Door opening obstacle avoidance radar test tool system

Abstract

The utility model discloses a door opening obstacle avoidance radar test tool system, and aims to solve the problems that when a conventional door opening obstacle avoidance radar is used in a vehicle door anti-collision system, the test / development process based on real vehicle verification is too complicated, function debugging cannot be synchronously performed along with the development period of a whole vehicle, and the efficiency is low. The tool comprises a bottom supporting plate, a motor is installed on the upper surface of the bottom supporting plate, the output end of the motor is rotationally connected with an L-shaped plate, the top end of the L-shaped plate is fixedly connected with a supporting rod through bolts, a radar, a controller and an industrial personal computer are installed at the other end of the supporting rod, the motor is connected with the controller through a hard wire, and the industrial personal computer is connected with the controller through a hard wire. And the controller is connected with the industrial personal computer through a serial port-usb module. According to the utility model, a large amount of actual verification of the door-opening obstacle avoidance system can be carried out in advance, and corresponding obstacle data can be collected for playback verification, thereby improving the test efficiency, shortening the development period, and reducing the development cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of door-opening obstacle avoidance radar testing, and in particular relates to a door-opening obstacle avoidance radar testing tooling system. Background Art

[0002] The door opening obstacle avoidance radar is based on the principle of millimeter-wave radar ranging, speed and angle measurement. The millimeter-wave radar is installed between the door exterior and the door sheet metal. It communicates with the door controller through the CAN network. It detects external obstacles when the user opens the door, makes corresponding logical judgments based on the position of the obstacle, gives an alarm signal or controls the door to stop opening actively, thereby avoiding door collision accidents.

[0003] With the development and popularization of electric swing doors, how to make the automatic door opening process more intelligent and more humane is a common demand of users and OEM manufacturers. Door opening obstacle avoidance radar, as a high-precision sensor that supports spatial perception, is widely used in door anti-collision systems. However, as an emerging use, the test / development process based on real vehicle verification is too complicated, and it is impossible to synchronize functional debugging with the vehicle development cycle, which is inefficient. Utility Model Content

[0004] (1) Technical issues to be solved

[0005] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a door-opening obstacle avoidance radar test fixture system, which is intended to solve the problem that the existing door-opening obstacle avoidance radar is used in the door anti-collision system, the test / development process based on actual vehicle verification is too complicated, and it is impossible to perform functional debugging synchronously with the vehicle development cycle, resulting in low efficiency.

[0006] (2) Technical solution

[0007] In order to solve the above technical problems, the utility model provides such a door-opening obstacle avoidance radar test fixture system, which includes a bottom support plate, a motor is installed on the upper surface of the bottom support plate, an L-shaped plate is rotatably connected to the output end of the motor, a support rod is fixedly connected to the top end of the L-shaped plate by bolts, and a radar is installed on the other end of the support rod;

[0008] Controller and industrial computer, the motor is connected to the controller through a hard line, the controller is connected to the industrial computer through a serial port-USB module, and the industrial computer is connected to the radar through a USB-CAN tool.

[0009] Preferably, the support rod is a hollow structure, and the wire connected to the radar is installed inside the support rod.

[0010] Furthermore, the L-shaped plate includes a horizontal plate and a vertical plate, and two angle irons are arranged between the horizontal plate and the vertical plate.

[0011] Furthermore, the angle iron is fixedly connected to the horizontal plate and the vertical plate by means of a first screw and a second screw respectively.

[0012] Furthermore, the horizontal plate is provided with a plurality of threaded holes, the bottom end of the vertical plate is provided with a plurality of first through holes, and the angle iron is provided with a first elongated hole and a second elongated hole.

[0013] Furthermore, the first screw is located inside the first elongated hole and the threaded hole, and the second screw is located inside the second elongated hole and the first through hole.

[0014] Furthermore, a plurality of second through holes are formed on the top of the vertical plate, a plurality of third through holes are formed on the support rod, and the bolts are located inside the second through holes and the third through holes.

[0015] Furthermore, the motor is fixedly connected to the bottom support plate by a third screw, the motor is fixedly connected to the cross plate by a fourth screw, and a plurality of mounting holes are provided on the bottom support plate.

