second radar adapter, and multiple robotic gripper holes; the fixture base includes a back plate and a first side plate and a second side plate disposed opposite to each other on a first surface of the back plate, the back plate, the first side plate, and the second side plate forming a groove shape; the radar mounting post and the camera mounting base are respectively mounted on the first surface, the radar mounting post is used to mount the radar module, and the camera mounting base is used to mount the camera module; the multiple robotic gripper holes are provided on the first side plate and the second side plate. On the surface of the side plate opposite to the back plate, magnets are installed in the gripping holes of the robotic arm, and the plurality of metal columns correspond one-to-one with the plurality of gripping holes of the robotic arm; the surface of the first side plate opposite to the second side plate is provided with the first positioning groove and the first camera plug and the first radar adapter arranged along the Z direction, and the surface of the second side plate opposite to the first side plate is provided with the second positioning groove and the second camera plug and the second radar adapter arranged along the Z direction, wherein the positions of the first positioning groove and the second positioning groove correspond, the positions of the first camera plug and the second camera plug correspond, and the positions of the first radar adapter and the second radar adapter correspond.

[0013] In one possible implementation, the three-dimensional high-precision turntable includes a turntable base, a Z-axis lift, a Z-axis lifting platform, an azimuth turntable, an azimuth turntable drive motor, a pitch turntable, and a pitch drive motor. The Z-axis lifting platform is mounted on the turntable base via the Z-axis lift, and moves along the Z-axis under the drive of the Z-axis lift. The azimuth turntable is mounted on the Z-axis lifting platform (the azimuth turntable drive motor is mounted on the Z-axis lifting platform), and rotates in azimuth under the drive of the azimuth turntable drive motor. The pitch turntable is mounted on the azimuth turntable, and rotates in pitch under the drive of the pitch drive motor.

[0014] In one possible implementation, the pitch turntable is equipped with a first movable plug, a second movable plug, a first clamping positioning block, a second clamping positioning block, a first clamping positioning block drive motor, and a second clamping positioning block drive motor. The first movable plug is mounted on the first clamping positioning block, which has a first protrusion whose shape matches the shape of the first positioning groove. The second movable plug is mounted on the second clamping positioning block, which has a second protrusion whose shape matches the shape of the second positioning groove. A first camera connector and a first radar connector are mounted on the first movable plug along the Z-axis. The first clamping positioning block drive motor drives the first clamping positioning block to move along the Y-axis until the first camera plug is connected to the first camera connector and the first radar adapter is connected to the first radar connector. A second camera connector and a second radar connector are mounted on the second movable plug along the Z-axis. The second clamping positioning block drive motor drives the second clamping positioning block to move along the Y-axis until the second camera plug is connected to the second camera connector and the second radar adapter is connected to the second radar connector.

[0015] In one possible implementation, the main controller is used to control the module loading and unloading mechanism to install a first standard fixture onto the three-dimensional high-precision turntable. The first standard fixture includes a first radar module and a first camera module, and the at least one standard fixture to be tested includes the first standard fixture. The main controller is used to send a first radar test case to the radar target simulation controller. The first radar test case includes a correspondence between common characteristics and a first characteristic value of the common characteristics corresponding to the first target, and a correspondence between a first unique characteristic and a second characteristic value of the first unique characteristic corresponding to the first target. The common characteristics include characteristics shared by the first radar module and the first camera module, and the first unique characteristic includes characteristics unique to the first radar module. The main controller is also used to send a first radar test case to the camera projection controller. A camera test case, comprising the correspondence between the common characteristics and the first characteristic value, and the correspondence between the second unique characteristics and the third characteristic value corresponding to the second unique characteristics of the first target, wherein the second unique characteristics include characteristics unique to the first camera module, and the first characteristic value, the second characteristic value, and the third characteristic value are synchronized in time; a radar target simulation controller is used to control the antenna array to simulate the echo signal of the first target based on the first radar test case; a camera projection controller is used to control the projector to simulate the image of the first target on the transparent screen based on the first camera test case; and a first standard fixture is used to test the target detection performance based on the echo signal and the image of the first target.

[0016] In one possible implementation, the main controller controls the module loading and unloading mechanism to install the second standard fixture onto the three-dimensional high-precision turntable. The second standard fixture includes only the second radar module, and the at least one standard fixture to be tested includes the second standard fixture. The main controller sends a second radar test case to the radar target simulation controller. The second radar test case includes at least one characteristic of the second target relative to the second radar module and a characteristic value for each of the at least one characteristic. The radar target simulation controller simulates the echo signal of the second target using the radar target simulator antenna array based on the second radar test case. The second standard fixture is used to test the target detection performance based on the echo signal of the second target.

[0017] In one possible implementation, a spectrum analyzer is further installed on the instrument control cabinet in the instrument control area, and the anechoic chamber testing area also includes a spectrum analyzer receiving antenna. The spectrum analyzer receiving antenna is installed at a first position above or below the central radio frequency antenna, which is the radio frequency antenna located at the central position among the plurality of radio frequency antennas. The distance between the first position and the central radio frequency antenna is less than a preset distance threshold. The spectrum analyzer receiving antenna is directly facing the mounting center of the back plate of the three-dimensional high-precision turntable. The spectrum analyzer receiving antenna is used to receive the radio frequency signal emitted by the second radar module and to send the radio frequency signal to the spectrum analyzer. The spectrum analyzer is used to test the radio frequency transmission performance of the second radar module based on the radio frequency signal.

[0018] In one possible implementation, the main controller controls the module loading and unloading mechanism to install the third standard fixture in the material chassis onto the three-dimensional high-precision turntable. The third standard fixture includes only the second camera module, and the at least one standard fixture to be tested includes the third standard fixture. The main controller controls the camera projection controller to project a chessboard pattern onto the transparent screen via the projector. The third standard fixture is used to perform calibration performance and resolution performance tests based on the chessboard pattern.

