A virtual target simulation test platform for vehicle-mounted millimeter wave radar

Abstract

The utility model relates to millimeter wave technical field discloses a kind of virtual target simulation test platform of vehicle-mounted millimeter wave radar, to solve the defect existing in the freedom of movement, dynamic characteristic simulation and scene complexity of prior art is overcome.The utility model is either pure software simulation through traditional test platform, or low degree of freedom track type physical movement, and this platform can reproduce extremely complex and dangerous edge test scene in real world with extremely high fidelity in laboratory environment through this kind of "virtual-real combination+delay compensation" linkage, for example vehicle emergency cut-in and accompanied by jolt, pedestrian stumble, motorcycle lean over bend etc., and this kind of test capacity is difficult to realize safely, economically and repeatably by traditional method, and in the practical application scene of vehicle-mounted millimeter wave radar, in order to better guarantee its stable operation and prolong service life, design and use special buffer structure is a very key measure.

Description

Technical Field

[0001] This utility model relates to the field of millimeter-wave production technology, and in particular to a vehicle-mounted millimeter-wave radar virtual target simulation test platform. Background Technology

[0002] In recent years, the development of domestic automotive millimeter-wave radar has made rapid progress. Both upstream automobile manufacturers and auto parts suppliers will face the problem of millimeter-wave radar production testing and calibration. It is foreseeable that various manufacturers will make great breakthroughs in key technologies of millimeter-wave radar in the future, including millimeter-wave radar chips, radar systems, core algorithms, and testing technologies.

[0003] The aforementioned existing technical solutions have the following shortcomings:

[0004] Existing vehicle-mounted millimeter-wave radar virtual target simulation test platforms rely on pure software simulation, which lacks physical realism. Traditional physical simulation methods are severely inadequate in terms of motion freedom, dynamic characteristic simulation, and scene complexity. The market urgently needs a test platform that can faithfully reproduce complex dynamic scenes in the real world within the laboratory. This platform must possess both the flexibility and scene construction capabilities of software simulation, and the ability to drive a physical entity to accurately simulate the spatial motion and electromagnetic characteristics of a target in a highly free and dynamic manner. This would enable safe, efficient, and repeatable system-level closed-loop verification of vehicle-mounted millimeter-wave radar hardware and algorithms.

[0005] Therefore, we need to design a virtual target simulation test platform based on vehicle-mounted millimeter-wave radar to solve the problems mentioned above. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the shortcomings of existing technologies in terms of motion freedom, dynamic characteristic simulation and scene complexity. This utility model proposes a vehicle-mounted millimeter-wave radar virtual target simulation test platform.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a vehicle-mounted millimeter-wave radar virtual target simulation test platform, including a simulation test platform body, a mounting frame fixed on the top of the simulation test platform body, two sets of slide rails fixed on the top of the simulation test platform body respectively, and a six-degree-of-freedom robotic arm movably connected above the slide rails, a vehicle-mounted millimeter-wave radar body fixed on the top of the six-degree-of-freedom robotic arm, and a protective frame fixed on the outer side of the vehicle-mounted millimeter-wave radar body.

[0008] Preferably, the six-degree-of-freedom robotic arm and the cylinder system based on the air pump provide additional force. The six-degree-of-freedom robotic arm includes six sets of retractable first and second electric cylinders, which are respectively installed between the upper and lower platforms by hinge mechanisms. Through the coordinated extension and retraction of each first and second electric cylinder, six degrees of freedom control of the upper platform is achieved, namely translation along the X, Y, and Z directions, and rotation around the X, Y, and Z axes.

[0009] Preferably, a connecting seat is connected to the upper part of the upper platform, and the upper part of the connecting seat is connected to the vehicle-mounted millimeter-wave radar body. A buffer structure is provided inside the upper platform.

[0010] The buffer structure includes a built-in groove, a damping buffer plate, a first spring, a hinge rod, a second spring, a movable plate, and a mounting plate. The upper platform has two sets of built-in grooves. The damping buffer plate is movably connected inside the built-in groove, and the top of the damping buffer plate is fixedly connected to the connecting seat. The first spring is wound inside the built-in groove below the damping buffer plate. The mounting plate is fixed to one side of the damping buffer plate, and the movable plate is transversely penetrated inside the mounting plate. The second spring is wound on the outside of the movable plate. The movable plate is hinged to the connecting seat through the hinge rod.

