Positioning and simulation verification device for vehicle door collision avoidance radar

Abstract

The invention provides a vehicle door obstacle avoidance radar positioning and simulation verification device which comprises a base, a vertical rotating shaft capable of rotating relative to the base, a rotation driving device used for driving the vertical rotating shaft to rotate, a cross rod detachably and tightly installed on the vertical rotating shaft, and a two-shaft type angle scale detachably and tightly installed on the cross rod. The radar is mounted on the mounting surface of the two-shaft type angle scale; the cross rod is used for simulating a vehicle door, the vertical rotating shaft is used for simulating a vehicle door rotating shaft, the two-shaft angle scale is used for simulating attitude adjustment of the radar, and the radar is used for detecting the position of an obstacle in a vehicle door sweeping area. The invention further provides a corresponding method. The device simulates the position and angle attitude of the radar installed on the whole vehicle, and simulates the actual door opening process through the rotation driving device to perform function verification, so that development work such as data acquisition and function verification is performed on a radar product in an early stage without a real vehicle, and the product development period is greatly shortened.

Description

Technical Field

[0001] This patent belongs to the field of door collision avoidance radar and automated testing technology, and specifically relates to a positioning and simulation verification device for a door collision avoidance radar. Background Art

[0002] In recent years, electric doors have been increasingly used in cars, which not only bring convenience and comfort to drivers and passengers, but also greatly reduce related collision accidents caused by door opening. Figure 1A and Figure 1B As shown, the door obstacle avoidance radar 101 is usually actually installed in the trim or anti-scratch strip 103 at the lower edge of the door 102. The trim or anti-scratch strip 103 is connected to the radar 101 by screws, and the trim or anti-scratch strip 103 is connected to the door 102 by buckles. During the door opening process, the radar 101 detects the position of obstacles in the door sweeping area in real time and sends out the door opening angle. The door control motor controls the door opening action according to the angle sent by the radar.

[0003] In the entire electric door system, radar is an important sensor for environmental perception, and its perception ability is crucial to the functional performance of the entire electric door system. In order to meet the needs of rapid development, it is essential to verify and calibrate the door collision avoidance radar in the early stage.

[0004] The common method for developing door collision avoidance radar in the current industry is to collect data by installing it in a real car, optimize the software for the problem scenario, and meet the performance target after repeated iterations. In this method, the simulation verification of the door collision avoidance radar needs to be carried out in a real car environment, which makes it difficult to develop and optimize the radar algorithm in the early stage, restricting the efficiency of product development. At the same time, if the radar finds a problem in the later stage, it may involve changes to the radar and the anti-scratch strip installed, increasing development costs.

[0005] In view of this, it is necessary to provide a positioning and simulation verification device for a door obstacle avoidance radar to reduce development costs. Summary of the invention

[0006] The purpose of the present invention is to provide a positioning and simulation verification device for a vehicle door obstacle avoidance radar, so as to solve the problem that the vehicle door collision avoidance radar cannot be verified due to the lack of vehicle resources in the early stage, improve the development efficiency, and reduce the potential development risks and change costs in the later stage, so as to realize fast, efficient and low-cost door radar product development.

[0007] In order to achieve the above-mentioned purpose, the present invention provides a positioning and simulation verification device for a vehicle door obstacle avoidance radar, comprising a base, a vertical rotating shaft rotatable relative to the base, a rotation driving device for driving the vertical rotating shaft to rotate, a cross bar loosely fastened on the vertical rotating shaft, and a two-axis angle disk loosely fastened on the cross bar, the radar is installed on the mounting surface of the two-axis angle disk, the cross bar is used to simulate the vehicle door, the vertical rotating shaft is used to simulate the vehicle door rotation shaft, the two-axis angle disk is used to simulate the attitude adjustment of the radar, and the radar is used to detect the position of obstacles in the door scanning area.

[0008] The vertical rotating shaft is mounted on the base via a first bearing, so it can rotate around itself relative to the base; and / or the vertical rotating shaft is located in a fixed frame, and the top end of the vertical rotating shaft is connected to the fixed frame via a second bearing.

[0009] The rotary drive device includes a servo motor with a fixed end fixed relative to a base, a reducer connected to a rotating end of the servo motor, and an electrical control box of a host computer for accommodating the servo motor. The output end of the reducer is connected to a vertical rotating shaft through a coupling to drive its rotation.