[0019] In one possible implementation, the main controller is further configured to send a second camera test case to the camera projection controller, the second camera test case including at least one characteristic of the third target relative to the second camera module and a characteristic value of each of the at least one characteristic; the camera projection controller is further configured to simulate an image of the third target on the transparent screen using the projector based on the second camera test case; the third standard fixture is further configured to test the target detection performance based on the image of the third target. Attached Figure Description

[0020] Figure 1 A schematic diagram of the automated joint testing system for radar and camera according to an embodiment of this application is provided; Figure 2 A partial schematic diagram of the radar+camera automated joint testing system according to an embodiment of this application is provided; Figure 3 Another partial schematic diagram of the radar+camera automated joint testing system according to an embodiment of this application is provided; Figure 4 A schematic diagram of an automatic loading and unloading system A according to an embodiment of this application is provided; Figure 5 Another schematic diagram of the automatic loading and unloading system A according to an embodiment of this application is provided; Figure 6 A partial schematic diagram of the automatic loading and unloading system A according to an embodiment of this application is provided; Figure 7 A schematic diagram of the standard tooling according to an embodiment of this application is provided; Figure 8 Another schematic diagram of the standard tooling according to an embodiment of this application is provided; Figure 9 A schematic diagram of the projection of the radar+camera target simulation space onto the XY plane according to an embodiment of this application is provided; Figure 10 A schematic diagram of the projection of the radar+camera target simulation space onto the YZ plane according to an embodiment of this application is provided; Figure 11 A schematic diagram of the arrangement of standard tooling on the material chassis according to an embodiment of this application is provided; Figure 12 A schematic flowchart of an automated joint performance testing method for radar and camera is provided. Detailed Implementation

[0021] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0022] Figure 1 A schematic structural diagram of the automated joint performance testing system for radar and cameras provided in an embodiment of this application is shown, such as... Figure 1 As shown, the automated joint performance testing system for radar and camera can be divided into three main parts: darkroom testing area 1, module loading and unloading area 2, and instrument control area 3.

[0023] refer to Figures 1 to 3 The anechoic chamber testing area 1 may include a camera projector 101, a 3D high-precision turntable 102, a wave-transparent screen 103, an anechoic chamber shielding shell (i.e., the second shell) 104, absorbing material 105, a radar target simulator antenna array 106, a spectrum analyzer receiving antenna 107, a central radio frequency antenna 108 in the middle of the radar target simulator antenna array 106, and a wave-transparent screen lifter 109. The module loading and unloading area 2 may include an outer shell (i.e., the first shell) 201, an anechoic chamber shielding door 202, and a module loading and unloading mechanism 203. The instrument control area 3 may include an instrument control cabinet 301, a spectrum analyzer 302, a camera projection controller 303, a radar target simulation controller 304, and a main controller 305.

[0024] refer to Figures 1 to 3The six sides of the anechoic chamber test area 1 are covered with absorbing material 105; the radar target simulator antenna array 106 and the spectrum analyzer receiving antenna 107 are arranged on the rear wall of the anechoic chamber test area 1, with the radar target simulator antenna array 106 arranged in a spatial spherical arc shape; the three-dimensional high-precision turntable 102 is installed on the side near the module loading and unloading area 2 and directly opposite the anechoic chamber shielding door 204; the three-dimensional high-precision turntable 102 is installed in the middle of the width of the anechoic chamber test area 1 and has three degrees of freedom of motion: pitch rotation, azimuth rotation, and vertical lifting; the camera projector 101, the three-dimensional high-precision turntable 102, the wave-transparent screen 103, the radar target simulator antenna array 106, and the spectrum analyzer receiving antenna 107 are all located on the central axis of the anechoic chamber test area 1; the central radio frequency antenna 108 is directly opposite the mounting center of the turntable back plate; the spectrum analyzer... The receiving antenna 107 is installed slightly above or below the central radio frequency antenna 108, and the spectrum analyzer receiving antenna 107 is directly facing the mounting center of the turntable back panel; the transparent screen lifter 109 is installed directly above the radar target simulator antenna array 106 in the anechoic chamber test area 1, and the transparent screen 103 can be raised and lowered by the transparent screen lifter 109; the camera projector 101 is installed directly above the three-dimensional high-precision turntable 102 in the anechoic chamber test area 1, and the camera projector 101 can import relevant image test cases by the camera projection controller 303 and project them onto the transparent screen 103 for display; the transparent screen 103 uses a material with low absorption rate of radar electromagnetic waves to prevent absorption of the energy of the simulated target emitted by the radar target simulator antenna array 106.

[0025] refer to Figures 4 to 6The three-dimensional high-precision turntable 102 consists of a turntable base 10201, a Z-axis lift 10202, a Z-axis lift platform 10203, an azimuth turntable 10204, a pitch turntable 10205, a clamping and positioning block one (i.e., the first clamping and positioning block) 10206, a clamping and positioning block two (i.e., the second clamping and positioning block) 10207, a moving plug one (i.e., the first moving plug) 10208, a moving plug two (i.e., the second moving plug) 10209, a pitch drive motor 10210, a clamping and positioning block one drive motor (i.e., the first clamping and positioning block drive motor) 10211, and a clamping and positioning block two drive motor (i.e., the second clamping and positioning block drive motor) 10212. The system comprises the following components: a Z-axis lifting platform 10203 mounted on a turntable base 10201 via a Z-axis lifting mechanism 10202; the Z-axis lifting platform 10203 can move up and down along the Z-axis under the drive of the Z-axis lifting mechanism 10202 for aligning the null point of the antenna array in the Z-axis; an azimuth turntable 10204 mounted on the Z-axis lifting platform 10203; the azimuth turntable 10204 rotates in the azimuth direction under the drive of an azimuth drive motor (not shown in the figure, but may be integrated into the azimuth turntable 10204); and a pitch turntable 10205 mounted on the azimuth turntable 10204; the pitch turntable 10205 moves in the pitch direction under the drive of a pitch drive motor 10210.

[0026] refer to Figure 4 and Figure 5 The module loading and unloading mechanism 203 consists of a main support 20301, a standard tooling 20302 with the module to be tested, an X-axis double slide rail 20303, an X-axis moving slide 20304, an X-axis drive motor 20305, a robotic arm 20306, a robotic hand 20307, ​​a Y-axis drive motor 20308, a Y-axis moving slide 20309, a Y-axis rotation drive motor 20310, a Y-axis slide rail 20311, a Z-axis drive motor 20312, a Z-axis slide rail 20313, and a Y-axis rotating block 20314.

[0027] Multiple standard tooling fixtures 20302 are placed on the chassis at the bottom of the main support 20301, arranged in an array. Two X-axis double slide rails 20303 are each equipped with racks. The two X-axis double slide rails 20303 are respectively mounted on the upper part of the main support 20301. An X-axis moving slide 20304 is mounted transversely across the two X-axis double slide rails 20303, allowing the X-axis moving slide 20304 to move in the X-direction along the two X-axis double slide rails 20303. Two X-axis drive motors 203... Two X-axis drive motors 20305 are installed on both sides of the X-axis moving slide 20304. These motors drive the X-axis moving slide 20304 along the two X-axis double slide rails 20303 via gears. The Y-axis slide rail 20311 has a rack and pinion mechanism. The Y-axis slide rail 20311 is mounted on the X-axis moving slide 20304, and the Y-axis moving slide 20309 is mounted on the Y-axis slide rail 20311. Power is transmitted through a rack and pinion mechanism. The Y-axis drive motor 20309... 308 is mounted on the Y-axis moving slide 20309. The Y-axis drive motor 20308 drives the Y-axis moving slide 20309 to move along the Y-axis slide rail 20311 in the Y direction via gears. The Y-axis rotating block 20314 is hinged to the Y-axis moving slide 20309. The Y-axis rotation drive motor 20310 is mounted on the Y-axis rotating block 20314. The main controller 305 controls the rotation of the Y-axis rotation drive motor 20310 to realize the Y-axis rotation of the Y-axis rotating block 20314. The Z-axis drive motor 20312 is mounted on the flange of the Y-axis rotating block 20314, the Z-axis slide rail 20313 is mounted on the Y-axis rotating block 20314, the robotic arm 20306 is sleeved on the Z-axis slide rail 20313, the robotic arm 20306 has a rack on the outside, and the Z-axis drive motor 20312 drives the robotic arm 20306 to perform reciprocating motion; the robotic hand 20307 is mounted on the end of the robotic arm, and four metal columns are mounted on the robotic hand 20307.