[0016] Beneficial Effects

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. Compared with the actual vehicle verification, this solution can realize the development of door opening obstacle avoidance radar in the absence of electric swing door prototypes, which greatly reduces the development cost. Compared with the actual vehicle verification, it is not necessary to obtain any bus protocol information from the vehicle manufacturer, and the entire control + obstacle avoidance + re-injection logic loop is realized, completing the platformization of the entire set of tools.

[0019] 2. Compared with the actual vehicle verification, the portability of this solution is greatly improved. With the outdoor mobile power supply, more scene tests can be carried out more conveniently. Compared with the high requirements for driving skills and low efficiency of vehicle position adjustment, the whole system of this solution can be carried out with tools such as small carts, and one person can adjust the installation position at a short distance and move it, which greatly improves the data collection efficiency of various cases. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view three-dimensional structural schematic diagram of the utility model.

[0021] Figure 2 It is a rear-view stereoscopic structural schematic diagram of the utility model.

[0022] Figure 3 It is a structural schematic diagram of the support rod of the utility model.

[0023] Figure 4It is a structural schematic diagram of the L-shaped plate of the utility model.

[0024] Figure 5 It is a schematic diagram of the circuit connection structure of the utility model.

[0025] Figure 6 It is a schematic diagram of the angle measurement principle structure of the radar of the utility model.

[0026] The marks in the accompanying drawings are: 1. bottom support plate; 2. motor; 3. L-shaped plate; 4. bolt; 5. support rod; 6. radar; 7. controller; 8. industrial computer; 9. serial port-usb module; 10. USB-CAN tool; 301. horizontal plate; 302. vertical plate; 303. angle iron; 304. first screw; 305. second screw; 306. threaded hole; 307. first through hole; 308. first long hole; 309. second long hole; 310. second through hole; 311. third through hole; 11. third screw; 12. fourth screw; 13. mounting hole. DETAILED DESCRIPTION

[0027] This specific implementation is a door-opening obstacle avoidance radar test fixture system, and its structural schematic diagram is as follows: Figure 1-Figure 5 As shown, the tooling includes a bottom support plate 1, a motor 2 is installed on the upper surface of the bottom support plate 1, an L-shaped plate 3 is rotatably connected to the output end of the motor 2, a support rod 5 is fixedly connected to the top end of the L-shaped plate 3 by a bolt 4, and a radar 6 is installed at the other end of the support rod 5;

[0028] The controller 7 and the industrial computer 8, the motor 2 is connected to the controller 7 through a hard line, the controller 7 is connected to the industrial computer 8 through a serial port-USB module 9, and the industrial computer 8 is connected to the radar 6 through a USB-CAN tool 10.

[0029] In this embodiment, the support rod 5 is a hollow structure, and the wires connected to the radar 6 are installed inside the support rod 5. This arrangement hides the connected wires, making the whole structure more beautiful.

[0030] like Figure 1 and Figure 4 As shown: In this embodiment, the L-shaped plate 3 includes a horizontal plate 301 and a vertical plate 302, and two angle irons 303 are arranged between the horizontal plate 301 and the vertical plate 302. The angle irons 303 are fixedly connected to the horizontal plate 301 and the vertical plate 302 by a first screw 304 and a second screw 305 respectively.

[0031] The L-shaped plate 3 is arranged in this way, so that the installation is more convenient. When not in use, the horizontal plate 301 and the vertical plate 302 can be stacked together to reduce the occupied space, and the storage is very convenient.

[0032] like Figure 1 and Figure 4As shown: In this embodiment, a plurality of threaded holes 306 are provided on the horizontal plate 301, a plurality of first through holes 307 are provided at the bottom end of the vertical plate 302, a first long hole 308 and a second long hole 309 are provided on the angle iron 303, the first screw 304 is located inside the first long hole 308 and the threaded hole 306, and the second screw 305 is located inside the second long hole 309 and the first through hole 307.

[0033] Such an arrangement enables the horizontal plate 301 and the vertical plate 302 to be connected and fastened by the angle iron 303, and is convenient for disassembly, and L-shaped plates 3 of different sizes can be formed through different installations.

[0034] like Figure 1 and Figure 3 As shown: In this embodiment, a plurality of second through holes 310 are opened on the top of the vertical plate 302 , a plurality of third through holes 311 are opened on the support rod 5 , and the bolts 4 are located inside the second through holes 310 and the third through holes 311 .