[0010] The electric control box is provided with a human-machine interface, which is used to input the target values ​​of the rotation speed and the rotation angle of the servo motor.

[0011] The vertical rotating shaft is provided with a height scale, so that the current height is indicated by the height scale on the vertical rotating shaft; and / or a transverse scale is provided on the cross bar, so that the current transverse distance of the two-axis angle disk from the vertical rotating shaft is indicated by the transverse scale on the cross bar; and / or the two-axis angle disk is provided with an angle scale to manually adjust the mounting surface angle of the two-axis angle disk in two directions.

[0012] The radar is installed on a two-axis angle plate through an adapter bracket, and the adapter bracket fixes an anti-scratch strip / decorative plate for covering the radar through a buckle.

[0013] The length of the vertical rotating shaft is 0.6 to 1 meter, and the lowest adjustable height is 0.1m; the length of the cross bar is 1m to 1.3m; the adjustable angle of the two-axis angle disk is 0 to 20°; the lower end of the vertical rotating shaft is limited by a rotation limit block, and the limiting angle of the rotation limit block is 70°.

[0014] On the other hand, the present invention provides a method for using a positioning and simulation verification device for a vehicle door obstacle avoidance radar, comprising:

[0015] S1: Build the positioning and simulation verification device of the door obstacle avoidance radar described above, and install the radar in place;

[0016] S2: When obstacles are set around the positioning and simulation verification device of the door obstacle avoidance radar, the door opening action is simulated by controlling the speed and angle of the rotary drive device, and the performance of the radar is tested or verified while simulating the door opening action.

[0017] The step S1 specifically includes:

[0018] S11: According to the development requirements of the door collision avoidance radar of the actual vehicle, determine the installation height, horizontal position, pitch angle and forward / backward tilt angle of the radar;

[0019] S12: Move the crossbar in the vertical height direction where the vertical rotation axis is located, and releasably fasten and install it at the installation height of the radar by fixing the pipe clamp;

[0020] S13: adjusting the movement of the two-axis angle plate along the lateral direction of the crossbar, and releasably fastening and installing it at the horizontal position of the radar through a fixing bracket;

[0021] S14: Install the radar on a two-axis angle plate through an adapter bracket, and adjust the two-axis angle plate to achieve the radar's pitch angle and forward / backward tilt angle.

[0022] In the open-loop working mode, the radar performance is tested or verified while simulating the door opening action, including: manually specifying the speed and angle of the rotary drive device to simulate the door opening action, and collecting the obstacle position and functional performance of the radar;

[0023] In the closed-loop working mode, the radar performance is tested or verified while simulating the door opening action, specifically including: determining the door opening angle according to the obstacle position detected by the radar and sending it to the rotary drive device in real time; the rotary drive device adjusts the angle and speed in real time according to the door opening angle, and determines and records the radar's functional performance based on the door opening results.

[0024] The positioning and simulation verification device of the door obstacle avoidance radar of the present invention simulates the position and angle posture of the radar installed on the whole vehicle, and simulates the actual door opening process through the rotary drive device to perform function verification, thereby realizing the development work such as data collection and function verification of the radar product without the actual vehicle in the early stage, greatly shortening the product development cycle; in addition, the components involved in the positioning and simulation verification device of the door obstacle avoidance radar of the present invention are simple to operate and low in cost, which is beneficial to controlling the product development cost. Furthermore, the positioning and simulation verification device of the door obstacle avoidance radar of the present invention has good versatility. In addition to the radar product itself, by installing anti-scratch strips / decorative panels, the influence of anti-scratch strips / decorative panels on the radar can be further verified, thereby performing the installation position of the radar and the adaptation of anti-scratch strips / decorative panels in the early stage of product development, realizing fast and low-cost verification. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1A This is a schematic diagram of a typical installation method of radar on a real vehicle.

[0026] Figure 1B This is a schematic diagram of a typical installation position of the radar on a real vehicle. The left and right sides of the door in Figure 1 are respectively outside the vehicle and inside the vehicle.

[0027] Figure 2 It is an overall structural diagram of the positioning and simulation verification device of the vehicle door obstacle avoidance radar of the present invention.

[0028] Figure 3 It is a structural schematic diagram of the positioning and simulation verification device of the vehicle door obstacle avoidance radar of the present invention after the electric control box is removed.