[0028] Optionally, each standard fixture 20302 may be equipped with a radar or a camera separately, or both a radar and a camera may be installed simultaneously. This application embodiment does not limit this.

[0029] See Figure 7 and Figure 8The standard tooling 20302 consists of four robotic gripping holes 2030201, a V-shaped positioning groove 1 (i.e., the first positioning groove) 2030202, a V-shaped positioning groove 2 (i.e., the second positioning groove) 2030203, a camera plug 1 (i.e., the first camera plug) 2030204, a camera plug 2 (i.e., the second camera plug) 2030205, a radar adapter 1 (i.e., the first radar adapter) 2030206, a radar adapter 2 (i.e., the second radar adapter) 2030207, a groove-shaped tooling base 2030208, a radar mounting post 2030209, and a camera mounting base 2030210; four magnets are installed in each robotic gripping hole 2030201.

[0030] See Figures 6 to 8 The camera connector and radar connector are mounted on the Z-axis of the movable plug 10208 and movable plug 20209, respectively. Movable plug 10208 is mounted on clamping positioning block 10206, and movable plug 20209 is mounted on clamping positioning block 20207. The main controller 305 controls the clamping positioning block drive motor 10211 to drive clamping positioning block 10206 to move along the Y-axis, so that the camera plug 1030204 and radar adapter 1030206 can be respectively connected to the clamping block. The camera connector and radar connector of clamping positioning block 10206 are connected; the main controller 305 controls the drive motor 10212 of clamping positioning block 2 to drive clamping positioning block 20207 to move along the Y direction, so that camera plug 2030205 and radar adapter 2030207 can be connected to the camera connector and radar connector of clamping positioning block 20207 respectively; the camera and radar under test can be installed up and down along the Z direction of standard fixture 20302.

[0031] In one possible implementation, the module loading and unloading mechanism 203 in the module loading and unloading area 2 and the three-dimensional high-precision turntable 102 in the darkroom test area 1 together form an automatic loading and unloading system A.

[0032] For example, the robot arm 20307 of the upper computer control module of the main controller 305 in the loading and unloading area 2 loads the standard tooling 20302 onto the pitch turntable 10205 of the darkroom test area 1 along a certain motion trajectory.

[0033] It should be noted that the purpose of standardizing the tooling is to facilitate gripping by the robotic arm, and the uniform length, width and height dimensions make it easier to arrange them neatly on the material chassis of the module loading and unloading mechanism 203 in a certain order.

[0034] In one possible implementation, the standardization of tooling can be reflected in the following aspects: (1) The internal length of the material chassis of the module loading and unloading mechanism 203 is L1 and the width is W1. The external length of the tooling base 2030208 of the standard tooling 20302 is L2 and the width is W2. The above relationship must satisfy: L1=m L2, W1=n W2 (where n and m are integers) ensures that the bottom space can be neatly arranged to meet the needs of automated loading and unloading; (2) The V-shaped positioning groove 1 2030202 and the V-shaped positioning groove 2 2030203 have the same size and are symmetrical. The V-shaped positioning groove 1 2030202 matches the shape of the clamping positioning block 1 10206. (3) The diameter and depth of the four robotic gripping holes 2030201 of each tooling are kept the same.

[0035] In one possible implementation, the camera projection controller 303, the radar target simulation controller 304, and the main controller 305 in the instrument control area 3, together with the camera projector 101, the three-dimensional high-precision turntable 102, the wave-transparent screen 103, and the radar target simulator antenna array 106 in the darkroom test area 1, constitute the target simulation system B.

[0036] In one possible implementation, see Figure 9 and Figure 10 The antenna array 106 is a spatial spherical arc. Its projection onto the XY plane is arc C3B3, and its projection onto the YZ plane is arc D3E3, ensuring that each RF antenna in the antenna array 106 is aligned with the radar center O1. The center of the sphere of the antenna array 106 is the center O1 of the backplate of the three-dimensional high-precision turntable 102. The projection of the wave-transparent screen 103 onto the XY plane is line segment C1B. 1， The projection of this line onto the YZ plane is line segment D1E1.

[0037] It should be noted that for radar targets, different targets are simulated based on different echo intensities; for camera targets, different targets are simulated based on different real-world images.

[0038] When testing the target detection performance of the radar alone, the target of the radar can be located within the first target simulation space. The projection of this first target simulation space onto the XY plane is a sector O1B2C2, and its projection onto the ZY plane is a sector O1D2E2. Here, O1 is the center of the turntable 102, A2 is the farthest simulated distance point of the antenna array 106 on the normal line, B2 and C2 are the farthest simulated distance points of the antenna array 106 on the horizontal angle limit boundary, D2 and E2 are the farthest simulated distance points of the antenna array 106 on the pitch angle limit boundary, and A3 is the center point of the antenna array 106. The spectrum analyzer receiving antenna 107 is mounted close to and directly below point A3 along the Z-direction. The distance from O1 to A3 must satisfy the far-field distance of the radar under test to ensure that the true target can be located in both the near and far fields of the radar.

[0039] When only the camera's target detection performance is tested, the target can be located within a second target simulation space. The projection of this second target simulation space onto the XY plane is region +∞-B1-C1-+∞ (i.e., Z1B1C1Z2), and onto the ZY plane is region +∞-D1-E1-+∞ (i.e., Z3D1E1Z4). Here, A1 is the center point of the transparent screen 103, B1, C1, D1, and E1 are the boundaries of the transparent screen 103, θ1 is the horizontal angle of the maximum simulated target of the transparent screen 103 and the RTS antenna array 106, θ2 is the elevation angle of the maximum simulated target of the transparent screen 103 and the RTS antenna array 106, and +∞ indicates that the farthest distance of the simulated target in the projection test is positive infinity.