[0011] Preferably, the vehicle-mounted millimeter-wave radar body includes:

[0012] Virtual scene simulation engine: used to generate dynamic 3D test scene data containing parameters such as virtual target motion trajectory, velocity, attitude and radar cross section (RCS);

[0013] A six-degree-of-freedom robotic arm: its end effector is equipped with a radar target simulator, and the robotic arm is configured to perform highly dynamic and high-precision translational and rotational movements in three-dimensional space;

[0014] Central control system: electrically connects the virtual scene simulation engine and the servo drive system of the multi-degree-of-freedom robotic arm; the central control system integrates a kinematics calculation and delay compensation module.

[0015] Preferably, the radar target simulator is an active radar target simulator, which communicates with the central control system and can dynamically adjust its own radar echo signal strength and frequency characteristics based on the RCS and Doppler frequency shift data provided by the virtual scene simulation engine.

[0016] Preferably, the central control system also integrates a data acquisition and closed-loop feedback module, which is used to acquire target data output by the radar under test in real time and feed it back to the virtual scene simulation engine to form a hardware-in-the-loop closed-loop test system.

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

[0018] 1. Traditional testing platforms are either pure software simulations or low-degree-of-freedom track-based physical movements. This platform, through this linkage of "virtual and real combination + delay compensation", can reproduce extremely complex and dangerous edge testing scenarios in the real world with extremely high fidelity in a laboratory environment. Examples include vehicles making emergency cuts with bumps, pedestrians tripping, and motorcycles tilting and turning. This testing capability is difficult to achieve safely, economically, and repeatably using traditional methods.

[0019] 2. In practical applications of automotive millimeter-wave radar, designing and employing a specialized buffer structure is crucial for ensuring stable operation and extending its lifespan. This buffer structure provides effective protection for the radar unit under various operating conditions. Specifically, during periods of intense vehicle operation, such as driving on bumpy roads, emergency braking, or acceleration, the vehicle experiences significant shaking and vibration. Without the protection of a buffer structure, the automotive millimeter-wave radar unit directly bears the impact and force from these shaking and vibrations. Prolonged exposure to such conditions can cause the radar's internal precision components, such as sensors and circuit elements, to loosen, shift, or even become damaged due to continuous vibration. This can lead to decreased detection accuracy, functional failure, or even complete malfunction. Attached Figure Description

[0020] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0021] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model from the front view;

[0022] Figure 2 This is a schematic diagram of the six-degree-of-freedom three-dimensional structure of this utility model;

[0023] Figure 3 This is a schematic diagram of the six-degree-of-freedom front cross-sectional structure of this utility model;

[0024] Figure 4 For the present utility model Figure 3 Schematic diagram of the structure at point A in the middle.

[0025] The following are the labeling elements in the diagram: 1. Simulation test platform body; 2. Slide rail; 3. Protective frame; 4. Vehicle-mounted millimeter-wave radar body; 5. Mounting bracket; 6. Lower platform; 7. Upper platform; 8. First electric cylinder; 9. Hinge mechanism; 10. Connecting seat; 11. Second electric cylinder; 12. Damping buffer plate; 13. First spring; 14. Internal groove; 15. Mounting plate; 16. Movable plate; 17. Hinge rod; 18. Second spring. Detailed Implementation

[0026] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.

[0027] To address the technical problem of overcoming the limitation of existing technologies in effectively cleaning slit debris from reverse osmosis membranes, the following solution is disclosed, specifically as follows: Figures 1-4 As shown:

[0028] A vehicle-mounted millimeter-wave radar virtual target simulation test platform includes a simulation test platform body 1, a second spring 18, a mounting bracket 5 fixed above the simulation test platform body 1, two sets of slide rails 2 fixed above the simulation test platform body 1, and a six-degree-of-freedom robotic arm movably connected above the slide rails 2, a vehicle-mounted millimeter-wave radar body 4 fixed above the six-degree-of-freedom robotic arm, and a protective frame 3 fixed to the outside of the vehicle-mounted millimeter-wave radar body 4.