[0029] Figure 4 It is a schematic diagram of the installation method of the radar on the positioning and simulation verification device of the vehicle door obstacle avoidance radar of the present invention.

[0030] Figure 5 is a top-down schematic diagram of the door sweep area. DETAILED DESCRIPTION

[0031] The positioning and simulation verification device of the door obstacle avoidance radar of the present invention can adjust and position the radar in various positions and postures without a door, and can adapt to the second surfaces of different radars for testing and verification, thereby solving the problem that the door collision avoidance radar could not be verified in the early stage due to the lack of vehicle resources, improving development efficiency, and reducing potential development risks and change costs in the later stage, thereby realizing fast, efficient and low-cost door radar product development.

[0032] like Figure 2 and Figure 3 As shown, the positioning and simulation verification device of the vehicle door obstacle avoidance radar of the present invention includes a base 10, a vertical rotating shaft 20 rotatable relative to the base 10, a rotating drive device 30 for driving the vertical rotating shaft 20 to rotate, a cross bar 40 loosely fastened on the vertical rotating shaft, and a two-axis angle disk 50 loosely fastened on the cross bar 40.

[0033] The vertical rotating shaft 20 is installed on the base 10 via a first bearing 21 , and thus can rotate around itself relative to the base 10 .

[0034] The rotation drive device 30 includes a servo motor 31 whose fixed end is fixed relative to the base 10, a reducer 32 connected to the rotating end of the servo motor 31, and an electric control box 33 of a host computer for accommodating the servo motor 31. The output end of the reducer 32 is connected to the vertical rotating shaft 20 through a coupling 22 to drive it to rotate. Thus, the servo motor 31 drives the vertical rotating shaft 20 to rotate after being decelerated and adjusted by the reducer 32. Among them, the speed and angle of the servo motor 31 can be controlled by the host computer.

[0035] The electric control box 33 is provided with a human-machine interface 34 , and the human-machine interface 34 is used to input target values ​​of the rotation speed and rotation angle of the servo motor 31 .

[0036] The vertical rotating shaft 20 is located in a fixed frame, and the top end of the vertical rotating shaft 20 is connected to the fixed frame through the second bearing 23, so that both the upper and lower ends of the vertical rotating shaft 20 are limited. In addition, the lower end of the vertical rotating shaft 20 is limited by a rotation limit block, and in abnormal circumstances, the vertical rotating shaft can be prevented from rotating too much by a hard limit to ensure safety.

[0037] The cross bar 40 is releasably fastened to the vertical rotating shaft 20 by a fixed pipe clamp, so that the cross bar 40 can be adjusted along the vertical height direction of the vertical rotating shaft 20 by adjusting the tension. Preferably, the vertical rotating shaft 20 is provided with a height scale, so that the current height is indicated by the height scale on the vertical rotating shaft. The cross bar 40 is completely horizontally arranged during installation.

[0038] The two-axis angle disc 50 is releasably fastened to the cross bar 40 through a fixing bracket, so that the movement adjustment of the two-axis angle disc 50 along the lateral direction of the cross bar 40 can be achieved by adjusting the tension. Preferably, a lateral scale is provided on the cross bar 40, so that the lateral distance of the two-axis angle disc 50 from the vertical rotation axis 20 is indicated by the lateral scale on the cross bar 40.

[0039] The two-axis angle disc 50 is provided with an angle scale to manually adjust the mounting surface angle of the two-axis angle disc 50 in two directions. In the present embodiment, the two-axis angle disc 50 is an existing one, model TS-612, and in other embodiments, other suitable two-axis angle discs 50 are all feasible.

[0040] Considering the actual application and installation of the door obstacle avoidance radar, preferably, the length of the vertical rotation axis 20 is 0.6 to 1 meter, and the adjustable height can be as low as 0.1m; preferably, the length of the crossbar 40 is 1m to 1.3m; preferably, the adjustable angle of the two-axis angle plate 50 is 0 to 20°; preferably, the limit angle of the rotation limit block is 70°. The above parameters can cover the actual installation and use of the door obstacle avoidance radar.

[0041] like Figure 3 As shown, the radar 60 is mounted on the mounting surface of the two-axis angle disc 50 through an adapter bracket 70. The adapter bracket 70 is customized according to the mounting holes on the radar 60 and the two-axis angle disc 50 to connect the radar 60 and the two-axis angle disc 50 by bolts.