[0040] When testing the target detection performance of radar+camera, the target can be located in the overlapping part of the first target simulation space and the second simulation space.

[0041] The automated joint performance testing system for radar and camera provided in the embodiments of this application has been described above. The automated assembly method for radar and camera provided in the embodiments of this application will be described below.

[0042] It should be noted that this automated assembly method can be applied to the aforementioned automated joint performance testing system, which may include the following steps 401 to 412.

[0043] Step 401: Install various individual cameras, individual radars, and radar-camera modules under test onto various standardized fixtures.

[0044] Step 402: Arrange the above-mentioned standard chemical apparatuses, each equipped with a different test module, onto the material chassis in a certain order and according to their numbers.

[0045] For example, Figure 11 A schematic diagram of standard tooling on a material handling chassis is shown. The material handling chassis includes tooling 1 to tooling 6. Tooling 1 is equipped with a standard radar, tooling 2 is equipped with a standard camera, tooling 3 is equipped with a standard radar and a camera, tooling 4 is equipped with radar 1, tooling 5 is equipped with camera 1, tooling 6 is equipped with radar 1 and camera 1, tooling 7 is equipped with radar 2, tooling 8 is equipped with camera 2, tooling 9 is equipped with radar 2 and camera 2, tooling 10 is equipped with radar 1 and camera 2, and tooling 11 is equipped with radar 2 and camera 1.

[0046] Step 403: Enter the coordinates of each tooling on the material chassis, the model, quantity, index list, and use case list of each Radar and Camera in the host computer list of the main controller.

[0047] For example, the list of host computers can be shown in Table 1 below.

[0048] Table 1

[0049] For example, the metrics in the metric list may include distance, speed, resolution, etc.

[0050] Step 404: Read the coordinates (X, X) of the tooling center O1 of the turntable in the three-dimensional coordinate system O2 of the tooling position. t Y t Z t ).

[0051] Step 405: The system checks whether the communication diagnostics of each moving part are normal. If normal, proceed to step 406; otherwise, issue an alarm and stop the test process.

[0052] Steps 401 to 405 above constitute the system preparation stage.

[0053] Step 406: The host computer of the main controller reads the position (X1,Y1) of the center of tooling with tooling number 1 (i.e. tooling 1) in coordinate system O2 from the host computer list, and then controls the robot arm of the module to move to (X1,Y1).

[0054] Step 407: The host computer controls the robot arm to move downward (Z direction) to the height Z1 of the tooling magnet, and inserts the four metal columns into the four holes of tooling 1, where the magnets attract the columns.

[0055] It should be noted that if the robot arm fails to move downward to Z1 in the Z direction (e.g., the hole is not aligned and it cannot go down), then recheck (X1, Y1) and try to pick up tool 1 again; if the picking is successful, proceed to step 408, otherwise an alarm will be issued.

[0056] Step 408: After the pressure sensor on the robotic arm senses the gravity of fixture 1, it triggers the next Z-axis lifting motion of the robotic arm. Then, it performs rotation around the Y-axis and movement around the Y-axis to make the Y-coordinate of the gripped fixture 1 the same as the Y-coordinate of the turntable (i.e., Y... t ), that is, tooling 1 is directly facing the turntable, and at this time the coordinates of the tooling center O3 of tooling 1 are (X g ,Y t Z g (This coordinate is the pre-installation position coordinate of tool 1, at which point the shielding door opens.)

[0057] Step 409: After tooling 1 reaches the pre-installation position coordinates, the turntable center is triggered to rise and fall in the Z direction to coordinate Z. g Then, the turntable rotates 180 degrees backward around its own Z-axis (azimuth axis) to face the fixture 1 to be installed. At this time, the coordinates of the fixture center O1 of the turntable are (X... t ,Y t Z g (This coordinate is the pre-installation position coordinate of the turntable center.)

[0058] Step 410: After the turntable center reaches its pre-installation position coordinates, the robot arm is triggered to advance forward (X direction), thereby advancing the tooling center O3 of tooling 1 to (X direction). t ,Y t Z g At this point, the center of tooling 1 completely coincides with the center of the turntable.

[0059] Step 411: The main controller triggers the self-clamping positioning blocks on both sides of the turntable standard fixture to clamp towards the center, thereby completing the positioning and automatic power-on. Then the robot arm moves backward along the X-axis to a certain distance, at which point the shielding door closes.

[0060] Step 412: Import test cases into the main controller and start automated performance testing.

[0061] Steps 406 to 412 above constitute the automatic module installation phase.

[0062] The above describes the automated assembly method for radar and camera provided in the embodiments of this application. The following will combine... Figure 12 This application introduces an automated joint performance testing method for radar and camera provided in its embodiments.

[0063] It should be noted that this automated joint performance testing method can be applied to the aforementioned automated joint performance testing system, such as... Figure 12 As shown, the automated joint performance testing method may include the following steps 501 to 534.

[0064] Step 501: Calibrate and calibrate based on standard radar.

[0065] For example, standard Radar can be used to calibrate and standardize key characteristics of antenna arrays, such as distance and velocity simulations.

[0066] For example, the RCS of the antenna array is simulated using a standard Radar and calibrated under conditions without a transparent screen to obtain the measured value RCS1. The RCS of the antenna array is then simulated using a standard Radar and calibrated under conditions with a transparent screen to obtain the measured value RCS1-RCS2. RCS2 is the loopback insertion loss of the transparent screen under radar measurement. This RCS2 needs to be compensated during radar+camera joint testing.

[0067] Step 502: Calibrate and calibrate based on a standard camera.

[0068] For example, a standard camera can be used to calibrate parameters such as distance, speed, and angle of different projected target images.

[0069] Step 503: Calibrate and calibrate based on the standard gold module.

[0070] For example, use the standard R+C module to perform an S-shaped tracking test on the target jointly output by the R+C target simulation system, and check whether the detection trajectory of the standard R module is consistent with the detection trajectory of the standard C module. If they are consistent, it indicates that the simulation consistency of the R+C target simulation system is good.

[0071] The following steps 504-515 will describe the performance testing process of a single radar module.

[0072] Step 504: The module loading and unloading mechanism picks up the radar to be tested from the material area and places it on the turntable.

[0073] Step 505: The turntable automatically clamps the module under test, and simultaneously completes automatic power-on and data link connection.

[0074] Step 506: The main controller controls and calls the test cases for a single radar from the test case library.

[0075] Step 507: The main controller controls the spectrum analyzer to turn on and receives the radio frequency signal transmitted by the radar through the receiving antenna of the spectrum analyzer.

[0076] Step 508: The spectrum analyzer performs radio frequency transmission tests based on the radio frequency signal, such as EIRP, waveform, duty cycle, OBW test, etc.

