Whole vehicle in-the-loop test system for ultrasonic radar performance

Abstract

The utility model provides a whole vehicle in-the-loop test system for ultrasonic radar performance, which relates to the technical field of automobile radar test and comprises a test site, a tested vehicle, an automatic navigation vehicle and an upper computer electrically connected with the tested vehicle and the automatic navigation vehicle. The test site comprises a parking area and a test area, the parking area is used for parking of a tested vehicle, and the test area is annularly arranged on the outer side of the parking area and used for driving of the automatic navigation vehicle; a barrier rod and a sensing unit are arranged on the automatic navigation vehicle, the automatic navigation vehicle can move around the tested vehicle along a preset path, the barrier rod is driven to trigger an ultrasonic sensor of the tested vehicle, and direction position information of the automatic navigation vehicle relative to the tested vehicle is obtained through the sensing unit. According to the utility model, comprehensive testing of the ultrasonic radar performance of the tested vehicle can be realized, the actual driving scene of the vehicle can be truly simulated, the accuracy and reliability of the test result can be improved, and powerful support can be provided for the evaluation of the ultrasonic radar performance.

Description

Technical Field

[0001] The utility model relates to the technical field of automobile radar testing, in particular to a whole-vehicle in-loop testing system for ultrasonic radar performance. Background Art

[0002] Ultrasonic radar is widely used in automobile reversing assistance driving systems because of its good detection and perception capabilities in complex environments such as dimness, dust, and smoke. At present, automobile reversing assistance driving systems include ultrasonic radar, control unit, and user interface. Ultrasonic radar is usually installed on the bumper of the car. The transmitter of the ultrasonic radar will emit ultrasonic waves to objects. When these encounter obstacles, they will bounce back and be captured by the receiver of the ultrasonic sensor. According to the time difference between ultrasonic emission and reception, the control unit can calculate the distance information and position information between the object and the vehicle based on the detection information collected by multiple ultrasonic sensors, and send sound and light warnings and braking and driving requests to the driver through the user interface. The performance parameters of ultrasonic radar are usually evaluated through signal feedback within the field of view.

[0003] The applicant has found that the prior art has at least the following technical problems:

[0004] At present, most automotive reversing radar tests place the ultrasonic radar on an off-vehicle test bench for testing. Although this can simulate some basic ultrasonic radar working environments, it cannot fully consider the changing factors that may occur in the actual vehicle production process, such as installation deviation, vehicle vibration, etc., resulting in significant differences in the performance of the reversing radar after it is assembled on the vehicle and the test results on the off-vehicle test bench, and the test results are low in accuracy and poor in reliability.

[0005] For example, the patent number CN216144949U discloses a test system suitable for the performance of automobile reversing radar, including: a shell, a frame, an operating table, a three-color warning light, a handwheel, a front instrument cabinet, a control electrical cabinet, a guide rod, an automatic lifting mechanism, a synchronous belt, a synchronous wheel, a right-angle reducer, a linear slider, a vertical pipe, a horizontal pipe, a screw rod, a connecting terminal board, a servo motor and a planetary reducer. By setting up the operating table, it is convenient to install the reversing radar. The three-color warning light makes it easy for the tester to intuitively understand whether the radar under test is qualified. The design of the automatic lifting mechanism, horizontal pipe, linear slider and vertical pipe is used to simulate the obstacles or curbs encountered when the vehicle is reversing, and more realistically restores the obstacles and curbs encountered when the reversing radar is actually working, so as to facilitate the detection of whether the performance of the reversing radar is accurate and sensitive. Utility Model Content

