Hardware-in-the-loop test system and method for millimeter wave radar

Abstract

The invention discloses a hardware-in-the-loop test system and method for a millimeter wave radar, and the system comprises a first upper computer, a second upper computer, a video camera obscura, a hardware-in-the-loop test cabinet, a radar echo simulator system, and a controller. The hardware-in-the-loop test cabinet is respectively connected with the first upper computer, the second upper computer, the radar echo simulator system and the controller, the video camera obscura is connected with the first upper computer, and the radar echo simulator system is respectively connected with the second upper computer and the controller. The hardware-in-the-loop test system of the millimeter-wave radar is used for acquiring a test scene, identifying the test scene, obtaining scene information, operating automatic test software to obtain radar sensing data, performing logic processing on the radar sensing data, obtaining processed radar sensing data, converting the processed radar sensing data, obtaining echo data, and transmitting the echo data to a server. And performing sensing fusion on the scene information and the echo data to obtain target data so as to complete a hardware-in-the-loop test process of the millimeter wave radar.

Description

Technical Field

[0001] The present application relates to the field of millimeter wave radar processing and intelligent driving technology, and more specifically, to a hardware-in-the-loop test system and method for millimeter wave radar. Background Art

[0002] The testing of intelligent driving control functions refers to the testing of the planning and control functions in the intelligent driving system to ensure that its performance in actual driving scenarios meets expectations. Intelligent driving control functions mainly include path planning, behavior decision-making and motion control, which together determine the behavior and response of the vehicle in complex environments.

[0003] The existing test method for intelligent driving control function is generally to complete the test of intelligent driving control function through millimeter wave controller area network (CAN) bus simulation. However, the test method of completing intelligent driving control function through millimeter wave CAN bus simulation can only test the control function of the controller, and cannot test the front-end radar perception and performance indicators. If the front-end radar perception and performance indicators are to be tested, they can only be tested manually. Testing the front-end radar perception algorithm and performance indicators manually will reduce the accuracy and test efficiency of hardware-in-the-loop testing.

[0004] Therefore, how to improve the accuracy and test efficiency of hardware-in-the-loop testing is an urgent problem to be solved in this application. Summary of the invention

[0005] In view of this, the present application discloses a hardware-in-the-loop testing method and device for millimeter-wave radar, aiming to obtain more reliable target data, so that the speed control, cruise control and braking of the (Adaptive Cruise Control, ACC) function are more accurate, and the full-chain test from millimeter-wave perception to the controller intelligent driving control algorithm is realized, the labor cost of testing is reduced, and the automated testing in the hardware-in-the-loop testing system shortens the test cycle, thereby improving the accuracy and test efficiency of the hardware-in-the-loop test.

[0006] In order to achieve the above purpose, the disclosed technical solution is as follows:

[0007] In a first aspect, the present application discloses a hardware-in-the-loop test system for a millimeter-wave radar, the system comprising a first host computer, a second host computer, a video dark box, a hardware-in-the-loop test cabinet, a radar echo simulator system, and a controller;

[0008] The hardware-in-the-loop test cabinet is respectively connected to the first host computer, the second host computer, the radar echo simulator system and the controller;

[0009] The video dark box is connected to the first host computer;

[0010] The radar echo simulator system is connected to the second host computer and the controller respectively;

[0011] Wherein, the first host computer is used to obtain the test scenario;

[0012] The video dark box is used to identify the test scene and obtain scene information;

[0013] The second host computer is used to run the automated testing software; wherein the automated testing software at least includes a radar sensor model; the radar sensor model is used to obtain radar perception data according to the scene information;

[0014] The hardware-in-the-loop test cabinet is used to perform logical processing on the radar sensing data to obtain processed radar sensing data;

[0015] The radar echo simulator system converts the processed radar perception data to obtain echo data;

[0016] The controller is used to sense and fuse the scene information and the echo data to obtain target data, so as to complete the hardware-in-the-loop test process of the millimeter-wave radar.

[0017] Preferably, the video darkbox is connected to the first host computer via an HDMI cable.

