CN112415496B - Automatic parking system hardware-in-loop test bed based on ultrasonic radar - Google Patents
Automatic parking system hardware-in-loop test bed based on ultrasonic radar Download PDFInfo
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- CN112415496B CN112415496B CN202011395440.3A CN202011395440A CN112415496B CN 112415496 B CN112415496 B CN 112415496B CN 202011395440 A CN202011395440 A CN 202011395440A CN 112415496 B CN112415496 B CN 112415496B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52004—Means for monitoring or calibrating
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an automatic parking system hardware-in-the-loop test bench based on an ultrasonic radar, which comprises a bracket body, an ultrasonic radar array, an echo simulator, an upper computer, a lower computer, a steer-by-wire system, a brake-by-wire system and an arc-shaped wave absorbing plate, wherein the ultrasonic radar array, the echo simulator, the upper computer, the lower computer and the arc-shaped wave absorbing plate are arranged at the upper part of the bracket body, the steer-by-wire system and the brake-by-wire system are arranged at the lower part of the bracket body, the echo simulator is assembled at the rear part of the arc-shaped wave absorbing plate, the ultrasonic radar array is assembled at the position of the front part of the arc-shaped wave absorbing plate corresponding to the echo simulator, and a through hole is formed in the arc-shaped wave absorbing plate, and a transceiver antenna on the echo simulator passes through the through hole to correspond to the ultrasonic radar array, so that the automatic parking system has the advantages that: the method overcomes the defect of limited test scenes in real vehicle test, reduces the cost of setting up driving scenes and shortens the time required for setting up the scenes.
Description
Technical Field
The invention relates to an automatic parking system hardware-in-loop test bed, in particular to an automatic parking system hardware-in-loop test bed based on an ultrasonic radar.
Background
At present, parking is an operation with higher difficulty in daily driving of a driver, and as the holding amount of a locomotive is continuously increased, the parking space is more and less short, the parking space is also in trend of smaller and smaller, the difficulty of parking is also larger and larger, the demand of the driver on an automatic parking function is also stronger and stronger, so that the development of a perfect automatic parking algorithm is urgent, the development of an automatic parking algorithm is required to be tested and perfected in a large number of driving scenes, and the automatic parking algorithm can be applied to mass production vehicles as a product only when the failure rate of the algorithm is reduced to a certain degree. The automatic parking algorithm test of the automobile manufacturer is generally carried out on a real automobile, and the validity of the algorithm is verified under a real scene, so that a large number of real test scenes are required to be built, the algorithm is repeatedly verified by the real automobile, the development period of the algorithm is long, and the consumed time cost and economic cost are high. There are also few examples of hardware-in-loop algorithm tests such as chinese patent: CN107966980a, "an intelligent electric car collision avoidance algorithm hardware-in-loop verification system", however, in this system, sensors such as ultrasonic waves and actuators such as steering system and braking system are still installed on the real car, and the test scene is still a real scene, and the advantage of hardware-in-loop test is not exerted.
Disclosure of Invention
The invention aims to solve the problems that the existing automatic parking algorithm test of a vehicle needs to be carried out by using a real vehicle in a real scene, so that the time and economic cost are increased, and the advantage of hardware-in-loop test is not exerted.