[0006] The purpose of the utility model is to provide a vehicle-in-the-loop test system for ultrasonic radar performance, so as to solve the technical problem that most ultrasonic radars in the prior art are placed on a test bench off the vehicle for testing, which cannot fully consider the possible changes in the actual production process of the vehicle, resulting in significant differences between the performance of the reversing radar after being assembled on the vehicle and the test results on the test bench off the vehicle, and the test results are low in accuracy and reliability. The many technical effects that can be produced by the preferred technical solution among the many technical solutions provided by the utility model are described in detail below.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] The utility model provides a vehicle-in-the-loop test system for ultrasonic radar performance, comprising a test site, a test vehicle and an automatic navigation vehicle, and a host computer electrically connected to the test vehicle and the automatic navigation vehicle; the test site comprises a parking area and a test area, the parking area is used for parking the test vehicle, and the test area is arranged outside the parking area for the automatic navigation vehicle to travel; an obstacle rod and a sensing unit are arranged on the automatic navigation vehicle, the automatic navigation vehicle can move around the test vehicle along a preset path, drive the obstacle rod to trigger the ultrasonic sensor of the test vehicle, and the sensing unit can obtain the direction and position information of the automatic navigation vehicle relative to the test vehicle in real time.

[0009] Preferably, the automatic guided vehicle also includes a frame, a driving wheel group, a steering wheel group and an integrated controller, the frame includes a first support plate, a second support plate and a bottom plate arranged in sequence from top to bottom, the first support plate and the second support plate and the second support plate and the bottom plate are connected by support rods, the driving wheel group is arranged at one end of the bottom plate, the steering wheel group is arranged at the other end of the bottom plate, the integrated controller is arranged on the second support plate, and is electrically connected to the driving wheel group, the steering wheel group, the sensing unit and the upper machine, respectively, and the obstacle rod is vertically arranged on the first support plate.

[0010] Preferably, there are two driving wheel groups, which are relatively arranged on two sides of the base plate. The driving wheel groups include driving wheels and driving motors, and the driving wheels are drivingly connected to the driving motors.

[0011] Preferably, the steering wheel assembly comprises a first steering wheel, a second steering wheel and a steering motor, and the first steering wheel and the second steering wheel are drivingly connected to the steering motor via a steering connecting rod.

[0012] Preferably, the perception unit includes a three-eye camera and a laser ranging radar, the three-eye camera is arranged on the second supporting plate, and the laser ranging radar is arranged on the first supporting plate.

[0013] Preferably, a communication antenna is provided on the first support plate, and the communication antenna is electrically connected to the integrated controller and the host computer respectively.

[0014] Preferably, the barrier rod is a telescopic connecting rod structure, and the telescopic direction is perpendicular to the first supporting plate.

[0015] Preferably, it also includes a battery assembly, which is detachably arranged on the base plate and is used to provide electrical energy for the automatic guided vehicle.

[0016] The preferred technical solution of the utility model can also produce at least the following technical effects:

[0017] The utility model effectively avoids the technical problems that most ultrasonic radars in the prior art are placed on an off-vehicle test bench for testing, which cannot fully consider the possible changes that may occur during the actual production process of the vehicle, resulting in significant differences between the performance of the reversing radar after being assembled on the vehicle and the test results on the off-vehicle test bench, and the test results are low in accuracy and poor in reliability. The utility model provides a vehicle-in-the-loop test system for ultrasonic radar performance, including a test site, a tested vehicle and an automatic navigation vehicle, and a host computer electrically connected to the tested vehicle and the automatic navigation vehicle; the test site includes a parking area and a test area, the parking area is used for parking the tested vehicle, and the test area is arranged outside the parking area for the automatic navigation vehicle to travel; the automatic navigation vehicle includes an automatic navigation vehicle and an obstacle rod and a sensing unit arranged on the automatic navigation vehicle, the automatic navigation vehicle can move around the tested vehicle along a preset path, drive the obstacle rod to trigger the ultrasonic sensor of the tested vehicle, and obtain the direction and position information of the automatic navigation vehicle relative to the tested vehicle through the sensing unit. The vehicle under test is parked in the parking area. Then, the automatic navigation vehicle drives the obstacle pole to move around the vehicle under test in the test area according to the preset path, simulating the obstacles that the vehicle under test may encounter in the actual driving scene. During the movement, the obstacle pole will trigger the ultrasonic radar of the vehicle under test. At the same time, the automatic navigation vehicle obtains the direction and position information relative to the vehicle under test through the perception unit and transmits it to the host computer. After the ultrasonic radar of the vehicle under test detects the obstacle pole, it will send a distance signal to its control unit. The control unit determines the recognition result of the obstacle pole distance according to the software logic and sends it to the instrument display module and speaker module of the vehicle under test for action. At the same time, the recognition result signal is transmitted to the host computer. The host computer combines the relative position information of the obstacle pole and the feedback signal of the ultrasonic radar control unit to evaluate and judge the working performance of the ultrasonic radar of the vehicle under test, thereby generating accurate test results, realizing a comprehensive test of the ultrasonic radar performance of the vehicle under test, truly simulating the actual driving scene of the vehicle, improving the accuracy and reliability of the test results, and providing strong support for the quality and performance evaluation in the automobile production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model 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 some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a vehicle-in-the-loop test system for ultrasonic radar performance provided by the utility model;

