CN111289949A - A blind spot monitoring radar test method and device - Google Patents

Abstract

The invention discloses a method for testing a blind area monitoring radar, which comprises the following steps: acquiring a target polar angle coordinate of a marker detected by a radar to be detected in a preset test scene; calculating the absolute value of the difference value of the target polar angle coordinate and the standard polar angle coordinate; if the absolute value of the difference value between the target polar angle coordinate and the standard polar angle coordinate is within a preset range, outputting a signal that the radar to be detected conforms to the reverse connection condition of the circuit, otherwise, outputting a signal that the radar to be detected does not conform to the reverse connection condition of the circuit; the standard polar angle coordinate is the polar angle coordinate of the radar detection marker with qualified performance and assembly in the preset test scene; the lower limit of the preset range is the difference between two times of the absolute value of the standard polar angle coordinate and a preset threshold, and the upper limit of the preset range is the sum of two times of the absolute value of the standard polar angle coordinate and the preset threshold; the preset threshold is a theoretical error of the radar to be detected; the method solves the defect that the existing vehicle blind area monitoring radar test method cannot identify the reverse connection of the radar line under some special conditions.

Description

A blind spot monitoring radar test method and device

technical field

The invention relates to the technical field of vehicle-mounted radar testing, in particular to a blind spot detection radar testing method and device.

Background technique

The rapid development of automotive intelligent driving assistance technology, autonomous driving technology and new energy vehicle technology have brought a new wave of development of the automotive industry. Among them, the Advanced Driver Assistant System (ADAS) is a comprehensive technology that integrates functions such as environmental perception, planning decision-making and task execution. As one of the mainstream in-vehicle sensors of intelligent assisted driving systems, millimeter-wave radar is widely used in in-vehicle distance detection, adaptive cruise, collision warning, blind spot monitoring and parallel assistance systems, and is an important part of advanced driver assistance systems. Blind Spot Detection (BSD), as one of the most important environmental perception systems in the intelligent assisted driving system, plays the role of the "eyes" of the car and is generally installed on the left and right sides of the rear of the car. Its main role is to monitor the vehicle. Vehicles on the side and behind, when the vehicle is driving, when there is a vehicle within the preset range of the side or rear, the blind spot monitoring radar will issue a prompt or warning to the driver to assist the driver when driving or changing lanes. Know the side and rear environment.

In order to ensure the performance of the blind spot monitoring system, it is necessary to perform a quick performance test on the vehicle equipped with the blind spot monitoring system before it goes off the assembly line. The signs are clearly distinguished. In the process of vehicle assembly, it often happens that the left and right blind spot monitoring radar lines are reversely connected. If there is a large deviation, an error will be generated, and the blind spot monitoring radar with good performance will be mistakenly treated as a problem.

SUMMARY OF THE INVENTION

In order to solve the problem in the prior art that the vehicle may misjudge the driver to take over the state of the vehicle, the present invention provides a blind spot monitoring radar test method, including:

Under the preset test scenario, obtain the target polar angle coordinates of the marker detected by the radar to be tested;

Calculate the absolute value of the difference between the target polar coordinate and the standard polar coordinate;

If the absolute value of the difference between the target polar angle coordinates and the standard polar angle coordinates is within the preset range, the output signal of the radar to be tested conforms to the reverse connection of the line; otherwise, the output of the radar to be tested does not conform to the reverse connection of the line a signal of the situation;

Wherein, the standard polar angle coordinates are polar angle coordinates for detecting the marker by a radar with qualified performance and assembly under the preset test scenario.

The lower limit of the preset range is the difference between twice the absolute value of the standard polar coordinate and the preset threshold, and the upper limit of the preset range is twice the absolute value of the standard polar coordinate and the preset threshold. The sum of thresholds; the preset threshold is the theoretical error of the radar to be tested.

Preferably, the blind spot monitoring radar testing method further includes the following steps: if the absolute value of the difference between the target polar angle coordinates and the standard polar angle coordinates is less than the preset threshold, output a signal that the radar to be tested is qualified; otherwise, then Output the unqualified signal of the radar to be tested.