The invention provides an automatic parking system hardware-in-loop test bench based on an ultrasonic radar, which comprises a bracket body, an ultrasonic radar array, an echo simulator, an upper computer, a lower computer, a steer-by-wire system, a brake-by-wire system and an arc-shaped wave absorbing plate, wherein the ultrasonic radar array, the echo simulator, the upper computer, the lower computer and the arc-shaped wave absorbing plate are arranged at the upper part of the bracket body, the brake-by-wire system and the brake-by-wire system are arranged at the lower part of the bracket body, the echo simulator is assembled at the rear part of the arc-shaped wave absorbing plate, the ultrasonic radar array is assembled at the position of the front part of the arc-shaped wave absorbing plate corresponding to the echo simulator, a through hole is formed in the arc-shaped wave absorbing plate, a receiving and transmitting antenna on the echo simulator passes through the through hole to correspond to the ultrasonic radar array, the ultrasonic radar and the echo simulator in the ultrasonic radar array are respectively connected with the lower computer through a CAN bus, the upper computer and the lower computer are connected through a network cable, the steer-by-wire system and the brake-by-wire system are respectively connected with the lower computer through a CAN bus, the echo simulator receives ultrasonic radar signals through a receiving and transmitting antenna, the echo simulator sends ultrasonic echo signals of a virtual target through the receiving and transmitting antenna according to a vehicle dynamics model and virtual barrier information in the lower computer, a parking control instruction and a virtual test scene model are arranged in the upper computer, the upper computer CAN transmit the arranged virtual test scene model and the parking control instruction to the lower computer, the upper computer CAN monitor the execution condition of the parking control instruction and control the process of the parking control instruction, the lower computer sends virtual target information to the echo simulator according to the vehicle dynamics model and the test scene, the lower computer receives real ultrasonic signals received by the ultrasonic radars in the ultrasonic radar array and performs data processing, then the lower computer sends detected obstacle information to an automatic parking control instruction, and the lower computer controls the drive-by-wire steering system and the drive-by-wire braking system to respond.
The ultrasonic radar in the ultrasonic radar array is provided with twelve, twelve ultrasonic radars are divided into two rows to be assembled on the support, the mounting plate on the support is arc-shaped, six ultrasonic radars are symmetrically assembled in each row, four ultrasonic radars in the middle of each row are short-distance ultrasonic radars, and two ultrasonic radars on two sides are long-distance ultrasonic radars.
The steering-by-wire system comprises a steering wheel system, a steering device system and a steering electronic control system, wherein the steering wheel system comprises a steering wheel and a steering column pipe, the steering wheel is arranged at the front end of a frame body, a seat is arranged at the position corresponding to the steering wheel, the steering wheel is arranged at the top end of the steering column pipe, a torque sensor, a steering angle sensor and a torque feedback motor are arranged in the steering column pipe, the torque sensor, the steering angle sensor and the torque feedback motor are all connected with the steering electronic control system, the torque sensor and the steering angle sensor can transmit acquired data to the steering electronic control system in real time, the steering electronic control system controls the operation of the torque feedback motor according to received data, the steering device system comprises a front wheel angle sensor, a steering motor, a gear-rack steering mechanism and the torque sensor, the front wheel angle sensor, the steering motor and the torque sensor are all connected with the steering electronic control system, the steering motor is connected with the gear-rack steering mechanism, the front wheel angle sensor and the torque sensor can transmit the acquired data to the steering electronic control system in real time, and the steering electronic control system receives the data from the steering electronic control system and the steering device is connected with a steering device and the lower control system.
The brake-by-wire system is an electronic hydraulic brake system and comprises a high-pressure oil supply unit, a hydraulic execution unit, a brake electronic control unit, a brake pedal assembly and a brake assembly, wherein the brake pedal assembly is composed of a brake pedal, a pedal feel simulator and a pedal travel sensor, the pedal feel simulator and the pedal travel sensor are assembled on the brake pedal, the pedal feel simulator and the pedal travel sensor are connected with the brake electronic control unit, the pedal feel simulator and the pedal travel sensor can transmit acquired data to the brake electronic control unit in real time, the brake electronic control unit is connected with the hydraulic execution unit, the hydraulic execution unit is respectively connected with the high-pressure oil supply unit and the brake assembly, the brake electronic control unit controls the work of the hydraulic execution unit according to the data transmitted by the pedal feel simulator and the pedal travel sensor, the high-pressure oil supply unit supplies high-pressure oil to the hydraulic execution unit, the hydraulic execution unit further controls the work of the brake assembly, and the brake electronic control unit is connected with a lower computer and controlled by the lower computer to work.
The bottom of the frame body is provided with universal wheels.
The ultrasonic radar, the echo simulator, the upper computer, the lower computer, the steer-by-wire system and the brake-by-wire system are all assembled by the existing equipment, so specific models and specifications are not repeated.