[0018] Preferably, the video dark box includes a display, a camera and an intelligent driving controller;

[0019] The display is connected to the first host computer and the camera respectively;

[0020] The camera is connected to the controller via a low voltage differential signal line;

[0021] The intelligent driving controller is connected to the display and the camera respectively; the intelligent driving controller recognizes the test scene through the camera and displays the recognized scene information on the display.

[0022] Preferably, the hardware-in-the-loop test cabinet includes a real-time machine, a programmable power supply, an analog quantity board, a digital quantity board, a resistance simulation board and a power distribution board;

[0023] The real-time machine is connected to the first host computer and the second host computer respectively through a switch;

[0024] The program-controlled power supply is connected to the switch;

[0025] The analog quantity board, the digital quantity board, the resistance simulation board and the power distribution board are all arranged on the side panel of the hardware-in-the-loop test cabinet.

[0026] Preferably, the system further comprises a bus simulation device;

[0027] The bus simulation device is placed in the hardware-in-the-loop test cabinet; the bus simulation device is connected to the real-time machine via a data line and a synchronization line to achieve hardware synchronization.

[0028] Preferably, the radar echo simulator system comprises a simulator host, a radio frequency front end and a radar;

[0029] The simulator host is connected to the switch via Ethernet and is connected to the RF front end via a transceiver antenna;

[0030] The radar is connected to the radio frequency front end and the controller respectively.

[0031] Preferably, the radar is connected to the RF front end via 77 GHz electromagnetic waves.

[0032] Preferably, the radar is connected to the controller via a CAN bus.

[0033] Preferably, the second host computer is connected to the radar echo simulator system via Ethernet, and accesses the client of the simulator host via a remote connection.

[0034] A second aspect of the present application discloses a hardware-in-the-loop test method for a millimeter-wave radar, the method being applied to the hardware-in-the-loop test system for the millimeter-wave radar according to any one of the first aspects, the method comprising:

[0035] Get the test scene;

[0036] Identify the test scene and obtain scene information;

[0037] Running automated testing software; wherein the automated testing software at least includes a radar sensor model; the radar sensor model is used to obtain radar perception data according to the scene information;

[0038] Performing logical processing on the radar perception data to obtain processed radar perception data;

[0039] Convert the processed radar perception data to obtain echo data;

[0040] The scene information and the echo data are sensed and fused to obtain target data, so as to complete the hardware-in-the-loop test process of the millimeter-wave radar.

[0041] It can be known from the above technical scheme that the present application discloses a hardware-in-the-loop test system and method for a millimeter-wave radar. The hardware-in-the-loop test system for the millimeter-wave radar includes a first host computer, a second host computer, a video dark box, a hardware-in-the-loop test cabinet, a radar echo simulator system and a controller. The hardware-in-the-loop test cabinet is respectively connected to the first host computer, the second host computer, the radar echo simulator system and the controller, the video dark box is connected to the first host computer, and the radar echo simulator system is respectively connected to the second host computer and the controller, wherein the first host computer is used to obtain a test scene, the video dark box is used to identify the test scene and obtain scene information, and the second host computer is used to run automated testing software, wherein the automated testing software includes a radar sensor model; the radar sensor model is used to obtain radar perception data according to the scene information, the hardware-in-the-loop test cabinet is used to perform logical processing on the radar perception data to obtain processed radar perception data, the radar echo simulator system converts the processed radar perception data to obtain echo data, and the controller is used to perceive and fuse the scene information and the echo data to obtain target data, so as to complete the process of hardware-in-the-loop testing of the millimeter-wave radar.