[0035] This arrangement allows the support rod 5 to be installed at different heights, thereby adjusting the height of the radar 6 at one end of the support rod 5, making the test more accurate.

[0036] like Figure 1 and Figure 2 As shown: In this embodiment, the motor 2 is fixedly connected to the bottom support plate 1 by a third screw 11, and the motor 2 is fixedly connected to the cross plate 301 by a fourth screw 12. A plurality of mounting holes 13 are provided on the bottom support plate 1.

[0037] This arrangement allows the tooling to be fixed at different positions through the mounting holes 13 on the bottom support plate 1 , while the motor 2 is fixedly connected to the bottom support plate 1 and the cross plate 301 through the third screw 11 and the fourth screw 12 .

[0038] Radar 6 mentioned above is a millimeter wave radar, which is a radar with an operating frequency band in the millimeter wave band. The ranging principle is the same as that of general radars. Radio waves (radar waves) are sent out, and then echoes are received. The position data of the target is measured based on the time difference between sending and receiving. Millimeter wave radar has the characteristics of stable detection performance, long range, and good environmental applicability. Compared with ultrasonic radar, millimeter wave radar has the characteristics of small size, light weight and high spatial resolution. Compared with optical sensors such as infrared, laser, and camera, millimeter wave radar has a strong ability to penetrate fog, smoke, and dust, and has the characteristics of all-weather and all-day.

[0039] The three basic system functions of millimeter wave radar are distance measurement, speed measurement and angle measurement. Taking the FMCW radar system as an example, its basic function implementation principle is as follows:

[0040] 1. Distance measurement principle

[0041] The ranging of FMCW millimeter-wave radar mainly uses the time delay td between the transmitted signal and the echo signal, combined with the millimeter-wave propagation speed c, and the relative speed v between the target and the radar to calculate the relative distance R between the millimeter-wave radar and the detected target.

[0042] Millimeter-wave radar has high distance resolution and ranging accuracy, and can achieve millimeter-level precise ranging through back-end algorithms.

[0043] The ranging capability of millimeter-wave radar is related to factors such as transmission power, antenna gain, antenna beam angle and object reflection cross-sectional area. Generally, the greater the transmission power, the higher the antenna gain, the narrower the antenna beam angle and the larger the object reflection cross-sectional area, the stronger the effective echo that the radar can detect and the longer the measurement distance.

[0044] 2. Speed ​​measurement principle

[0045] FMCW millimeter-wave radar usually uses the Doppler effect to determine the radial velocity of the target. When the target approaches the radar antenna, the frequency of the reflected signal will be higher than the transmitter frequency. Conversely, when the target moves away from the antenna, the frequency of the reflected signal will be lower than the transmitter frequency.

[0046] The speed measurement range of millimeter-wave radar is related to the target's moving direction. When the target moves radially close to the radar, the target speed is negative. When the target moves radially away from the radar, the target speed is positive. The speed measurement accuracy depends on the signal-to-noise ratio (a unit that measures the quality of radar receiving signals). The high or low signal-to-noise ratio is the fundamental parameter to measure whether the target detection performance of millimeter-wave radar is strong.

[0047] 3. Angle measurement principle

[0048] The measurement of the azimuth angle of a millimeter-wave radar target is done by calculating the phase difference of the radar waves reflected by the same target received by the parallel receiving antennas. Figure 6 As shown: the azimuth angle can be calculated by simple trigonometric function using the geometric distance d between the two receiving antennas RX1 and RX2 and the phase difference b of the radar echoes received by the two antennas.

[0049] In angle measurement, millimeter-wave radar can increase the system virtual aperture through the MIMO (Multiple-Input Multiple-Output) antenna array to obtain higher resolution.

[0050] The simulation verification process of the swing electric door opening + obstacle avoidance of the tooling is as follows:

[0051] 1. Using the host computer software on the industrial computer 8 as the communication medium, the radar 6 obtains the real-time status, angle, speed and other information of the motor through the host computer CAN message, and the controller 7 of the motor 2 obtains the control information, such as start / stop / reset, through the host computer serial port message. At the same time, the host computer obtains the point cloud information detected by the radar 6 and the alarm judgment information given by the radar 6 through the CAN bus, and obtains the motion state, current motion angle and current speed of the motor 2 through the serial port bus.