[0042] Thus, the positioning and simulation verification device for the door obstacle avoidance radar of the present invention realizes the simulation of the installation position and posture of the actual door obstacle avoidance radar, wherein the cross bar 40 is used to simulate the door, the vertical rotation axis 20 is used to simulate the door rotation axis, the two-axis angle plate 50 is used to simulate the posture adjustment of the radar, and the radar 60 is used to obtain the following through electromagnetic wave detection: Figure 5 The obstacle position in the door sweeping area is shown. The positioning and simulation verification device of the door obstacle avoidance radar of the present invention is simple to operate and has low cost. In this embodiment, the obstacle position is represented by the X, Y, Z coordinate information and speed information of the obstacle, and the coordinate system of the X, Y, Z coordinates is the door coordinate system (the origin is the projection of the door hinge center on the lower edge of the door).

[0043] In addition, the adapter bracket 70 fixes a scuff strip / decorative panel 80 for covering the radar 60 by buckles, so that the inner surface of the scuff strip / decorative panel 80 serves as the second surface of the radar. Thus, the influence of different materials of the scuff strip / decorative panel 80 or the positional relationship between the scuff strip / decorative panel 80 and the radar on the radar detection performance and the door function performance can be verified.

[0044] When actually used in a real vehicle, the anti-scratch strip / trim 80 is fixed to the vehicle door by means of snaps or the like. In the present invention, the anti-scratch strip / trim 80 is fixed to an adapter bracket 70, and the adapter bracket 70 is fixed to a two-axis angle plate 50, so as to simulate the door of a real vehicle through the positioning and simulation verification device of the vehicle door obstacle avoidance radar of the present invention.

[0045] Based on the positioning and simulation verification device for the door obstacle avoidance radar described above, the method for using the positioning and simulation verification device for the door obstacle avoidance radar implemented includes:

[0046] Step S1: construct the positioning and simulation verification device for the door obstacle avoidance radar described above, and install the radar 60 in place;

[0047] Step S1 specifically includes:

[0048] Step S11: According to the development requirements of the door collision avoidance radar of the actual vehicle, determine the installation height, horizontal position, pitch angle and forward / backward tilt angle of the radar 60. Among them, the two-axis angle plate 50 is equipped with a manual knob, so it can be used to manually adjust the angle.

[0049] In the development requirements of the door collision avoidance radar of a real vehicle, the pitch angle and the forward / backward tilt angle of the radar 60 are determined by the designed position of the anti-scratch strip / decorative panel and the installation and fixing position of the radar. In the positioning and simulation verification device of the door obstacle avoidance radar of the present invention, the pitch angle and the forward / backward tilt angle of the radar 60 are achieved by adjusting the two-axis angle plate 50.

[0050] Step S12: Move the crossbar 40 along the vertical height direction where the vertical rotation axis 20 is located, and releasably fasten and install it at the installation height of the radar 60 by fixing the pipe clamp.

[0051] Step S13: The two-axis angle disc 50 is adjusted along the movement in the lateral direction of the cross bar 40 and is releasably fastened and installed at the horizontal position of the radar 60 through a fixing bracket.

[0052] Step S14: The radar 60 is mounted on the two-axis angle plate 50 through the adapter bracket 70 , and the pitch angle and forward / backward tilt angle of the radar 60 are achieved by adjusting the two-axis angle plate 50 .

[0053] Thus, the positioning and simulation verification device for the door obstacle avoidance radar of the present invention realizes the simulation of the installation position and posture of the actual door obstacle avoidance radar, wherein the cross bar 40 is used to simulate the door, the vertical rotation axis 20 is used to simulate the door rotation axis, the two-axis angle plate 50 is used to simulate the posture adjustment of the radar, and the radar 60 is used to obtain the following through electromagnetic wave collection: Figure 5 The obstacle position in the door sweeping area is shown. The positioning and simulation verification device of the door obstacle avoidance radar of the present invention is simple to operate and has low cost. In this embodiment, the obstacle position is represented by the X, Y, Z coordinate information and speed information of the obstacle, and the coordinate system of the X, Y, Z coordinates is the door coordinate system (the origin is the projection of the door hinge center on the lower edge of the door).