[0042] Through the above solution, there is no need to manually test the front-end radar perception algorithm and performance indicators. It is only necessary to use the controller to filter and pre-process the echo data perceived by the radar, such as target distance, speed, angle, radar cross-sectional area (RCS) reflection intensity data, etc., as well as scene data, such as camera visual lane line type, lane, target type and other data, and extract features, coordinate conversion and fusion algorithm judgment and classification. Finally, the processed echo data and the processed scene data are perceived and fused through a certain weight distribution to obtain more reliable target data, so that the speed control, cruise control and automatic emergency braking system AEB functions of the adaptive cruise control system ACC function are more accurate, realizing the full-chain test from millimeter wave perception to the controller intelligent driving regulation and control algorithm, reducing the labor cost of testing, and automating the testing in the hardware-in-the-loop test system. The test cycle is shortened, thereby improving the accuracy and test efficiency of the hardware-in-the-loop test. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0044] Figure 1 A schematic diagram of a hardware-in-the-loop test system for a millimeter-wave radar disclosed in an embodiment of the present application;

[0045] Figure 2The schematic diagram of the video dark box disclosed in the embodiment of the present application;

[0046] Figure 3 A bus schematic diagram of a hardware-in-the-loop test system for a millimeter-wave radar disclosed in an embodiment of the present application;

[0047] Figure 4 A flowchart of a hardware-in-the-loop testing method for a millimeter-wave radar disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0050] It can be seen from the background technology that the existing test method for the intelligent driving regulation and control function is generally to complete the test of the intelligent driving regulation and control function through millimeter wave CAN bus simulation. However, the test method of completing the intelligent driving regulation and control function through millimeter wave CAN bus simulation can only test the regulation and control function of the controller, and cannot test the front-end radar perception and performance indicators. If the front-end radar perception and performance indicators are to be tested, they can only be tested manually. Testing the front-end radar perception algorithm and performance indicators manually will lead to a decrease in the accuracy and test efficiency of the hardware-in-the-loop test. Therefore, how to improve the accuracy and test efficiency of the hardware-in-the-loop test is a problem that needs to be solved urgently in this application.

[0051] In order to solve the above problems, the present application discloses a hardware-in-the-loop test system and method for millimeter-wave radar. It is not necessary to test the front-end radar perception algorithm and performance indicators manually. It only needs to filter and pre-process the echo data perceived by the radar, such as target distance, speed, angle, radar cross-sectional area (RCS) reflection intensity data, and scene data, such as camera visual lane line type, lane, target type, etc., through the controller, feature extraction, coordinate conversion, and fusion algorithm judgment and classification, and finally perceive and fuse the processed echo data and processed scene data through a certain weight distribution to obtain more reliable target data, so that the ACC function's fixed speed, cruise control and AEB function braking are more accurate, and the full chain test from millimeter-wave perception to the controller's intelligent driving control algorithm is realized, which reduces the test labor cost, and the automated test in the hardware-in-the-loop test system shortens the test cycle, thereby improving the accuracy and test efficiency of the hardware-in-the-loop test. The specific implementation method is specifically described by the following embodiments.

[0052] The hardware-in-the-Loop (HIL) test system of the millimeter-wave radar in the present application involves the joint test of the millimeter-wave radar and the intelligent driving domain controller of the intelligent driving car, and involves the HIL test system of the millimeter-wave radar and the intelligent driving function.

[0053] refer to Figure 1 As shown, it is a schematic diagram of a hardware-in-the-loop test system for a millimeter-wave radar disclosed in an embodiment of the present application. The hardware part of the hardware-in-the-loop test system for the millimeter-wave radar includes a first host computer (PC1), a second host computer (PC2), a video dark box, a HIL test cabinet, a radar echo simulator system and a controller (Electronic Control Unit, ECU). Among them, HIL testing refers to a system closed-loop test after integrating hardware and software to verify the integrity and performance of the system.

[0054] The software part of the millimeter wave radar hardware-in-the-loop test system includes test management software (CANoe software and CarMaker software). CANoe software supports the management and control of the entire test platform, the sending of bus messages, and the simulation of some vehicle dynamics. CarMaker software is used to provide scenario simulation and the association of dynamic parameters.

[0055] The video dark box includes a display, a camera and an intelligent driving controller; the display is connected to PC1 and the camera respectively; the camera is connected to the controller via a low voltage differential signal line; the intelligent driving controller is set in the video dark box, and the intelligent driving controller is connected to the display and the camera respectively; the intelligent driving controller recognizes the test scene through the camera and displays the recognized scene information on the display. There can be multiple cameras.