[0077] Step 509: The main controller shuts down the spectrum analyzer and turns on the radar target simulation controller.

[0078] Step 510: The main controller sends test cases for a single radar to the radar target simulation controller. The test cases for a single radar include test cases for point targets and test cases for volume targets.

[0079] Step 511: The radar target simulation controller simulates point targets using an antenna array based on test cases of point targets.

[0080] Step 512: The radar under test performs a performance test on its target detection capability based on point targets.

[0081] Step 513: The radar target simulation controller simulates the volume target based on the test cases of the volume target using an antenna array.

[0082] Step 514: The radar under test performs a performance test on its tracking and recognition capabilities based on the volume target.

[0083] In one possible implementation, taking the key factors (i.e., key radar characteristics) affecting the radar target as defined in the host computer of the main controller, including the number of targets, the position of the center of motion, the trajectory, shape, volume, material, RCS, etc., as an example, the host computer of the main controller can send radar test cases to the radar target simulation controller. These test cases can include the key radar characteristics and their characteristic values. Correspondingly, the radar projection controller automatically analyzes the aforementioned key radar characteristics in the test cases; determines a series of trajectory positions of the radar target's center of motion, quantizes the continuous trajectory into a series of continuous trajectory points; converts the shape, material, and volume of the radar target into radar cross-section (RCS) characteristics relative to the radar in various orientations (such as the number of reflection points, relative positions, RCS values ​​of each point, and distance); incorporates the radar target's RCS reflection characteristics into the trajectory points; and follows the... Figure 9 and Figure 10 The projection direction T shown n -O projects the reflection characteristics of the radar target's RCS onto the corresponding different radio frequency antennas; different radio frequency antennas simulate the position and RCS of different reflection points of each radar target.

[0084] Step 515: After the test is completed, the automatic loading and unloading device removes the tested radar from the turntable and puts it back into the material area.

[0085] It should be noted that when it is necessary to test the average performance of multiple single radar modules, you can refer to steps 504 to 515 above to test the performance of each single radar module, and then calculate the average performance of multiple single radar modules. To avoid repetition, this will not be repeated here.

[0086] The following steps 516 to 525 will describe the performance testing process of a single camera module.

[0087] Step 516: The module loading and unloading mechanism picks up the camera to be tested from the material area and places it onto the turntable.

[0088] Step 517: The turntable automatically clamps the module under test, and simultaneously completes automatic power-on and data link connection.

[0089] Step 518: The main controller controls the calling of test cases for a single camera from the test case library.

[0090] Step 519: The main controller lowers the camera's transparent screen, turns on the camera projection controller, and turns off the spectrum analyzer and radar target simulation controller.

[0091] Step 520: The camera projection controller projects a chessboard pattern onto the transparent screen via a projector.

[0092] Step 521: The camera under test is calibrated based on the checkerboard pattern projected by the camera's transparent screen, and its performance (including distortion correction, optical center shift correction, and light intake correction) and resolution are tested.

[0093] Step 522: The main controller sends test cases for a single camera to the camera projection controller.

[0094] Step 523: The camera projection controller simulates the target image on the transparent screen using a projector based on the camera's test cases.

[0095] In one possible implementation, taking the key factors (i.e., key camera characteristics) affecting the camera target as defined in the host computer of the main controller, including the number of targets, the position of the motion center, the motion trajectory, shape, volume, color, texture, and light, as an example, the host computer of the main controller can send camera test cases to the camera projection controller. These camera test cases can include the key camera characteristics and their characteristic values. Correspondingly, the camera projection controller automatically analyzes the aforementioned key camera characteristics in the camera test cases; determines a series of motion center trajectory positions of the camera target; quantizes the continuous motion trajectory into the smallest unit, resulting in a series of continuous trajectory points; and then, according to... Figure 9 and Figure 10 The projection direction T shown n -O and the trajectory of the camera target are used to project the 3D model of the camera target onto the transparent screen.

[0096] Step 524: The camera under test performs a target detection performance test based on the target image projected onto the transparent screen by the projector.

[0097] Step 525: After the test is completed, the automatic loading and unloading device removes the tested camera from the turntable and puts it back into the material area.

[0098] It should be noted that when testing the average performance of multiple single camera modules, you can refer to steps 516 to 525 above to test the performance of each single camera module and then calculate the average performance of multiple single camera modules. To avoid duplication, this will not be repeated here.

[0099] The following steps, 526 to 536, will describe the joint performance testing process of a radar + camera module.

[0100] Step 526: The module loading and unloading mechanism picks up the radar and camera to be tested from the material area and places them on the turntable.

[0101] Optionally, the radar in the radar+camera can be the best performing radar obtained after testing multiple single radars through steps 504 to 515. Similarly, the camera in the radar+camera can be the best performing camera obtained after testing multiple single cameras through steps 516 to 525.

[0102] Step 527: The turntable automatically clamps the radar and camera under test, and simultaneously completes automatic power-on and data link connection.

[0103] Step 528: The main controller controls the camera's transparent screen to descend.

[0104] Step 529: The main controller calls test cases for radar + camera from the test case library. The test cases for radar + camera include camera test cases and radar test cases. The radar test cases include common characteristics and the correspondence between the common characteristics and the first characteristic value of the radar + camera target, as well as the correspondence between the first unique characteristics and the second characteristic value of the first unique characteristics of the radar + camera target. The common characteristics include at least one characteristic shared by radar and camera, and the first unique characteristics include at least one characteristic unique to radar. The camera test cases include the correspondence between common characteristics and the first characteristic value, as well as the correspondence between the second unique characteristics and the third characteristic value of the second unique characteristics of the radar + camera target. The second unique characteristics include at least one characteristic unique to camera. The first characteristic value, the second characteristic value, and the third characteristic value are synchronized in time.

[0105] Optionally, the host computer of the main controller can obtain the use case library in various ways, and this application embodiment does not limit this.

[0106] In one possible implementation, the use case library can be pre-configured in the host computer of the main controller.

[0107] In another possible implementation, the host computer of the main controller can be pre-configured with a basic test case library, and the detection data of real targets in various typical scenarios can be collected through the standard gold module based on the test case feature library. The basic test case library can be expanded based on the detection data to obtain the test case library in step 527. The standard gold module includes a standard radar module and a standard camera module.

[0108] For example: The standard gold module collects detection data of different real targets in various typical scenarios. The detection data includes the common characteristics and corresponding characteristic value 1 and the first unique characteristic and its corresponding characteristic value 2 of each real target obtained by radar detection, and the common characteristics and corresponding characteristic value 1' and the second unique characteristic and its corresponding characteristic value 3 of each real target obtained by camera detection. Based on the time sequence, characteristic value 1 and characteristic value 1' are synchronously reviewed. Based on the correspondence between characteristic value 1 and characteristic value 1' at the same time, characteristic value 1 and characteristic value 1' are smoothed to obtain the final characteristic value 1'' corresponding to the common characteristic at that time. The common characteristics and their corresponding final characteristic value 1'', the first unique characteristic and its corresponding characteristic value 2, and the second unique characteristic and its corresponding characteristic value 3 are synchronously fed into the main controller.