The working principle of the invention is as follows:
The hardware of the automatic parking system based on the ultrasonic radar provided by the invention firstly writes an automatic parking algorithm in an upper computer, builds a vehicle dynamics model and a test scene, and then compiles the vehicle dynamics model and the test scene into a lower computer. When the bench works, the automatic parking algorithm starts to run, the lower computer controls the ultrasonic radars to sequentially send out ultrasonic pulses, the first ultrasonic radars send out ultrasonic pulses in a first cycle period, most of ultrasonic signals are absorbed by the arc-shaped wave absorbing plate, only a small part of ultrasonic signals are received by the receiving and transmitting antenna and transmitted to the echo simulator, the echo simulator delays the received ultrasonic signals according to the virtual vehicle model in the lower computer at the moment of receiving the ultrasonic waves, obstacle information in a virtual test scene and the installation position of the virtual ultrasonic radar model corresponding to the ultrasonic radars working in the current cycle period on the virtual vehicle, then the ultrasonic pulses are sent out through the receiving and transmitting antenna, the first ultrasonic radars receive ultrasonic echoes, the received signals are sent to the lower computer through the CAN bus, after the working period of the first ultrasonic radars is finished, the working period of the second ultrasonic radars starts, the second ultrasonic radars send out ultrasonic pulses, and the flow of the first cycle period is repeated until twelve ultrasonic radars completely experience a large cycle period. After each large period is finished, the lower computer performs fusion analysis on the twelve groups of obtained ultrasonic signals, analyzes barrier information around the virtual vehicle model, then the automatic parking algorithm performs planning of a parking path at the next moment according to the obtained barrier information, and then generates control rates of a steering motor and a hydraulic execution unit according to the planned path, so that the vehicle can track the planned path. When the lower computer controls the virtual vehicle model to track the planned path, the radar detection system enters the next large period, and sensing data is provided for path planning at the next moment. And the method is repeated in a circulating way until the automatic parking algorithm is operated.
In order to prevent the echo generated by objects around the test bed from interfering the echo generated by the echo simulator, an arc wave absorbing plate is arranged in front of the echo simulator, a through hole is formed in the position, corresponding to a receiving and transmitting antenna of the echo simulator, of the arc wave absorbing plate, and the receiving and transmitting antenna can penetrate through the arc wave absorbing plate. In order to enable ultrasonic waves emitted by the ultrasonic radar to be received by a receiving and transmitting antenna of the echo simulator, and enable ultrasonic pulses emitted by the ultrasonic radar to be fully absorbed by the arc-shaped wave absorbing plate, the radius of the arc-shaped wave absorbing plate is designed to be equal to the radius of an arc of a bracket for installing the ultrasonic radar and equal to the distance from the arc-shaped wave absorbing plate to the bracket. The space of the ultrasonic wave in the air medium is classified into a near field region and a far field region according to the wave beam shape, a series of maximum and minimum sound pressure values can appear on a wave source line of the near field region, and the distance from the last maximum sound pressure value to a wave source on the wave source line is called the near field region length and is denoted by N. The sound pressure in the near field region has a drastic fluctuation change, and a plurality of nodes with minimum sound pressure exist. These nodes may cause blind spots for probing. The transceiver antenna is thus located outside the near field region of the ultrasonic radar. Namely, the radius of the arc-shaped wave absorbing plate and the radius of the arc of the bracket for installing the ultrasonic radar are larger than the length N of the near field region, and the length N of the near field region is as follows:
Wherein D is the diameter of the radiating surface of the ultrasonic radar, f is the ultrasonic frequency, and c is the sound velocity in the air medium.
In order for the ultrasonic echoes transmitted by the transceiving antennas to be received by the ultrasonic radar, the ultrasonic radar array should be located within a half-spread angle θ of a far field region, which should satisfy:
the receiving and transmitting antenna should satisfy the spatial focusing coefficient R θ of the ultrasonic transducer, and the spatial focusing coefficient R θ should satisfy:
Wherein, I 0 and p 0 are sound intensity and sound pressure of a certain position in the sound axis direction respectively, and I is average sound pressure of all directions in the same position; r is far field distance; p is the sound pressure on the R sphere S.
When the echo simulator simulates an ultrasonic echo, the Doppler frequency shift phenomenon of the ultrasonic radar is considered, namely the actual received ultrasonic frequency of the ultrasonic radar is different from the actual source ultrasonic frequency when the distance between the ultrasonic radar and an obstacle is changed, and the ultrasonic echo transmitted by the receiving and transmitting antenna should satisfy the Doppler frequency shift formula:
Wherein Δf is a frequency shift value, v is a relative movement speed between the sound source and the receiving body, and θ is an included angle between an incident direction of the ultrasonic wave and a target movement direction.