The present invention also provides a blind spot monitoring radar test device, comprising:

The target information acquisition module is used to acquire the target polar angle coordinates of the marker detected by the radar to be tested under the preset test scenario;

an angle difference calculation module for calculating the absolute value of the difference between the target polar coordinate and the standard polar coordinate;

The angle difference judgment module is used for outputting a signal that the radar to be tested conforms to the reverse connection of the line if the absolute value of the difference between the target polar coordinate and the standard polar coordinate is within a preset range, and otherwise, output The radar to be tested does not meet the signal of the reverse connection of the line;

The standard polar angle coordinate storage module is used to store the polar angle coordinates of the marker detected by the radar with qualified performance and assembly under the preset test scenario.

Preset range storage module, the lower limit of the preset range is the difference between twice the absolute value of the standard polar coordinate and the preset threshold, and the upper limit of the preset range is twice the absolute value of the standard polar coordinate and the difference. The sum of preset thresholds;

The preset threshold value storage module is used to store the theoretical error of the radar to be tested.

Preferably, the angle difference judging module is further configured to output a signal that the radar to be tested is qualified if the absolute value of the difference between the target polar angle coordinates and the standard polar angle coordinates is less than the preset threshold, otherwise, Then output the unqualified signal of the radar to be tested.

The present invention also provides a blind spot monitoring radar test device, comprising: a memory, a processor, and a blind spot monitoring radar test program stored on the memory, the blind spot monitoring radar test program being executed by the processor to achieve the above The steps of the blind spot monitoring radar test method.

The invention utilizes the characteristic that the target polar angle coordinates of the marker detected by the radar and the standard polar angle coordinate direction of the marker are exactly opposite when the lines of the left and right blind spot monitoring radars are reversely connected, so as to accurately determine the difference between the reverse connection of the radar line and the quality of the radar due to the reverse connection of the radar line. Unqualified test and error reports are separated, which improves the test efficiency of blind spot monitoring radars in the production line, and can also prevent blind spot monitoring radars that fail the test by mistakenly connecting the lines in reverse, and treat them as unqualified parts, resulting in waste of accessories.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Figure 1 is a schematic diagram of the structure of a blind spot monitoring radar;

Figure 2 is a schematic diagram showing that the left and right lines of the blind spot monitoring radar are not reversed;

Figure 3 is a schematic diagram of the left and right lines of the blind spot monitoring radar being reversed;

Figure 4 is a schematic diagram of a blind spot monitoring radar test device;

FIG. 5 is a schematic diagram of an angle difference judgment module.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The blind spot detection radar 1 shown in FIG. 1 is mounted on a vehicle, and includes an antenna unit 2 , a transceiver unit 3 , and a signal processing unit 4 . The blind spot detection radar 1 is used by being installed in a vehicle rear bumper made of a material that can transmit electromagnetic waves. In the embodiment of the present invention, the blind spot monitoring radar 1 is disposed near the left and right ends of the bumper disposed on the rear side of the vehicle in the forward direction, and the detection range includes the direction of the side and rear of the vehicle. In addition, the blind spot detection radar 1 is communicably connected to other in-vehicle devices not shown mounted in the vehicle via an in-vehicle LAN or a communication cable not shown mounted in the vehicle.

The antenna unit 2 includes a plurality of antennas 21 arranged in a line in the horizontal direction, and can transmit and receive electromagnetic waves. The electromagnetic waves sent and received by the blind spot monitoring radar mounted in the embodiment of the present invention are millimeter waves.

The transceiver unit 3 periodically transmits and receives millimeter waves at constant time intervals via the antenna unit 2 . At the same time, the transceiver unit 3 transmits the radar feedback signal received by each antenna 21 of the antenna unit 2 to the signal processing unit 4 .

The signal processing part 4 includes a processor 41 and a storage module 42. The processor 41 executes the detection of the reflected radar waves according to the program stored in the storage module 42, and generates information related to the detected objects, such as detected objects. Object's position parameters, shape parameters, etc. These are no different from those in the prior art, so they are not repeated here.