[0109] Optionally, a standard gold module can be used to calibrate and standardize the test cases of radar and camera stored in the host computer of the main controller.

[0110] In one possible implementation, taking the calibration and standardization of radar test case 1 and camera test case 1 for target 1 in the test case library as an example, the host computer of the main controller sends the radar test case 1 to the radar target simulation controller. The radar test case 1 includes common characteristics and their corresponding characteristic value 1, as well as a first unique characteristic and its corresponding characteristic value 2. The host computer of the main controller sends the camera test case 1 to the camera projection controller. The camera test case 1 includes common characteristics and their corresponding characteristic value 1, as well as a second unique characteristic and its corresponding characteristic value 3. The radar target simulation controller controls the antenna array of the radar target simulator to simulate the echo signal of target 1 based on the radar test case 1. The camera projection controller controls the projector to simulate the image of target 1 on the transparent screen based on the camera test case 1.

[0111] Accordingly, the standard gold module performs target detection based on the echo signal and image of target 1 to obtain detection data. The detection data includes characteristic value 4 corresponding to the common characteristics, characteristic value 5 corresponding to the first unique characteristic, and characteristic 5 corresponding to the second unique characteristic. The detection data is then reported to the host computer of the main controller.

[0112] Accordingly, the host computer of the main controller calibrates and verifies radar test case 1 and camera test case 1 for target 1 in the test case library based on the detection data.

[0113] Step 530: The main controller synchronizes the camera projection controller and the radar target simulation controller.

[0114] Step 531: The main controller sends radar test cases to the radar target simulation controller.

[0115] Step 532: The main controller sends camera test cases to the camera projection controller.

[0116] Step 533: The radar target simulation controller simulates the first target using an antenna array based on radar test cases.

[0117] Step 534: Based on the camera test case, the camera projection controller projects the image of the first target onto the transparent screen via a projector.

[0118] Step 535: The radar+camera performs a target detection performance test based on the first target.

[0119] For example: Figure 9 and Figure 10 As shown, T1, T2, T3, T4, etc., are a series of geometric center positions simulating a dynamic target. When each adjacent position T n When the interval between them is very small (requiring it to be at least less than the frame rate of the module under test), the target simulation process is a continuous dynamic target simulation for the module under test. The direction of the arrow represents the spatial motion direction of the target, defined by the spatial motion direction angle α, which is a combination of the pitch angle θ, roll angle y, and heading angle Ψ.

[0120] In one possible implementation, the host computer of the main controller calls a test case feature library, which defines all features of the R+C target, including the number of targets, motion trajectory, speed, volume, shape, color, and material. The number of targets, motion trajectory, speed, volume, and shape are common factors affecting both radar and camera targets (i.e., shared features), material is a key factor affecting only radar targets (i.e., the first unique feature), and color is a key factor affecting only camera targets (i.e., the second unique feature). The host computer sends radar test cases to the radar target simulation controller, which include the shared features and their values, as well as the first unique feature and its value. It also sends camera test cases to the camera projection controller, which include the shared features and their values, as well as the second unique feature and its value. Finally, the host computer controls the radar target simulation controller and the camera projection controller to synchronize their time. Accordingly, the radar target simulation controller simulates the echo signal of the radar+camera target through the radar target simulator antenna array based on the radar test case; the camera projection controller controls the projector to simulate the image of the radar+camera target on the transparent screen based on the camera test case.

[0121] Step 536: After the test is completed, the automatic loading and unloading device removes the tested radar and camera from the turntable and puts them back into the material area.

[0122] It should be noted that when testing the average performance of multiple radar+camera modules, you can refer to steps 526 to 536 above to test the joint performance of each radar+camera module, and then calculate the average performance of multiple radar+camera modules. To avoid repetition, this will not be repeated here.

[0123] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0124] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0125] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0128] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0129] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0130] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A performance testing system, characterized in that, include: The system comprises a main controller, a radar target simulation controller, a camera projection controller, a radar target simulator antenna array, a projector, a transparent screen, and a 3D high-precision turntable. A fixture under test is mounted on the 3D high-precision turntable, which has degrees of freedom for pitch, azimuth, and / or vertical lifting. The fixture under test includes a radar module and a camera module. The radar target simulator antenna array includes multiple radio frequency antennas arranged in a spatial spherical arc shape, with each antenna aligned with the center of the radar module. The projector is located above the 3D high-precision turntable. The transparent screen is positioned between the 3D high-precision turntable and the radar target simulator antenna array, and is close to the radar target simulator antenna array. The mounting center of the backplate of the 3D high-precision turntable, the center of the sphere, and the center of the transparent screen are collinear. The main controller is used to send a first radar test case to the radar target simulation controller. The first radar test case includes a correspondence between common characteristics and a first characteristic value of the common characteristics corresponding to the first target, and a correspondence between a first unique characteristic and a second characteristic value of the first unique characteristic corresponding to the first target. The common characteristics include at least one characteristic shared by the radar module and the camera module, and the first unique characteristic includes at least one characteristic unique to the radar module. The main controller is also used to send a first camera test case to the camera projection controller. The first camera test case includes a correspondence between the common characteristics and the first characteristic value, and a correspondence between a second unique characteristic and a third characteristic value of the second unique characteristic corresponding to the first target. The second unique characteristic includes at least one characteristic unique to the camera module. The first characteristic value, the second characteristic value, and the third characteristic value are synchronized in time. The radar target simulation controller is used to control the antenna array to simulate the echo signal of the first target based on the first radar test case. The camera projection controller is used to control the projector to simulate the image of the first target on the transparent screen based on the first camera test case. The fixture under test is used to test the target detection performance based on the echo signal of the first target and the image of the first target.

2. The system according to claim 1, characterized in that, The first objective includes at least one objective. The common characteristics include at least one of the following: the number of the at least one target, the trajectory of each of the at least one target, the center position of each target, the speed of each target, the volume of each target, and the shape of each target; The first unique characteristic includes at least one of the following: the material of each target, the reflectivity of the radar cross section of each target in each direction; The second unique characteristic includes at least one of the following: the color of each target, the texture of each target, and the brightness of each target.