[0056] The HIL cabinet includes a real-time machine, a programmable power supply, an analog board, a digital board, a resistor simulation board, and a power distribution board.

[0057] Among them, the real-time machine is connected to PC1 and PC2 respectively through the switch; the program-controlled power supply is connected to the switch; the analog board, digital board, resistor simulation board and power distribution board are all set on the side panel of the hardware-in-the-loop test cabinet. The real-time machine can be connected to the switch through the network cable to communicate with the host computer. The host computer experiment management software communicates through the network cable to realize the start and stop of the project. The program-controlled power supply is also connected to the switch through the network cable and configured in the same IP network segment, so that the host computer can send messages through the User Datagram Protocol (UDP) to control the output voltage of the program-controlled power supply to the controller and radar. The analog board, digital board, resistor simulation board and (Input / Output, IO) resources are introduced into the cabinet side panel for simulation.

[0058] The hardware-in-the-loop test system of the millimeter-wave radar also includes a bus simulation device, which is set in the HIL cabinet and connected to the real-time machine through data lines and synchronization lines to achieve hardware synchronization. The controller and radar communicate with each other through the CAN line, and the millimeter-wave radar data, controller signals, and vehicle simulation-related data are sent and received through the CAN bus.

[0059] PC1 can be used to run CarMaker scenario software. CarMaker scenario software can be configured with a variety of sensor models. Figure 2 The figure shows the schematic diagram of the video darkbox. PC1 is connected to the video darkbox via an HDMI cable in a split-screen manner, and the scene software running scene is displayed on the screen of the video darkbox. The intelligent driving controller is fixed in the darkbox by a fixture, and the camera is calibrated to face the screen at the same angle as the real car, so that it can accurately identify the picture in the scene. The identified scene information such as lane lines, target vehicles, signs, etc. is transmitted to the ECU by the camera through the corresponding low-voltage differential signaling (LVDS) protocol.

[0060] The intelligent driving controller uses cameras to perceive and identify information such as lane lines, vehicles and traffic signs. Its algorithm can also identify the relative speed of the vehicle in front based on the information of the vehicle in front, so as to realize L2 level autonomous driving functions such as ACC and AEB. Compared with camera algorithms, millimeter wave radar can detect the distance and speed of dynamic targets more accurately. The controller will screen and pre-process the target distance, speed, angle, RCS reflection intensity data perceived by the radar and the camera's visual lane line type (virtual and real lines, color), lane (single lane, double lane, triple lane), target type (motorcycle, car, truck, trailer) and other scene data, extract features, coordinate transform and fusion algorithm judgment and classification, etc. Finally, the data is perceived and fused through a certain weight distribution to obtain more reliable target data, making the ACC function's fixed speed, cruise control and AEB function braking more accurate.

[0061] PC2 runs CANoe experiment management software and automated test software and is connected to the switch, which is connected to the radar echo simulator system via Ethernet; PC2 accesses the simulator host client through a remote connection, and the client can independently control the radar echo simulator and its dark box slide rail and turntable. The specific way PC2 is connected to the radar echo simulator system via Ethernet is as follows Figure 3 As shown, Figure 3 The bus schematic diagram of the millimeter wave radar HIL test system is shown.

[0062] Figure 3 In the present invention, the radar echo simulator system includes a simulator host, a RF front end and a radar; the simulator host is connected to a switch via Ethernet, and is connected to the RF front end via a transceiver antenna; the radar is connected to the RF front end and the controller respectively; specifically, the radar is connected to the RF front end via a 77 GHz electromagnetic wave; the radar is connected to the controller via a CAN bus; PC2 runs the CANoe experiment management software and is connected to the ECU via the CAN / controller area network with flexible data rate (CAN FD) Ethernet IO protocol.