[0020] Figure 2 The utility model provides a structural schematic diagram of an automatic navigation vehicle of a vehicle-in-the-loop test system for ultrasonic radar performance.

[0021] In the figure:

[0022] 1. Test site; 101. Parking area; 102. Test area; 2. Automatic navigation vehicle; 201. First support plate; 202. Second support plate; 203. Bottom plate; 204. Support pole; 3. Obstacle pole; 4. Trinocular camera; 5. Laser ranging radar; 6. Integrated controller; 7. Communication antenna; 8. Driving wheel group; 801. Driving wheel; 802. Driving motor; 9. Steering wheel group; 901. First steering wheel; 902. Second steering wheel; 903. Steering link; 904. Steering motor; 10. Host computer; 11. Test vehicle; 12. Battery assembly. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0024] like Figure 1-Figure 2As shown, the utility model provides a vehicle-in-the-loop test system for ultrasonic radar performance, including a test site 1, a test vehicle 11 and an automatic navigation vehicle 2, and a host computer 10 electrically connected to the test vehicle 11 and the automatic navigation vehicle; the test site 1 includes a parking area 101 and a test area 102, the parking area 101 is used for parking the test vehicle 11, and the test area 102 is arranged outside the parking area 101 for the automatic navigation vehicle to travel; an obstacle rod 3 and a sensing unit are provided on the automatic navigation vehicle 2, and the automatic navigation vehicle 2 can move around the test vehicle 11 along a preset path, drive the obstacle rod 3 to trigger the ultrasonic sensor of the test vehicle 11, and at the same time, obtain the direction and position information of the automatic navigation vehicle 2 relative to the test vehicle 11 through the sensing unit.

[0025] The vehicle 11 under test is parked in the parking area 101, and then the automatic navigation vehicle 2 drives the obstacle rod 3 to move around the vehicle 11 under test along a preset path in the test area 102, simulating obstacles that the vehicle 11 under test may encounter in an actual driving scenario. During the movement, the obstacle rod 3 will trigger the ultrasonic radar of the vehicle 11 under test, and at the same time obtain the direction and position information of the automatic navigation vehicle 2 relative to the vehicle 11 under test through the perception unit, and transmit it to the host computer 10. After the ultrasonic radar of the tested vehicle 11 detects the obstacle pole 3, it will send a distance signal to its control unit. The control unit will determine the recognition result of the distance to the obstacle pole 3 according to the software logic and send it to the instrument display module and the speaker module of the tested vehicle 11 for action. At the same time, the recognition result signal is transmitted to the host computer 10. The host computer 10 evaluates and judges the working performance of the ultrasonic radar of the tested vehicle 11 in combination with the relative position information of the obstacle pole 3 and the feedback signal of the control unit of the ultrasonic radar, thereby generating accurate test results, realizing a comprehensive test of the ultrasonic radar performance of the tested vehicle 11, truly simulating the actual driving scene of the vehicle, improving the accuracy and reliability of the test results, and providing strong support for the quality and performance evaluation in the automobile production process.