The embodiment of the present invention is intended to test the blind spot monitoring radar mounted on the vehicle. To achieve this purpose, it is necessary to build a blind spot monitoring radar test system as shown in FIG. 2 . First, a calibration vehicle equipped with a normal blind spot monitoring radar is placed in the area to be measured, and a marker is placed behind the left and right sides of the calibration vehicle. In the embodiment of the present invention, a triangular cone reflector is used as the marker. The upper computer is connected to the blind spot monitoring radar of the calibration vehicle through the calibration vehicle control bus, so that the upper computer can read the information of the blind spot monitoring radar. The upper computer here can be an industrial computer, a desktop computer, a notebook computer and other electronic devices. The prior art is the same, so it is not marked in the figure. The upper computer obtains the polar coordinates of the left and right markers collected by the blind spot monitoring radar at this time as (M, -β) and (M, β) respectively, and takes the polar coordinates of the left and right markers at this time as the standard polar coordinates, and stored in the host computer. That is, during the follow-up blind spot monitoring radar test, the measured polar coordinates of the markers collected by the left and right blind spot monitoring radars are compared with the standard polar coordinates of the markers stored in the host computer. If the same or the difference is within the allowable error range Inside, it shows that the blind spot monitoring radar tested has good performance and no problems in assembly. It should be noted that, taking the polar coordinates of the left marker detected by the left blind spot monitoring radar as (M, -β) as an example, M represents the straight-line distance between the left blind spot monitoring radar and the left marker, and -β represents The angle between the left marker and the normal (polar axis) of the left blind spot monitoring radar in the opposite direction is β. Similarly, the polar coordinates of the right marker detected by the right blind spot monitoring radar are (M, β), where M represents The straight line distance between the right blind spot monitoring radar and the right marker is M, and β represents the included angle between the right marker and the normal (polar axis) extension of the right blind spot monitoring radar is β.

Park the vehicle to be tested at the same position as the calibration vehicle, and connect the host computer to the blind spot monitoring radar of the vehicle to be tested through the control bus of the vehicle to be tested, so that the host computer can read the information of the blind spot monitoring radar of the vehicle to be tested. The upper computer obtains the measured polar coordinates of the left and right markers collected by the blind spot monitoring radar of the vehicle to be tested at this time as (M, -α) and (M, α), respectively. Calculate the absolute value of the difference between the measured polar angle coordinates of the right marker and the standard polar angle coordinates of the right marker as γ1=∣α-β∣. Ideally, since the vehicle to be tested is in the same test environment as the calibration vehicle, the measured polar coordinates of the right marker and the standard polar coordinates of the right marker should be the same, that is, γ1=∣α-β∣=0, However, since there may be assembly errors and there may be measurement errors in the blind spot monitoring radar, an allowable deviation threshold will be set under normal circumstances. In this embodiment, when γ1=∣α-β∣<3°, the right side is considered to be The test results of the blind spot monitoring radar are within the allowable error range, and it can also indicate that the right blind spot monitoring radar of the vehicle to be tested has no reverse connection. Calculate the absolute value of the difference between the measured polar angle coordinates of the left marker and the standard polar angle coordinates γ2=∣-α-(-β)∣, when γ2<3°, it is considered that the left blind spot monitoring radar test result is in Within the allowable error range, it can also indicate that the left blind spot monitoring radar of the vehicle to be tested has no reverse connection.

