车载毫米波雷达的虚拟测试仿真

Virtual test simulation of vehicle-mounted millimeter-wave radar

智能汽车传感器的虚拟测试仿真是智能驾驶整车在环或硬件在环测试的重要一环。针对毫米波雷达的虚拟测试的需要,本文研究了传感器注入法与黑盒模拟法在毫米波雷达测试中的性能差异。为了比较两种不同方法的特点,采用在相同的交通场景中测试,通过采集目标的纵向距离和速度,横向距离和速度等来对比分析传感器注入法与黑盒模拟法在毫米波雷达测试中性能。试验结果表明,在匀速、加减速、转弯场景中,传感器注入法与黑盒模拟法表现的性能基本一致。在上下坡与弯道场景中传感器注入法性能明显优于黑盒模拟法,可以在较为苛刻的工况下满足控制算法所需信号的需要。

The virtual test simulation of intelligent vehicle sensors is an important part of intelligent driving vehicle-in-the-loop or hardware-in-the-loop testing.In this paper,aiming at the requirements of virtual test of millimeter wave radar,the performance difference between the method of sensor injection and the method of black box simulation in millimeter wave radar test is studied.In order to compare the characteristics of the two different methods,this paper uses the test in the same traffic scene,and compares and analyzes the method of sensor injection and the method of black box simulation method in the millimeter-wave radar test by collecting the longitudinal distance and relative speed,the lateral distance and relative speed of the target.performance.The test results show that the performance of the method of sensor injection and the method of black box simulation are basically the same in the uniform speed,acceleration and deceleration,and turning scenarios.The performance of the method of sensor injection is significantly better than that of the method of black box simulation in ups and downs and curves,and it can meet the needs of the signals required by the control algorithm under more severe conditions.