[0026] As an optional implementation, the automatic guided vehicle 2 also includes a frame, a driving wheel group 8, a steering wheel group 9 and an integrated controller 6. The frame includes a first support plate 201, a second support plate 202 and a base plate 203 arranged in sequence from top to bottom. The first support plate 201 and the second support plate 202 and the second support plate 202 and the base plate 203 are connected by a support rod 204. The driving wheel group 8 is arranged at one end of the base plate 203, and the steering wheel group 9 is arranged at the other end of the base plate 203. The integrated controller 6 is arranged on the second support plate 202 and is electrically connected to the driving wheel group 8, the steering wheel group 9, the sensing unit and the host computer 10, respectively. The obstacle rod 3 is vertically arranged on the first support plate 201.

[0027] The first support plate 201 and the second support plate 202 as well as the second support plate 202 and the bottom plate 203 are connected via support rods 204 to ensure the stability and load-bearing capacity of the frame.

[0028] The integrated controller 6 is installed at the overlapping portion of the second support plate 202 and the first support plate 201 .

[0029] The driving wheel set 8 provides power for the automatic guided vehicle 2 , and by controlling the rotation of the steering wheel set 9 , the automatic guided vehicle 2 can move around the tested vehicle 11 according to a preset path.

[0030] As an optional implementation, there are two driving wheel sets 8 , which are relatively arranged on two sides of the bottom plate 203 . The driving wheel sets 8 include a driving wheel 801 and a driving motor 802 , and the driving wheel 801 is transmission-connected to the driving motor 802 .

[0031] Furthermore, the driving motor 802 is mounted on the bottom plate 203. The two driving wheels 801 are respectively equipped with independent driving motors 802 to meet the requirements of different test scenarios.

[0032] As an optional implementation, the steering wheel group 9 includes a first steering wheel 901 , a second steering wheel 902 and a steering motor 904 , and the first steering wheel 901 and the second steering wheel 902 are transmission-connected to the steering motor 904 via a steering link 903 .

[0033] Furthermore, the steering motor 904 is mounted on the bottom plate 203. The steering motor 904 drives the steering link 903 to move, thereby controlling the deflection angles of the first steering wheel 901 and the second steering wheel 902. The specific structure of the steering link 903 adopts the existing technology and will not be described in detail here.

[0034] As an optional implementation, the perception unit includes a three-eye camera 4 and a laser ranging radar 5 , the three-eye camera 4 is arranged on the second support plate 202 , and the laser ranging radar 5 is arranged on the first support plate 201 .

[0035] Furthermore, the three-eye camera 4 is installed at the non-overlapping part of the second support plate 202 and the first support plate 201. The three-eye camera 4 collects the surrounding environment information. Since the position of the second support plate 202 is relatively moderate, it can provide a better field of view for the three-eye camera 4.

[0036] The function of the laser ranging radar 5 is to measure the distance between the automatic navigation vehicle 2 and the measured vehicle 11. Since the first support plate 201 is located at a relatively high position, the laser ranging radar 5 can cover a longer distance and a wider range.

[0037] Through the cooperation of the three-eye camera 4, the laser ranging radar 5 and the integrated controller 6, the direction and position information of the automatic navigation vehicle 2 relative to the tested vehicle 11 is obtained, supporting the autonomous navigation and obstacle avoidance of the automatic navigation vehicle 2 to simulate different obstacle positions.

[0038] As an optional implementation, a communication antenna 7 is provided on the first support plate 201 , and the communication antenna 7 is electrically connected to the integrated controller 6 and the host computer 10 respectively.

[0039] Furthermore, there are two communication antennas 7. Since the first support plate 201 is located at a relatively high position, the communication antenna 7 has a good communication effect, ensuring stable transmission of communication signals.