3. The system according to claim 1, characterized in that, The target simulation space of the first target is the overlapping part of the first target simulation space and the second target simulation space; The projection of the first target simulation space onto the XY plane is sector O1B2C2, and the projection of the first target simulation space onto the YZ plane is sector O1D2E2. In sector O1B2C2, O1 is the mounting center of the backplate of the three-dimensional high-precision turntable; B2 is the farthest point that can be simulated on the first side of the first maximum horizontal angle of the antenna array in the XY plane; C2 is the farthest point that can be simulated on the second side of the first maximum horizontal angle of the antenna array; D2 is the farthest point that can be simulated on the first side of the first maximum elevation angle of the antenna array in the XY plane; and E2 is the farthest point that can be simulated on the second side of the first maximum elevation angle of the antenna array. The XY plane is perpendicular to the YZ plane. The projection of the second target simulation space onto the XY plane is region Z1B1C1Z2, and the projection of the second target simulation space onto the YZ plane is region Z3D1E1Z4. In region Z1B1C1Z2, B1 is the closest point that can be simulated on the first side of the second maximum horizontal angle that the wave-transparent screen can simulate in the XY plane; Z1 is the farthest point that can be simulated on the first side of the second maximum horizontal angle that the wave-transparent screen can simulate; and Z2 is the closest point that can be simulated on the second side of the second maximum horizontal angle that the wave-transparent screen can simulate. The points are defined as follows: C1 in region Z1B1C1Z2 is the farthest point that the transparent screen can simulate on the second side of the second maximum horizontal angle; D1 in region Z3D1E1Z4 is the closest point that the transparent screen can simulate on the first side of the second maximum pitch angle in the YZ plane; Z1 is the farthest point that the transparent screen can simulate on the first side of the second maximum pitch angle; Z2 is the closest point that the transparent screen can simulate on the second side of the second maximum pitch angle; and C1 is the farthest point that the transparent screen can simulate on the second side of the second maximum pitch angle.

4. The system according to any one of claims 1-3, characterized in that, The main controller is specifically used for: Obtain a test case feature library, which includes the common features, the first unique feature, and the second unique feature; Based on the test case feature library, a test case library is obtained, which includes the first radar test case and the first camera test case.

5. The system according to claim 4, characterized in that, The main controller is specifically used for: Acquire test data collected by the standard gold module in a test scenario, wherein the test scenario includes the first target, and the test data includes the first characteristic value of the common characteristic corresponding to the first target, the second characteristic value of the first unique characteristic corresponding to the first target, and the third characteristic value of the second unique characteristic corresponding to the first target. The standard gold module includes a standard radar module and a standard camera module. Based on the test case feature library and the test data, the first radar test case and the first camera test case are obtained.

6. A performance testing system, characterized in that, include: The system comprises a module loading and unloading area, an anechoic chamber testing area, and an instrument control area. The module loading and unloading area includes a first housing, a module loading and unloading mechanism installed within the first housing, and a material chassis below the module loading and unloading mechanism. The anechoic chamber testing area includes a second housing, a projector, a three-dimensional high-precision turntable, a wave-transparent screen, a wave-transparent screen lifter, wave-absorbing material, and a radar target simulator antenna array installed within the second housing. The second housing has a shielding function, and the wave-absorbing material is disposed on the inner surface of the second housing. The instrument control area includes an instrument control cabinet and a camera projection controller, a radar target simulation controller, and a main controller installed on the instrument control cabinet. The first side surface of the first housing and the first side surface of the second housing are adjacent to each other, and an openable shielding door is provided between the first housing and the second housing. The shielding door is used to connect or separate the first housing and the second housing. The second side surface of the second housing is adjacent to the instrument control cabinet. At least one standard fixture to be tested is placed in the material chassis, and each of the at least one standard fixture to be tested is equipped with a radar module and / or a camera module. The three-dimensional high-precision turntable is located on one side of the first side surface near the second housing and directly opposite the opening of the shielding door. The three-dimensional high-precision turntable has degrees of freedom for pitch rotation, azimuth rotation and / or vertical lifting motion. The module loading and unloading mechanism is located on one side of the first side surface of the first housing and directly opposite the opening of the shielding door. The module loading and unloading mechanism has degrees of freedom of movement along the X direction, movement along the Y direction, movement along the Z direction and / or rotation along the Y direction, wherein the X direction, the Y direction and the Z direction are perpendicular to each other. The module unloading mechanism is used to install the standard tooling in the material chassis onto the three-dimensional high-precision turntable. The radar target simulator antenna array is disposed on the second side surface of the second housing. The radar target simulator antenna array includes multiple radio frequency antennas, which are arranged in a spatial spherical arc shape and each radio frequency antenna is aligned with the center of the radar module in the standard tooling. The projector is located above the three-dimensional high-precision turntable. The transparent screen is positioned between the three-dimensional high-precision turntable and the radar target simulator antenna array and is close to the radar target simulator antenna array. The transparent screen lifter is installed on top of the transparent screen. The mounting center of the back plate of the three-dimensional high-precision turntable, the center of the sphere, and the center of the transparent screen are collinear.

7. The system according to claim 6, characterized in that, The module loading and unloading mechanism includes a main support, two X-axis slide rails with racks, an X-axis moving slide, two X-axis moving drive motors, a Y-axis slide rail with racks, a Y-axis moving slide, a Y-axis moving drive motor, a Y-axis rotating block, a Y-axis rotating drive motor, a Z-axis slide rail with racks, a Z-axis moving drive motor, a robotic arm, and a robotic hand. The two X-axis slide rails are installed parallel to each other on the main support along the X-axis. The X-axis moving slide is installed across the two X-axis slide rails. The two X-axis moving drive motors are respectively installed at both ends of the X-axis moving slide. The two X-axis moving drive motors are used to drive the X-axis moving slide to move along the X-axis along the two X-axis slide rails through racks on the two X-axis slide rails. The Y-axis slide rail is mounted along the Y-axis on the X-axis movable slide platform. The Y-axis movable slide platform is mounted on the Y-axis slide rail. The Y-axis movable drive motor is mounted on the Y-axis movable slide platform. The Y-axis movable drive motor is used to drive the Y-axis movable slide platform to move along the Y-axis slide rail along the Y-axis via a rack on the Y-axis slide rail. The Y-axis rotating block is hinged to the Y-axis movable slide platform. The Y-axis rotating drive motor is mounted on the Y-axis rotating block. The Y-axis rotating drive motor is used to drive the Y-axis rotating block to rotate along the Y-axis. The Z-axis moving drive motor is mounted on the flange of the Y-axis rotating block, and the Z-axis slide rail is mounted on the Y-axis rotating block along the Z-axis. The robotic arm is sleeved on the Z-axis slide rail. A rack is provided on the outer side of the robotic arm. The Z-axis movement drive motor is used to drive the robotic arm to move along the Z-axis through the rack on the robotic arm. The robotic hand is installed at one end of the robotic arm near the material chassis. Multiple metal columns are installed on the robotic hand along the Z-axis. The robotic hand picks up the standard tooling in the material chassis through the multiple metal columns.