[0054] Preferably, step S1 may further include step S15: fixing the anti-scratch strip / decorative panel 80 on the adapter bracket 70 by snapping, so that the inner surface of the anti-scratch strip / decorative panel 80 is used as the second surface of the radar. In this way, the influence of different decorative panel materials or the position relationship with the radar on the radar detection performance and the performance of the electric door function can be verified.

[0055] Step S2: When obstacles are set around the positioning and simulation verification device of the door obstacle avoidance radar, the door opening action is simulated by controlling the rotation speed and angle of the rotary drive device 30, and the performance of the radar 60 is tested or verified while simulating the door opening action.

[0056] The rotation speed and rotation angle of the rotary drive device 30 can be controlled by the upper computer in the electric control box 33. The rotation angle of the rotary drive device 30 corresponds to the door opening angle, which is determined according to the obstacle position obtained by the radar. The rotation speed of the rotary drive device 30 is generally in the range of 10 to 30° / s.

[0057] In step S2, the radar performance is tested or verified while simulating the door opening action, which is specifically divided into two working modes: an open-loop working mode and a closed-loop working mode.

[0058] 1) In the open-loop working mode, the radar performance is tested or verified while simulating the door opening action, specifically including: manually specifying the rotation speed and angle of the rotary drive device 30 to simulate the door opening action, and collecting the obstacle position and recording the function performance of the radar.

[0059] The specific testing process is not the content of the present invention and will not be described in detail.

[0060] The functions of the radar mainly include: the door opening angle determined by the obstacle position output by the radar, whether the distance between the door and the obstacle is within the safe distance range, which can be 10 to 20 cm. For example, if the door collides with the obstacle, it means that the radar obviously did not detect the obstacle target. For example, if the distance between the door and the obstacle is large, it means that the radar may have detected a false point.

[0061] 2) In the closed-loop working mode, the radar performance is tested or verified while simulating the door opening action, specifically including: determining the door opening angle according to the obstacle position detected by the radar and sending it to the rotary drive device 30 in real time, the rotary drive device 30 adjusts the rotation angle and rotation speed in real time according to the door opening angle, and determines and records the radar's functional performance based on the door opening result.

[0062] In this embodiment, the servo motor 31 of the rotation driving device 30 adjusts the rotation angle and the rotation speed in real time according to the door opening angle after conversion through the reduction ratio of the reducer.

[0063] The rotary drive device 30 communicates with the radar 60 via CAN or CANFD, so that the door opening angle is sent to the servo motor 31 of the rotary drive device 30 in real time.

[0064] In this embodiment, according to the obstacle position information detected by the radar, a safety distance range of 10 to 20 cm is reserved between the vehicle door and the obstacle, and the door opening angle is calculated and determined.

[0065] Preferably, the radar performance is tested or verified in a closed loop while simulating the door opening action, which can achieve a complete simulation of the working process of the electric door system.

[0066] The positioning and simulation verification device of the door obstacle avoidance radar of the present invention simulates the position and angle posture of the radar installed on the whole vehicle, and the rotary drive device simulates the actual door opening process to perform function verification, thereby realizing data collection, function verification and other development work of the radar product without the actual vehicle in the early stage, greatly shortening the product development cycle; in addition, the components involved in the positioning and simulation verification device of the door obstacle avoidance radar of the present invention are simple to operate and low in cost, which is beneficial to controlling the product development cost. Furthermore, the positioning and simulation verification device of the door obstacle avoidance radar of the present invention has good versatility. In addition to the radar product itself, the anti-scratch strip / decorative panel can be installed to further verify the influence of the anti-scratch strip / decorative panel on the radar, thereby performing the installation position of the radar and the adaptation of the anti-scratch strip / decorative panel in the early stage of product development, realizing fast and low-cost verification.

[0067] Although the embodiments of the present application have been shown and described above, the protection scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative work should be included in the protection scope of the present invention. Unless explicitly stated, any element, action or instruction used in this article should not be interpreted as critical or essential.

Claims

1. A positioning and simulation verification device for a door obstacle avoidance radar, characterized in that: It includes a base, a vertical rotating shaft rotatable relative to the base, a rotating drive device for driving the vertical rotating shaft to rotate, a cross bar loosely fastened on the vertical rotating shaft, and a two-axis angle disk loosely fastened on the cross bar, and a radar is installed on the mounting surface of the two-axis angle disk; the cross bar is used to simulate a car door, the vertical rotating shaft is used to simulate a car door rotating shaft, the two-axis angle disk is used to simulate the attitude adjustment of the radar, and the radar is used to detect the position of obstacles in the door sweeping area.