[0063] The virtual scene simulation software contains a radar sensor model, which can transmit the radar perception data (such as relative speed, angle, distance data, etc.) obtained by the radar sensor model in the scene through the HIL cabinet real-time machine, and transmit the radar perception data to the experiment management software CANoe through the application programming interface (Application Programming Interface, API) interface. The experiment management software CANoe completes the mapping assignment of target data, data signal processing, physical and geometric conversion and other logical processing, and then sends the processed relative distance, speed, angle and RCS target reflection intensity system variables to the radar echo simulator system through the Ethernet (UDP / TCP) protocol in UDP packetization.

[0064] The radar of the radar echo simulator system emits 77GHz electromagnetic waves, which are received by the RF receiving end of the radar echo simulator system and then down-converted; the simulator host of the radar echo simulator system combines the relative distance, speed, angle and other information given by the scene end to realize the conversion of the simulation target to the RF target, and completes the up-conversion to 77GHz; the 77GHz electromagnetic (echo data) echo with RF target information is sent to the radar through the RF transmitting front end; after the radar detects the echo data, it is parsed into relative distance, speed and angle signals according to the protocol, and then transmitted to the ECU through the CAN bus protocol. The echo data received by the radar is transmitted to the intelligent controller in the video dark box through the CAN signal. The relevant signals sent by the controller can be received in the experimental management software of PC2 to form a closed-loop control. In addition to receiving controller signals, the experimental management software CANoe has other functions in this system, such as driving the CAN and Ethernet interface boxes, completing the peripheral bus environment of the radar and controller, driving the I / O board, providing the ECU with a peripheral voltage simulation environment, and remotely controlling the programmable power supply through Ethernet, simulating the battery on the real vehicle to provide the ECU with a peripheral (KL15 / KL30) power supply environment.

[0065] The specific data interaction process between PC1, PC2, video dark box, HIL cabinet, radar echo simulator system and controller is as follows:

[0066] PC1 is used to simulate the scene and obtain the test scene;

[0067] Among them, the test scenario is to call the test scenario of the function to be tested (ACC, AEB, LKA, BSD, etc.) corresponding to the scenario software;

[0068] The video dark box is used to identify the test scene and obtain scene information;

[0069] Among them, scene information includes lane lines, target vehicles, signboards, etc.

[0070] PC2 is used to run the experiment management software and the automated testing software; the automated testing software includes the radar sensor model; the radar sensor model is used to obtain radar perception data based on scene information;

[0071] The hardware-in-the-loop test cabinet is used to perform logical processing on radar perception data to obtain processed radar perception data;

[0072] Among them, radar perception data such as relative speed, angle, distance data, etc.

[0073] The radar echo simulator system converts the processed radar perception data to obtain echo data;

[0074] The radar of the radar echo simulator system emits 77GHz electromagnetic waves, which are received by the RF receiving end of the radar echo simulator system and then down-converted. The simulator host of the radar echo simulator system combines the relative distance, speed, angle and other information given by the scene end to realize the conversion of the simulation target to the RF target and up-convert it to 77GHz. The 77GHz electromagnetic (echo data) echo with RF target information is sent to the radar through the RF transmitting front end.

[0075] The controller is used to sense and fuse scene information and echo data to obtain target data, thereby completing the hardware-in-the-loop test process of the millimeter-wave radar;

[0076] Among them, the intelligent driving controller uses the camera to perceive and identify information such as lane lines, vehicles and traffic signs in the test scene. Its algorithm can also identify the relative speed of the vehicle in front based on the information of the vehicle in front, so as to realize L2 level automatic driving functions such as ACC and AEB. Compared with the camera algorithm, the millimeter wave radar can detect the distance and speed of dynamic targets more accurately. The controller will screen and pre-process the target distance, speed, angle, RCS reflection intensity data perceived by the radar and the camera visual lane line type (such as virtual and real lines, color, etc.), lane (such as single lane, double lane, three lanes, etc.), target type (such as motorcycles, cars, trucks, trailers, etc.), etc., extract features, coordinate conversion and fusion algorithm judgment and classification, etc. Finally, the data is perceived and fused through a certain weight distribution to obtain more reliable target data, making the ACC function's fixed speed, cruise control and AEB function braking more accurate.