When the parking algorithm runs, the lower computer sends a front wheel steering angle signal of the vehicle dynamics model to the steering electronic control system, and the steering electronic control system controls the steering motor to output a certain torque and a certain steering angle, so that the real front wheel steering angle tracks the front wheel steering angle planned in the parking algorithm. If the driver turns the steering wheel in the algorithm running process, the steering electronic control system records the steering wheel angle and controls the torque feedback motor to provide a feedback torque for the steering wheel so as to provide a real steering feel for the driver, and meanwhile, the steering electronic control system controls the steering motor to output corresponding torque and angle according to the steering angle information sent by the steering angle sensor so that the front wheel steering angle reaches an expected value.
When the parking algorithm is operated, if the vehicle dynamics model brakes, the lower computer sends a master cylinder and wheel cylinder pressure signal planned in the parking algorithm to the brake electronic control unit, and the brake electronic control unit realizes the pressure establishment of the master cylinder and the wheel cylinder by controlling the opening and closing combination of the electromagnetic valve in the hydraulic execution unit. If a driver presses a brake pedal in the algorithm running process, pedal travel information is collected by a pedal travel sensor and sent to a lower computer, and the lower computer obtains corresponding master cylinder pressure and wheel cylinder pressure according to a received pedal travel table and sends the corresponding master cylinder pressure and wheel cylinder pressure to a brake electronic control unit, so that the pressure of the master cylinder and the wheel cylinder is built.
The invention has the beneficial effects that:
According to the hardware-in-the-loop test bed of the automatic parking system based on the ultrasonic radar, disclosed by the invention, the ultrasonic radar array is arranged on the test bed, so that the height and the direction of the ultrasonic radar can be conveniently adjusted, the radar is not required to be assembled and disassembled on a real vehicle, the operation is simple, and a large amount of manpower, material resources and financial resources are saved; according to the invention, a large number of different automatic parking algorithm test scenes can be constructed by combining the echo simulator with the virtual scene simulation software, and real ultrasonic echoes containing virtual obstacle information are provided for a real ultrasonic radar, so that the defect of limited test scenes in real vehicle tests is overcome, meanwhile, the cost for constructing driving scenes is reduced, the time for constructing the scenes is shortened, and the steering system and the braking system adopt real actuator hardware, so that compared with pure virtual simulation, the hardware in-loop simulation performed by using the test bench has higher authenticity and reliability;
The test bed provided by the invention can be used for quickly modifying the automatic parking algorithm, and can be used for adjusting parameters in the algorithm in real time, so that the difficulty in algorithm optimization is reduced compared with a real-vehicle test, and the development period of the algorithm is shortened; the actuator adopted by the test bed provided by the invention is a steer-by-wire system and a brake-by-wire system, so that a driver can rotate the steering wheel and tread the brake pedal to perform human intervention on the operation of the algorithm at any time when the automatic parking algorithm is operated, and the safety and man-machine interaction capability of the parking process are enhanced.
Drawings
FIG. 1 is a schematic diagram of the whole structure of the test stand according to the present invention.
Fig. 2 is a schematic diagram of an ultrasonic radar array according to the present invention.
Fig. 3 is a schematic diagram of the working principle of the test bench according to the invention.
FIG. 4 is a schematic diagram of the working process of the test bench according to the invention.
The labels in the above figures are as follows:
1. Frame body 2, ultrasonic radar array 3, echo simulator 4 and upper computer
5. Lower computer 6, steering-by-wire system 7, brake-by-wire system 8 and arc wave absorbing plate
9. Through hole 10, transmitting/receiving antenna 11, ultrasonic radar 12, bracket 13, and steering wheel system
14. Steering gear system 15, steering electronic control system 16, seat 17, steering motor
18. High-pressure oil supply unit 19, hydraulic actuator unit 20, and brake electronic control unit
21. Brake pedal assembly 22, brake assembly 23, and universal wheel.
Detailed Description
Please refer to fig. 1 to 4:
The invention provides an automatic parking system hardware-in-loop test bench based on an ultrasonic radar, which comprises a bracket body 1, an ultrasonic radar array 2, an echo simulator 3, an upper computer 4, a lower computer 5, a steer-by-wire system 6, a brake-by-wire system 7 and an arc-shaped wave absorbing plate 8, wherein the ultrasonic radar array 2, the echo simulator 3, the upper computer 4, the lower computer 5 and the wave absorbing plate 8 are arranged at the upper part of the bracket body 1, the steer-by-wire system 6 and the brake-by-wire system 7 are arranged at the lower part of the bracket body 1, the echo simulator 3 is assembled at the rear part of the arc-shaped wave absorbing plate 8, the ultrasonic radar array 2 is assembled at the position of the front part of the arc-shaped wave absorbing plate 8 corresponding to the echo simulator 3, a through hole 9 is arranged on the arc-shaped wave absorbing plate 8, a transmitting and receiving antenna 10 on the echo simulator 3 corresponds to the ultrasonic radar array 2 through the through hole 9, the ultrasonic radar 11 and the echo simulator 3 in the ultrasonic radar array 2 are respectively connected with the lower computer 5 through a CAN bus, the upper computer 4 and the lower computer 5 are connected through a network cable, the steer-by-wire system 6 and the brake-by-wire system 7 are respectively connected with the lower computer 5 through the CAN bus, the echo simulator 3 receives ultrasonic radar signals through the receiving and transmitting antenna 10, the echo simulator 3 sends out ultrasonic echo signals of a virtual target through the receiving and transmitting antenna 10 according to a vehicle dynamics model and virtual obstacle information in the lower computer 5, the upper computer 4 is provided with a parking control command and a virtual test scene model, the upper computer 4 CAN transmit the set virtual test scene model and the parking control command to the lower computer 5, the upper computer 4 CAN monitor the execution status of the parking control command and control the process of the parking control command, the lower computer 5 sends virtual target information to the echo simulator 3 according to the vehicle dynamics model and the test scene, the lower computer 5 receives real ultrasonic signals received by the ultrasonic radar 11 in the ultrasonic radar array 2 and processes the data, and then the lower computer 5 sends detected obstacle information to an automatic parking control instruction, and the lower computer 5 controls the steer-by-wire system 6 and the brake-by-wire system 7 to respond.
The ultrasonic radars 11 in the ultrasonic radar array 2 are twelve, the twelve ultrasonic radars 11 are divided into two rows and are assembled on the support 12, the mounting plate on the support 12 is arc-shaped, six ultrasonic radars 11 are symmetrically assembled in each row, four ultrasonic radars 11 in the middle of each row are short-distance ultrasonic radars, and two ultrasonic radars 11 on two sides are long-distance ultrasonic radars.
The steering-by-wire system 6 comprises a steering wheel system 13, a steering device system 14 and a steering electronic control system 15, wherein the steering wheel system 13 comprises a steering wheel and a steering column pipe, the steering wheel is arranged at the front end of the frame body 1, a seat 16 is arranged at the position corresponding to the steering wheel, the steering wheel is arranged at the top end of the steering column pipe, a torque sensor, a steering angle sensor and a torque feedback motor are arranged in the steering column pipe, the torque sensor, the steering angle sensor and the torque feedback motor are all connected with the steering electronic control system 15, the torque sensor and the steering angle sensor can transmit acquired data to the steering electronic control system 15 in real time, the steering electronic control system 15 controls the operation of the torque feedback motor according to the received data, the steering device system 14 comprises a front wheel angle sensor, a steering motor 17, a gear-rack steering mechanism and a torque sensor, the front wheel angle sensor, the steering motor 17 and the torque sensor are all connected with the steering electronic control system 15, the steering motor 17 is connected with the gear-rack steering mechanism, the front wheel angle sensor and the torque sensor can transmit acquired data to the steering electronic control system 15, and the steering electronic control system 15 is further controlled by the steering electronic control system 5 in real time according to the received data, and the operation of the steering electronic control system 15 is controlled by the steering electronic control system 5.