[0040] The signal received by the communication antenna 7 is transmitted to the integrated controller 6 for processing. At the same time, the integrated controller 6 can also send the processed data to the host computer 10 through the communication antenna 7.

[0041] As an optional implementation, the barrier rod 3 is a telescopic connecting rod structure, and the telescopic direction is perpendicular to the first support plate 201 .

[0042] The obstacle rod 3 is a telescopic connecting rod structure, and its length can be adjusted as needed to meet the test requirements of different models. Among them, the specific structure of the telescopic connecting rod adopts the existing technology, which will not be described in detail here.

[0043] As an optional implementation, a battery assembly 12 is also included. The battery assembly 12 is detachably arranged on the bottom plate 203 , and the battery assembly 12 is used to provide electrical energy for the automatic guided vehicle 2 .

[0044] Furthermore, the battery assembly 12 is located below the second support plate 202 .

[0045] It should be noted that the specific electrical connection relationship between the above components is prior art and will not be elaborated here.

[0046] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0047] In the description of the present utility model, it should be noted that, unless otherwise specified, "multiple" means two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "an example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0050] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A vehicle-in-the-loop test system for ultrasonic radar performance, characterized in that: The invention comprises a test site, a vehicle under test and an automatic guided vehicle, and a host computer electrically connected to the vehicle under test and the automatic guided vehicle; the test site comprises a parking area and a test area, the parking area is used for parking the vehicle under test, and the test area is arranged around the outside of the parking area for the automatic guided vehicle to travel; the automatic guided vehicle is provided with an obstacle rod and a sensing unit, the automatic guided vehicle can move around the vehicle under test along a preset path, drive the obstacle rod to trigger the ultrasonic sensor of the vehicle under test, and at the same time, obtain the direction and position information of the automatic guided vehicle relative to the vehicle under test through the sensing unit.

2. A vehicle-in-the-loop test system for ultrasonic radar performance according to claim 1, characterized in that: The automatic guided vehicle also includes a frame, a driving wheel group, a steering wheel group and an integrated controller. The frame includes a first support plate, a second support plate and a bottom plate arranged in sequence from top to bottom. The first support plate and the second support plate and the second support plate and the bottom plate are connected by support rods. The driving wheel group is arranged at one end of the bottom plate, and the steering wheel group is arranged at the other end of the bottom plate. The integrated controller is arranged on the second support plate and is electrically connected to the driving wheel group, the steering wheel group, the sensing unit and the upper machine respectively. The obstacle rod is vertically arranged on the first support plate.

3. A vehicle-in-the-loop test system for ultrasonic radar performance according to claim 2, characterized in that: There are two driving wheel groups, which are relatively arranged on two sides of the bottom plate. The driving wheel groups include driving wheels and driving motors. The driving wheels are drivingly connected to the driving motors.

4. A vehicle-in-the-loop test system for ultrasonic radar performance according to claim 2, characterized in that: The steering wheel group comprises a first steering wheel, a second steering wheel and a steering motor, and the first steering wheel and the second steering wheel are drivingly connected to the steering motor via a steering connecting rod.

5. The vehicle-in-the-loop test system for ultrasonic radar performance according to claim 2, characterized in that: The sensing unit includes a three-eye camera and a laser ranging radar. The three-eye camera is arranged on the second supporting plate, and the laser ranging radar is arranged on the first supporting plate.

6. A vehicle-in-the-loop test system for ultrasonic radar performance according to claim 5, characterized in that: A communication antenna is disposed on the first support plate, and the communication antenna is electrically connected to the integrated controller and the host computer respectively.

7. A vehicle-in-the-loop test system for ultrasonic radar performance according to claim 2, characterized in that: The barrier rod is a telescopic connecting rod structure, and the telescopic direction is perpendicular to the first supporting plate.

8. The vehicle-in-the-loop test system for ultrasonic radar performance according to claim 2, characterized in that: It also includes a battery assembly, which is detachably arranged on the bottom plate and is used to provide electrical energy for the automatic navigation vehicle.

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