[0029] The six-degree-of-freedom robotic arm and the air pump-based cylinder system provide additional force. The six-degree-of-freedom robotic arm includes six sets of extendable first electric cylinders 8 and second electric cylinders 11, which are mounted between the upper platform 7 and the lower platform 6 via hinge mechanisms 9. Through the coordinated extension and retraction of the first electric cylinders 8 and the second electric cylinders 11, six degrees of freedom control of the upper platform 7 is achieved, namely translation along the X, Y, and Z directions, and rotation about the X, Y, and Z axes.

[0030] Specifically, such as Figure 1 and Figure 2 As shown, by setting up a six-degree-of-freedom platform and a pneumatic system that provides additional force, it has the advantages of simple structure, low cost, and high load-bearing capacity;

[0031] A connecting seat 10 is connected to the upper part of the upper platform 7, and the upper part of the connecting seat 10 is connected to the vehicle-mounted millimeter-wave radar body 4. The second spring 18 has a buffer structure inside the upper platform 7.

[0032] The buffer structure includes an internal groove 14, a damping buffer plate 12, a first spring 13, a hinge rod 17, a second spring 18, a movable plate 16, and a mounting plate 15. The internal groove 14 is provided inside the platform 7 of the second spring 18, and there are two sets of them. The damping buffer plate 12 is movably connected inside the internal groove 14 of the second spring 18, and the upper part of the damping buffer plate 12 is fixedly connected to the connecting seat 10. The first spring 13 is wound inside the internal groove 14 below the damping buffer plate 12 of the second spring 18. The mounting plate 15 is fixed to one side of the damping buffer plate 12 of the second spring 18, and the movable plate 16 is transversely penetrated inside the mounting plate 15. The second spring 18 is wound around the outer side of the movable plate 16 of the second spring 18. The movable plate 16 of the second spring 18 is hinged to the connecting seat 10 through the hinge rod 17.

[0033] Specifically, such as Figure 3 , Figure 4 As shown, by utilizing the buffer structure, the vehicle-mounted millimeter-wave radar body 4 can operate in a relatively stable and mild environment, which greatly reduces the risk of damage caused by shaking and vibration, ensures the long-term stable operation and reliable performance of the radar, and also reduces subsequent maintenance and replacement costs.

[0034] The vehicle-mounted millimeter-wave radar unit 4 includes:

[0035] Virtual scene simulation engine: used to generate dynamic 3D test scene data containing parameters such as virtual target motion trajectory, velocity, attitude and radar cross section (RCS);

[0036] Six-DOF robotic arm: Its end effector is equipped with a radar target simulator, and the robotic arm is configured to perform highly dynamic and high-precision translational and rotational movements in three-dimensional space;

[0037] Central control system: electrically connects the virtual scene simulation engine and the servo drive system of the multi-degree-of-freedom robotic arm; the central control system integrates kinematics calculation and delay compensation modules.

[0038] Specifically, such as Figure 1 As shown, a virtual scene simulation engine needs to have high refresh rate and real-time data output capabilities (such as via UDP / TCP protocol);

[0039] Multi-degree-of-freedom robotic arms: typically six-axis or higher industrial robots, requiring high speed and high repeatability positioning accuracy;

[0040] Kinematics calculation and delay compensation module: The core algorithm requires the establishment of an accurate system delay model and the use of Kalman filtering or predictive control algorithms to calculate the compensation amount, ensuring that the physical motion and the virtual scene are highly synchronized on the time axis;

[0041] The radar target simulator is an active radar target simulator. This active simulator communicates with the central control system and can dynamically adjust its own radar echo signal strength and frequency characteristics based on the RCS and Doppler frequency shift data provided by the virtual scene simulation engine.

[0042] Specifically, such as Figure 1 As shown, this "macro + micro" dual simulation enables the testing platform to simulate not only "where" the target is, but also "what" it is and "its internal motion state." For example, it can simulate the huge RCS value of a truck or the micro-Doppler effect produced by a rotating wheel. This requires the radar under test to process not only the target's position but also its characteristics, greatly improving the testing depth and reliability of radar target recognition and classification algorithms.