Since the blind spot monitoring radars on the left and right sides of the vehicle are of the same type, the left and right radar lines may be reversely connected, that is, the right blind spot monitoring radar should detect the polar coordinates of the right marker, but the polar coordinates of the left marker are actually measured. Coordinates, the polar coordinates of the right marker should be measured in the positive direction of the normal (polar axis) of the right blind spot monitoring radar, but the polar coordinates of the left marker are actually detected in the right blind spot monitoring radar. The normal (polar axis) is in the opposite direction. The left blind spot monitoring radar is supposed to detect the polar coordinates of the left marker, but the polar coordinates of the right marker are actually measured. The polar coordinates of the left marker should be measured at the normal line of the left blind spot monitoring radar ( The polar axis is in the opposite direction, and the polar coordinate of the right marker is actually detected in the positive direction of the normal (polar axis) of the left blind spot monitoring radar, as shown in Figure 3. In this case, the polar coordinates of the "left marker" (actually collected is the right marker) collected by the left blind spot monitoring radar of the vehicle to be tested by the host computer is (M, α), and the right blind spot monitoring radar The polar coordinates of the collected "right marker" (actually collected is the left marker) are (M, -α). At this time, the absolute value of the difference between the measured polar angle coordinates of the "right marker" (the left marker is actually collected) and the standard polar angle coordinates of the right marker is calculated as γ1=∣-α-β∣, obviously Ideally, γ1 at this time should be equal to 2β. Since there may be assembly errors and measurement errors may also exist in the blind spot monitoring radar, an allowable deviation threshold will be set under normal circumstances. In this embodiment, when (2β- When 3°)≦γ1≦(2β+3°), it means that the lines of the right blind spot monitoring radar and the left blind spot monitoring radar of the vehicle to be tested are reversed. In the same way, the absolute value of the difference between the measured polar angle coordinates and the standard polar angle coordinates of the "left marker" (actually collected is the right marker) is γ2=∣α-(-β)∣, also when ( When 2β-3°)≦γ2≦(2β+3°), it means that the lines of the left blind spot monitoring radar and the right blind spot monitoring radar of the vehicle to be tested are reversed. 3° in the embodiment of the present invention is the theoretical measurement error of the blind spot monitoring radar used in the embodiment. The theoretical measurement error of the actual vehicle using different blind spot monitoring radars is different, and the numerical value in this embodiment is not the only limitation of the present invention.

The present embodiment also discloses a blind spot monitoring radar testing device 100, as shown in FIG. 4, including: a radar detection information acquisition module 101 for acquiring the target polar angle coordinates of the marker to be detected by the radar; an angle difference calculation module 102, for calculating the absolute value of the difference between the target polar coordinate and the standard polar coordinate; the angle difference judgment module 103, for calculating the absolute value of the difference between the target polar coordinate and the standard polar coordinate Within the preset range, output the signal that the radar to be tested conforms to the reverse connection of the line; otherwise, output the signal that the radar to be tested does not conform to the reverse connection of the line; the standard polar coordinate storage module 104 is used to store in the Under the preset test scenario, the radar with qualified performance and assembly detects the polar coordinates of the marker.

As a further preferred solution of this embodiment, the angle difference judgment module 103 is further configured to output a signal that the radar to be tested is qualified if the absolute value of the difference between the target polar angle coordinates and the standard polar angle coordinates is less than a preset threshold , otherwise, the unqualified signal of the radar to be tested will be output.

As a further preferred solution of this embodiment, the angle difference judging module 103 includes a preset range storage module 1031 for storing the preset range, and the lower limit of the preset range is twice the absolute value of the standard polar angle coordinates The difference from the preset threshold, the upper limit of the preset range is the sum of twice the absolute value of the standard polar coordinate and the preset threshold.

As a further preferred solution of this embodiment, the angle difference judgment module further includes a preset threshold storage module 1032 for storing the theoretical error of the radar to be tested.

This embodiment also discloses a blind spot monitoring radar test device, including: a memory, a processor, and a blind spot monitoring radar test program stored on the memory and running on the memory, the blind spot monitoring radar test program being When the processor is executed, the steps of the blind spot monitoring radar testing method described above are realized. The specific embodiment in which the blind spot monitoring radar testing program stored in the blind spot monitoring radar testing device of the present invention is executed by the processor is basically the same as the embodiment of the blind spot monitoring radar testing method, and will not be repeated here.