[0077] The entire HIL test system uses CANoe as the experimental management software to complete the simulation of the controller and radar peripheral CAN, Ethernet bus and I / O, and sends the power switch and voltage control system variables to the power supply board and power distribution board in the HIL cabinet through the panel control of the experimental management software CANoe. The member power supply is controlled by relay closure to output 12V on-board voltage to power on the controller and radar under test. At the same time, the automated script edited by the vTESTstudio software calls the test scenario of the function to be tested (ACC, AEB, LKA, BSD, etc.) corresponding to the scenario software for automated testing.

[0078] CAN and Ethernet simulation nodes are established through the experiment management software CANoe, and the built-in hardware driver is installed to stimulate the real CAN and Ethernet board hardware to complete the mapping and assignment of virtual signals to real bus signals, and the data is injected according to the CAN and Ethernet protocols and hardware channel resources related to the controller receiving the data, so as to realize the control of the entire test platform and controller by CAN messages and Ethernet signals. The test management platform controls the sending of voltage control system variables to power on the controller and radar under test through the panel control, and at the same time drives the scene software to call the corresponding scene for automated testing. This application realizes the full-chain test from millimeter-wave perception to the controller's intelligent driving regulation and control algorithm, reduces the labor cost of testing, automates testing in the HIL system, improves test efficiency, and shortens the test cycle.

[0079] The beneficial effects of the embodiments of the present application are as follows: there is no need to manually test the front-end radar perception algorithm and performance indicators. It is only necessary to use the controller to screen and pre-process the echo data perceived by the radar, such as target distance, speed, angle, RCS reflection intensity data, etc., and scene data, such as camera visual lane line type, lane, target type and other data, and extract features, coordinate conversion and fusion algorithm judgment and classification. Finally, the processed echo data and the processed scene data are perceived and fused through a certain weight distribution to obtain more reliable target data, so that the ACC function's fixed speed, cruise control and AEB function braking are more accurate, realizing the full-chain test from millimeter wave perception to the controller's intelligent driving regulation and control algorithm, reducing the labor cost of testing, and automating the testing in the hardware-in-the-loop test system, shortening the test cycle, thereby improving the accuracy and test efficiency of the hardware-in-the-loop test.

[0080] Based on the above embodiments Figure 1 A millimeter-wave radar hardware-in-the-loop test system is disclosed. Accordingly, the embodiment of the present application discloses a millimeter-wave radar hardware-in-the-loop test method, such as Figure 4 As shown, the hardware-in-the-loop test method of the millimeter-wave radar is applied to the hardware-in-the-loop test system of the millimeter-wave radar, and the hardware-in-the-loop test method of the millimeter-wave radar mainly includes the following steps:

[0081] S401: Acquire a test scene.

[0082] S402: Identify the test scene and obtain scene information.

[0083] S403: Run the automated testing software; wherein the automated testing software at least includes a radar sensor model; the radar sensor model is used to obtain radar perception data according to scene information.

[0084] S404: Performing logical processing on the radar perception data to obtain processed radar perception data.

[0085] S405: Convert the processed radar perception data to obtain echo data.

[0086] S406: The scene information and the echo data are sensed and fused to obtain target data, so as to complete the hardware-in-the-loop test process of the millimeter-wave radar.

[0087] The execution process and execution principle of S401-S406 are consistent with the data interaction process and execution principle between the above-mentioned PC1, PC2, video darkroom, HIL cabinet, radar echo simulator system and controller, which can be used as a reference and will not be repeated here.

[0088] The beneficial effects of the embodiments of the present application are as follows: there is no need to manually test the front-end radar perception algorithm and performance indicators. It is only necessary to use the controller to screen and pre-process the echo data perceived by the radar, such as target distance, speed, angle, RCS reflection intensity data, etc., and scene data, such as camera visual lane line type, lane, target type and other data, and extract features, coordinate conversion and fusion algorithm judgment and classification. Finally, the processed echo data and the processed scene data are perceived and fused through a certain weight distribution to obtain more reliable target data, so that the ACC function's fixed speed, cruise control and AEB function braking are more accurate, realizing the full-chain test from millimeter wave perception to the controller's intelligent driving regulation and control algorithm, reducing the labor cost of testing, and automating the testing in the hardware-in-the-loop test system, shortening the test cycle, thereby improving the accuracy and test efficiency of the hardware-in-the-loop test.