2. The positioning and simulation verification device for the door obstacle avoidance radar according to claim 1, characterized in that: The vertical rotation axis is mounted on the base via a first bearing, so that it can rotate around itself relative to the base; and / or The vertical rotating shaft is located in a fixed frame, and the top end of the vertical rotating shaft is connected to the fixed frame via a second bearing.

3. The positioning and simulation verification device for the door obstacle avoidance radar according to claim 1, characterized in that: The rotary drive device includes a servo motor with a fixed end fixed relative to a base, a reducer connected to a rotating end of the servo motor, and an electrical control box of a host computer for accommodating the servo motor. The output end of the reducer is connected to a vertical rotating shaft through a coupling to drive its rotation.

4. The positioning and simulation verification device for the door obstacle avoidance radar according to claim 3, characterized in that: The electric control box is provided with a human-machine interface, which is used to input the target values ​​of the rotation speed and the rotation angle of the servo motor.

5. The positioning and simulation verification device for the door obstacle avoidance radar according to claim 1, characterized in that: The vertical rotating shaft is provided with an altitude scale, so that the current altitude is indicated by the altitude scale on the vertical rotating shaft; and / or A transverse scale is provided on the crossbar, so that the transverse scale on the crossbar indicates the current transverse distance of the two-axis angle disc from the vertical rotation axis; and / or The two-axis angle disc is provided with angle scales for manually adjusting the angle of the mounting surface of the two-axis angle disc in two directions.

6. The positioning and simulation verification device for the door obstacle avoidance radar according to claim 1, characterized in that: The radar is installed on a two-axis angle plate through an adapter bracket, and the adapter bracket fixes an anti-scratch strip / decorative plate for covering the radar through a buckle.

7. The positioning and simulation verification device for the door obstacle avoidance radar according to claim 1, characterized in that: The length of the vertical rotating shaft is 0.6 to 1 meter, and the lowest adjustable height is 0.1m; the length of the cross bar is 1m to 1.3m; the adjustable angle of the two-axis angle disk is 0 to 20°; the lower end of the vertical rotating shaft is limited by a rotation limit block, and the limiting angle of the rotation limit block is 70°.

8. A method for using a positioning and simulation verification device for a vehicle door obstacle avoidance radar, characterized in that: include: Step S1: constructing a positioning and simulation verification device for a door obstacle avoidance radar according to any one of claims 1 to 7, and installing the radar in place; Step S2: When obstacles are set around the positioning and simulation verification device of the door obstacle avoidance radar, the door opening action is simulated by controlling the speed and angle of the rotary drive device, and the performance of the radar is tested or verified while simulating the door opening action.

9. The method for using the positioning and simulation verification device for the door obstacle avoidance radar according to claim 8, characterized in that: The step S1 specifically includes: Step S11: according to the development requirements of the door collision avoidance radar of the actual vehicle, determine the installation height, horizontal position, pitch angle and forward / rearward tilt angle of the radar; Step S12: Move the crossbar in the vertical height direction where the vertical rotation axis is located, and releasably fasten and install it at the installation height of the radar by fixing the pipe clamp; Step S13: adjusting the movement of the two-axis angle plate along the lateral direction of the crossbar, and loosely fastening and installing it at the horizontal position of the radar through a fixing bracket; Step S14: The radar is mounted on a two-axis angle plate through an adapter bracket, and the pitch angle and forward / backward tilt angle of the radar are achieved by adjusting the two-axis angle plate.

10. The method for using the positioning and simulation verification device for door obstacle avoidance radar according to claim 9, characterized in that: In the open-loop working mode, the radar performance is tested or verified while simulating the door opening action, including: manually specifying the speed and angle of the rotary drive device to simulate the door opening action, and collecting the obstacle position and functional performance of the radar; In the closed-loop working mode, the radar performance is tested or verified while simulating the door opening action, specifically including: determining the door opening angle according to the obstacle position detected by the radar and sending it to the rotary drive device in real time; the rotary drive device adjusts the angle and speed in real time according to the door opening angle, and determines and records the radar's functional performance based on the door opening results.

Images