[0052] 2. Send serial port commands through the PC host computer to drive motor 2 to start rotating, driving support rod 5 and radar 6 to simulate the real door opening process. At the same time, send CAN messages to radar 6 to start the detection and data processing functions of radar 6.

[0053] 3. After receiving the command from the host computer, radar 6 starts to detect the external environment. At the same time, based on the current rotation angle of motor 2 (forwarded by the host computer), the detected target point is normalized in the coordinate system and input as the data source of the obstacle avoidance algorithm. When the obstacle avoidance algorithm calculates that the current state meets the obstacle avoidance alarm conditions, it outputs an alarm message to the host computer.

[0054] 4. When the host computer receives the alarm message, the serial port module is driven to send the corresponding serial port command to the motor controller to stop the rotation of motor 2, interrupt the multi-phase current supply of motor 2, enable motor 2 to stop rotating, and ensure that the support rod 5 and radar 6 can stop before the obstacle to avoid collision.

[0055] 5. During the detection period, radar 6 will package and upload the detected raw data and the current status of motor 2 received by the host computer. The host computer can display the original point status and alarm point status in real time through the UI interface, and can intuitively see the detection effect of radar 6 on the target obstacle. At the same time, by configuring the host computer, the host computer can save the original point data uploaded by radar 6 in real time, which can be used for online debugging of radar 6 data processing and alarm algorithm later.

[0056] 6. The upper computer integrates the lower computer data processing and alarm-related code modules of Radar 6. It can drive the corresponding modules to work by feedback and output the corresponding alarm results. When performing corresponding feedback debugging on the QT development platform, the internal information of the algorithm operation can be obtained through single-step debugging and variable printing, so as to better debug the algorithm for various corner case problems.

[0057] All technical features in this embodiment can be freely combined according to actual needs.

[0058] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A door-opening obstacle avoidance radar test fixture system, the fixture comprising a bottom support plate (1), characterized in that: A motor (2) is installed on the upper surface of the bottom support plate (1); an output end of the motor (2) is rotatably connected to an L-shaped plate (3); a top end of the L-shaped plate (3) is fixedly connected to a support rod (5) via a bolt (4); a radar (6) is installed at the other end of the support rod (5); It also includes a controller (7) and an industrial computer (8), wherein the motor (2) is connected to the controller (7) via a hard line, the controller (7) is connected to the industrial computer (8) via a serial port-USB module (9), and the industrial computer (8) is connected to the radar (6) via a USB-CAN tool (10).

2. The door-opening obstacle avoidance radar test fixture system according to claim 1, characterized in that: The support rod (5) is a hollow structure, and a wire connected to the radar (6) is installed inside the support rod (5).

3. The door-opening obstacle avoidance radar test fixture system according to claim 2, characterized in that: The L-shaped plate (3) comprises a horizontal plate (301) and a vertical plate (302), and two angle irons (303) are arranged between the horizontal plate (301) and the vertical plate (302).

4. The door-opening obstacle avoidance radar test fixture system according to claim 3, characterized in that: The angle iron (303) is fixedly connected to the horizontal plate (301) and the vertical plate (302) by means of a first screw (304) and a second screw (305), respectively.

5. The door-opening obstacle avoidance radar test fixture system according to claim 4, characterized in that: The horizontal plate (301) is provided with a plurality of threaded holes (306), the bottom end of the vertical plate (302) is provided with a plurality of first through holes (307), and the angle iron (303) is provided with a first long hole (308) and a second long hole (309).

6. The door-opening obstacle avoidance radar test fixture system according to claim 5, characterized in that: The first screw (304) is located inside the first elongated hole (308) and the threaded hole (306), and the second screw (305) is located inside the second elongated hole (309) and the first through hole (307).

7. The door-opening obstacle avoidance radar test fixture system according to claim 3, characterized in that: A plurality of second through holes (310) are formed at the top of the vertical plate (302), a plurality of third through holes (311) are formed on the support rod (5), and the bolts (4) are located inside the second through holes (310) and the third through holes (311).

8. The door-opening obstacle avoidance radar test fixture system according to claim 3, characterized in that: The motor (2) is fixedly connected to the bottom support plate (1) via a third screw (11), the motor (2) is fixedly connected to the transverse plate (301) via a fourth screw (12), and a plurality of mounting holes (13) are provided on the bottom support plate (1).

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