[0089] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0090] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0091] The steps in the methods of the embodiments of the present application can be adjusted in order, combined, and deleted according to actual needs.

[0092] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0093] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0094] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A millimeter wave radar hardware-in-the-loop test system, characterized in that: The system includes a first host computer, a second host computer, a video dark box, a hardware-in-the-loop test cabinet, a radar echo simulator system and a controller; The hardware-in-the-loop test cabinet is respectively connected to the first host computer, the second host computer, the radar echo simulator system and the controller; The video dark box is connected to the first host computer; The radar echo simulator system is connected to the second host computer and the controller respectively; Wherein, the first host computer is used to obtain the test scenario; The video dark box is used to identify the test scene and obtain scene information; The second host computer is used to run the automated testing software; wherein the automated testing software at least includes a radar sensor model; the radar sensor model is used to obtain radar perception data according to the scene information; The hardware-in-the-loop test cabinet is used to perform logical processing on the radar sensing data to obtain processed radar sensing data; The radar echo simulator system converts the processed radar perception data to obtain echo data; The controller is used to sense and fuse the scene information and the echo data to obtain target data, so as to complete the hardware-in-the-loop test process of the millimeter-wave radar.

2. The system according to claim 1, characterized in that The video dark box is connected to the first host computer via an HDMI cable.

3. The system according to claim 1, characterized in that The video dark box includes a display, a camera and an intelligent driving controller; The display is connected to the first host computer and the camera respectively; The camera is connected to the controller via a low voltage differential signal line; The intelligent driving controller is connected to the display and the camera respectively; the intelligent driving controller recognizes the test scene through the camera and displays the recognized scene information on the display.

4. The system according to claim 1, characterized in that The hardware-in-the-loop test cabinet includes a real-time machine, a program-controlled power supply, an analog quantity board, a digital quantity board, a resistance simulation board and a power distribution board; The real-time machine is connected to the first host computer and the second host computer respectively through a switch; The program-controlled power supply is connected to the switch; The analog quantity board, the digital quantity board, the resistance simulation board and the power distribution board are all arranged on the side panel of the hardware-in-the-loop test cabinet.

5. The system according to claim 4, characterized in that The system also includes a bus simulation device; The bus simulation device is placed in the hardware-in-the-loop test cabinet; the bus simulation device is connected to the real-time machine via a data line and a synchronization line to achieve hardware synchronization.

6. The system according to claim 5, characterized in that The radar echo simulator system includes a simulator host, a radio frequency front end and a radar; The simulator host is connected to the switch via Ethernet and is connected to the RF front end via a transceiver antenna; The radar is connected to the radio frequency front end and the controller respectively.

7. The system according to claim 6, characterized in that The radar is connected to the radio frequency front end via 77 GHz electromagnetic waves.

8. The system according to claim 6, characterized in that The radar is connected to the controller via a CAN bus.

9. The system according to claim 6, characterized in that The second host computer is connected to the radar echo simulator system via Ethernet and accesses the client of the simulator host via a remote connection.

10. A hardware-in-the-loop test method for millimeter-wave radar, characterized in that: The method is applied to the hardware-in-the-loop test system of the millimeter-wave radar according to any one of claims 1 to 9, and the method comprises: Get the test scene; Identify the test scene and obtain scene information; Running automated testing software; wherein the automated testing software at least includes a radar sensor model; the radar sensor model is used to obtain radar perception data according to the scene information; Performing logical processing on the radar perception data to obtain processed radar perception data; Convert the processed radar perception data to obtain echo data; The scene information and the echo data are sensed and fused to obtain target data, so as to complete the hardware-in-the-loop test process of the millimeter-wave radar.

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