In the present invention, the term "comprising" is not exclusive, that is, it includes not only the listed technical content for realizing the technical solution of the present invention, but also the technical content that is not explicitly listed for assisting the realization of the technical solution of the present invention, such as The detection accuracy of the millimeter-wave radar used for blind spot monitoring is different at different direction angles. Generally, the detection accuracy is the highest when the horizontal direction angle is 20-30 degrees (the optimal detection angle of different types of radars is different). Therefore, this embodiment suggests that the identification The test effect is best if the object is placed in the range of 20-30 degrees in the horizontal direction of the radar to be tested, but this is not a limitation of the present invention. This part of the content can be obtained by those skilled in the art through conventional technical means or common sense, and details are not repeated here.

The above are only the preferred embodiments of the present invention, and it should be noted that the above preferred embodiments should not be regarded as limiting the present invention. The protection scope of the present invention shall be subject to the scope defined by the claims. For those skilled in the art, without departing from the spirit and scope of the present invention, several replacements or improvements can also be made, and these replacements or improvements should also be regarded as the protection scope of the present invention.

Claims (5)

1. A blind area monitoring radar test method is characterized by comprising the following steps:

acquiring a target polar angle coordinate of a marker detected by a radar to be detected in a preset test scene;

calculating the absolute value of the difference value of the target polar angle coordinate and the standard polar angle coordinate;

if the absolute value of the difference value between the target polar angle coordinate and the standard polar angle coordinate is within a preset range, outputting a signal that the radar to be detected conforms to the reverse connection condition of the circuit, otherwise, outputting a signal that the radar to be detected does not conform to the reverse connection condition of the circuit;

the standard polar angle coordinate is the polar angle coordinate of the radar detection marker with qualified performance and assembly in the preset test scene;

the lower limit of the preset range is the difference between two times of the absolute value of the standard polar angle coordinate and a preset threshold, and the upper limit of the preset range is the sum of two times of the absolute value of the standard polar angle coordinate and the preset threshold; the preset threshold is the theoretical error of the radar to be detected.

2. The blind area monitoring radar testing method according to claim 1, further comprising the steps of: and if the absolute value of the difference value between the target polar angle coordinate and the standard polar angle coordinate is smaller than the preset threshold value, outputting a qualified signal of the radar to be detected, otherwise, outputting an unqualified signal of the radar to be detected.

3. A blind area monitoring radar testing arrangement, its characterized in that includes:

the target information acquisition module is used for acquiring a target polar angle coordinate of the marker detected by the radar to be detected in a preset test scene;

the angle difference value calculation module is used for calculating the absolute value of the difference value between the target polar angle coordinate and the standard polar angle coordinate;

the angle difference value judging module is used for outputting a signal that the radar to be detected conforms to the reverse connection condition of the line if the absolute value of the difference value of the target polar angle coordinate and the standard polar angle coordinate is within a preset range, and otherwise, outputting a signal that the radar to be detected does not conform to the reverse connection condition of the line;

the standard polar angle coordinate storage module is used for storing the polar angle coordinate of the radar detection marker with qualified performance and assembly in the preset test scene;

the device comprises a preset range storage module, a standard polar angle coordinate calculation module and a standard polar angle coordinate calculation module, wherein the lower limit of the preset range is the difference between two times of the absolute value of the standard polar angle coordinate and a preset threshold, and the upper limit of the preset range is the sum of two times of the absolute value of the standard polar angle coordinate and the preset threshold;

and the preset threshold storage module is used for storing the theoretical error of the radar to be detected.

4. The blind area monitoring radar testing device according to claim 3, wherein the angular difference determining module is further configured to output a signal that the radar to be tested is qualified if the absolute value of the difference between the target polar angular coordinate and the standard polar angular coordinate is smaller than the preset threshold, and otherwise, output a signal that the radar to be tested is unqualified.

5. A blind area monitoring radar testing arrangement, its characterized in that includes: the device comprises a memory, a processor and a blind area monitoring radar test program which is stored on the memory and can run on the memory, wherein the blind area monitoring radar test program realizes the steps of the blind area monitoring radar test method when being executed by the processor.

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