8. The system according to claim 7, characterized in that, The standard tooling includes a tooling base, a radar mounting post, a camera mounting base, a first positioning slot, a second positioning slot, a first camera plug, a first radar adapter, a second camera plug, a second radar adapter, and multiple robotic gripping holes; The tooling base includes a back plate and a first side plate and a second side plate disposed opposite to each other on a first surface of the back plate, wherein the back plate, the first side plate and the second side plate form a groove shape; The radar mounting post and the camera mounting base are respectively mounted on the first surface. The radar mounting post is used to mount the radar module, and the camera mounting base is used to mount the camera module. The plurality of robotic gripper holes are disposed on the surfaces of the first side plate and the second side plate opposite to the back plate. Magnets are installed in the robotic gripper holes. The plurality of metal columns correspond one-to-one with the plurality of robotic gripper holes. The first side plate has a first positioning groove and a first camera plug and a first radar adapter arranged along the Z direction on the surface opposite to the second side plate. The second side plate has a second positioning groove and a second camera plug and a second radar adapter arranged along the Z direction on the surface opposite to the first side plate. The positions of the first positioning groove and the second positioning groove are corresponding, the positions of the first camera plug and the second camera plug are corresponding, and the positions of the first radar adapter and the second radar adapter are corresponding.

9. The system according to claim 8, characterized in that, The three-dimensional high-precision turntable includes a turntable base, a Z-axis lift, a Z-axis lifting platform, an azimuth turntable, an azimuth turntable drive motor, a pitch turntable, and a pitch drive motor. The Z-axis lifting platform is mounted on the turntable base via the Z-axis lifting mechanism, and moves along the Z-axis under the drive of the Z-axis lifting mechanism; the azimuth turntable is mounted on the Z-axis lifting platform, and rotates in azimuth under the drive of the azimuth turntable drive motor; the pitch turntable is mounted on the azimuth turntable, and rotates in pitch under the drive of the pitch drive motor.

10. The system according to claim 9, characterized in that, The pitch turntable is equipped with a first movable plug, a second movable plug, a first clamping positioning block, a second clamping positioning block, a first clamping positioning block drive motor, and a second clamping positioning block drive motor. The first movable plug is mounted on the first clamping positioning block, and the first clamping positioning block is provided with a first protrusion, the shape of which matches the shape of the first positioning groove; The second movable plug is mounted on the second clamping positioning block, and the second clamping positioning block is provided with a second protrusion, the shape of which matches the shape of the second positioning groove; A first camera connector and a first radar connector are mounted on the first movable plug along the Z direction. The first clamping and positioning block drive motor is used to drive the first clamping and positioning block to move along the Y direction until the first camera plug is connected to the first camera connector and the first radar adapter is connected to the first radar connector. The second movable plug is equipped with a second camera connector and a second radar connector along the Z direction; the second clamping positioning block drive motor is used to drive the second clamping positioning block to move along the Y direction until the second camera plug is connected to the second camera connector and the second radar adapter is connected to the second radar connector.

11. The system according to any one of claims 6-10, characterized in that, The main controller is used to control the module loading and unloading mechanism to install the first standard fixture onto the three-dimensional high-precision turntable. The first standard fixture includes a first radar module and a first camera module. The at least one standard fixture to be tested includes the first standard fixture. The main controller is used to send a first radar test case to the radar target simulation controller. The first radar test case includes a correspondence between common characteristics and a first characteristic value of the common characteristics corresponding to the first target, and a correspondence between a first unique characteristic and a second characteristic value of the first unique characteristic corresponding to the first target. The common characteristics include characteristics shared by the first radar module and the first camera module, and the first unique characteristics include characteristics unique to the first radar module. The main controller is also used to send a first camera test case to the camera projection controller. The first camera test case includes a correspondence between the common characteristics and the first characteristic value, and a correspondence between a second unique characteristic and a third characteristic value of the second unique characteristic corresponding to the first target. The second unique characteristic includes characteristics unique to the first camera module. The first characteristic value, the second characteristic value, and the third characteristic value are synchronized in time. The radar target simulation controller is used to control the antenna array to simulate the echo signal of the first target based on the first radar test case. The camera projection controller is used to control the projector to simulate the image of the first target on the transparent screen based on the first camera test case. The first standard fixture is used to test the target detection performance based on the echo signal of the first target and the image of the first target.

12. The system according to any one of claims 6-10, characterized in that, The main controller is used to control the module loading and unloading mechanism to install the second standard fixture onto the three-dimensional high-precision turntable. The second standard fixture only includes the second radar module, and the at least one standard fixture to be tested includes the second standard fixture. The main controller is used to send a second radar test case to the radar target simulation controller. The second radar test case includes at least one characteristic of the second target for the second radar module and a characteristic value of each of the at least one characteristic. The radar target simulation controller is used to simulate the echo signal of the second target through the radar target simulator antenna array based on the second radar test case. The second standard fixture is used to test the target detection performance based on the echo signal of the second target.

13. The system according to claim 12, characterized in that, The instrument control cabinet in the instrument control area is also equipped with a spectrum analyzer, and the anechoic chamber testing area also includes a spectrum analyzer receiving antenna; The spectrum analyzer receiving antenna is installed at a first position above or below the central radio frequency antenna. The central radio frequency antenna is the radio frequency antenna located at the central position among the plurality of radio frequency antennas. The distance between the first position and the central radio frequency antenna is less than a preset distance threshold. The spectrum analyzer receiving antenna is directly facing the mounting center of the back plate of the three-dimensional high-precision turntable. The spectrum analyzer receiving antenna is used to receive radio frequency signals transmitted by the second radar module; And send the radio frequency signal to the spectrum analyzer; The spectrum analyzer is used to test the radio frequency transmission performance of the second radar module based on the radio frequency signal.

14. The system according to any one of claims 6-10, characterized in that, The main controller is used to control the module loading and unloading mechanism to install the third standard fixture in the material chassis onto the three-dimensional high-precision turntable. The third standard fixture only includes the second camera module, and the at least one standard fixture to be tested includes the third standard fixture. The main controller is used to control the camera projection controller to project a chessboard pattern onto the transparent screen through the projector. The third standard fixture is used to test calibration performance and resolution performance based on the chessboard diagram.

15. The system according to claim 14, characterized in that, The main controller is also used to send a second camera test case to the camera projection controller. The second camera test case includes at least one characteristic of the second camera module for a third target and a characteristic value of each of the at least one characteristic. The camera projection controller is also used to simulate the image of the third target on the transparent screen using the projector based on the second camera test case. The third standard fixture is also used to test the target detection performance based on the image of the third target.

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