[0043] The central control system also integrates a data acquisition and closed-loop feedback module, which is used to acquire target data output by the radar under test in real time and feed it back to the virtual scene simulation engine to form a hardware-in-the-loop closed-loop test system.

[0044] Specifically, such as Figure 1 As shown, a complete closed loop was constructed, from "virtual scene generation" to "physical target simulation" to "under-test radar response" and finally back to "virtual scene update".

[0045] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. A vehicle-mounted millimeter-wave radar virtual target simulation test platform, comprising a simulation test platform body (1), characterized in that: A mounting bracket (5) is fixed on the top of the simulation test platform body (1). Two sets of slide rails (2) are fixed on the top of the simulation test platform body (1). A six-degree-of-freedom robotic arm is movably connected above the slide rails (2). A vehicle-mounted millimeter-wave radar body (4) is fixed on the top of the six-degree-of-freedom robotic arm. A protective frame (3) is fixed on the outside of the vehicle-mounted millimeter-wave radar body (4).

2. The vehicle-mounted millimeter-wave radar virtual target simulation test platform according to claim 1, characterized in that: The six-degree-of-freedom robotic arm and the cylinder system based on the air pump provide additional force. The six-degree-of-freedom robotic arm includes a telescopic first electric cylinder (8) and a second electric cylinder (11), and a total of six sets are designed. They are respectively installed between the upper platform (7) and the lower platform (6) by a hinge mechanism (9). Through the coordinated extension and retraction of each first electric cylinder (8) and second electric cylinder (11), the six-degree-of-freedom control of the upper platform (7) is realized, namely, translation along the X, Y, and Z directions, and rotation around the X, Y, and Z axes.

3. The vehicle-mounted millimeter-wave radar virtual target simulation test platform according to claim 2, characterized in that: A connecting seat (10) is connected above the upper platform (7), and the upper part of the connecting seat (10) is connected to the vehicle-mounted millimeter-wave radar body (4). A buffer structure is provided inside the upper platform (7). The buffer structure includes an internal groove (14), a damping buffer plate (12), a first spring (13), a hinge rod (17), a second spring (18), a movable plate (16), and a mounting plate (15). The upper platform (7) has an internal groove (14) with two sets. The internal groove (14) is movably connected to the damping buffer plate (12), and the upper part of the damping buffer plate (12) is fixedly connected to the connecting seat (10). The internal groove (14) below the damping buffer plate (12) is wound with the first spring (13). The mounting plate (15) is fixed on one side of the damping buffer plate (12), and the movable plate (16) is transversely penetrated inside the mounting plate (15). The outer side of the movable plate (16) is wound with the second spring (18). The movable plate (16) is hinged to the connecting seat (10) through the hinge rod (17).

4. The vehicle-mounted millimeter-wave radar virtual target simulation test platform according to claim 1, characterized in that: The vehicle-mounted millimeter-wave radar body (4) includes: Virtual scene simulation engine: used to generate dynamic 3D test scene data containing virtual target motion trajectory, velocity, attitude, and radar cross section (RCS) parameters; A six-degree-of-freedom robotic arm: its end effector is equipped with a radar target simulator, and the robotic arm is configured to perform highly dynamic and high-precision translational and rotational movements in three-dimensional space; Central control system: electrically connects the virtual scene simulation engine and the servo drive system of the multi-degree-of-freedom robotic arm; the central control system integrates a kinematics calculation and delay compensation module.

5. The vehicle-mounted millimeter-wave radar virtual target simulation test platform according to claim 4, characterized in that: The radar target simulator is an active radar target simulator. The radar target simulator communicates with the central control system and can dynamically adjust its own radar echo signal strength and frequency characteristics based on the RCS and Doppler frequency shift data provided by the virtual scene simulation engine.

6. The vehicle-mounted millimeter-wave radar virtual target simulation test platform according to claim 4, characterized in that: The central control system also integrates a data acquisition and closed-loop feedback module. This module is used to acquire target data output by the radar under test in real time and feed it back to the virtual scene simulation engine to form a hardware-in-the-loop closed-loop test system.

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