The brake-by-wire system 7 is an electronic hydraulic brake system and comprises a high-pressure oil supply unit 18, a hydraulic execution unit 19, a brake electronic control unit 20, a brake pedal assembly 21 and a brake assembly 22, wherein the brake pedal assembly 21 is composed of a brake pedal, a pedal feel simulator and a pedal travel sensor, the pedal feel simulator and the pedal travel sensor are assembled on the brake pedal, the pedal feel simulator and the pedal travel sensor are connected with the brake electronic control unit 20, the pedal feel simulator and the pedal travel sensor can transmit collected data to the brake electronic control unit 20 in real time, the brake electronic control unit 20 is connected with the hydraulic execution unit 19, the hydraulic execution unit 19 is respectively connected with the high-pressure oil supply unit 18 and the brake assembly 22, the high-pressure oil supply unit 18 supplies high-pressure oil to the hydraulic execution unit 19 according to the data transmitted by the pedal feel simulator and the pedal travel sensor, the hydraulic execution unit 19 further controls the operation of the brake assembly 22, and the brake electronic control unit 20 is connected with the lower computer 5 and is controlled to operate by the lower computer 5.
The bottom of the frame 1 is equipped with universal wheels 23.
The above-mentioned ultrasonic radar 11, echo simulator 3, upper computer 4, lower computer 5, steer-by-wire system 6 and brake-by-wire system 7 are all assembled by the existing equipment, so specific models and specifications are not repeated.
The working principle of the invention is as follows:
The hardware of the automatic parking system based on the ultrasonic radar provided by the invention firstly writes an automatic parking algorithm in the upper computer 4, builds a vehicle dynamics model and a test scene, and then compiles the vehicle dynamics model and the test scene into the lower computer 5. When the bench works, the automatic parking algorithm starts to run, the lower computer 5 controls the ultrasonic radars 11 to sequentially send out ultrasonic pulses, in a first cycle period, the first ultrasonic radars 11 send out ultrasonic pulses, most of ultrasonic signals are absorbed by the arc-shaped wave absorbing plate 8, only a small part of ultrasonic signals are received by the receiving and transmitting antenna 10 and transmitted to the echo simulator 3, the echo simulator 3 delays the received ultrasonic signals according to the virtual vehicle model in the lower computer 5, obstacle information in a virtual test scene and the installation position of the corresponding virtual ultrasonic radars 11 working in the current cycle period on the virtual vehicle, then the ultrasonic signals are sent out through the receiving and transmitting antenna 10, the first ultrasonic radars 11 receive ultrasonic echoes, and the received signals are sent to the lower computer 5 through the CAN bus, after the working period of the first ultrasonic radars 11 is finished, the second ultrasonic radars 11 send out ultrasonic pulses, and the flow of the first cycle period is repeated until twelve ultrasonic radars 11 completely go through one cycle period, and the twelve cycle periods are taken as one cycle period. After each large period is finished, the lower computer 5 performs fusion analysis on the twelve groups of obtained ultrasonic signals, analyzes barrier information around the virtual vehicle model, then the automatic parking algorithm performs planning of a parking path at the next moment according to the obtained barrier information, and then generates control rates of the steering motor 17 and the hydraulic execution unit 19 according to the planned path, so that the vehicle can track the planned path. When the host computer 5 controls the virtual vehicle model to track the planned path, the radar detection system enters the next large period, and provides sensing data for path planning at the next moment. And the method is repeated in a circulating way until the automatic parking algorithm is operated.
In order to prevent the echo generated by objects around the test bed from interfering with the echo generated by the echo simulator 3, an arc-shaped wave absorbing plate 8 is arranged in front of the echo simulator 3, a through hole 9 is formed in the position, corresponding to the receiving and transmitting antenna 10 of the echo simulator 3, of the arc-shaped wave absorbing plate 8, and the receiving and transmitting antenna 10 can penetrate through the arc-shaped wave absorbing plate 8. In order to enable the ultrasonic waves emitted by the ultrasonic radar 11 to be received by the transceiver antenna 10 of the echo simulator 3 and to enable the ultrasonic pulses emitted by the ultrasonic radar 11 to be sufficiently absorbed by the arc-shaped absorbing plate 8, while considering saving of absorbing plate material, the radius of the arc-shaped absorbing plate 8 is designed to be equal to the radius of the circular arc of the bracket 12 on which the ultrasonic radar 11 is mounted and to be equal to the distance from the arc-shaped absorbing plate 8 to the bracket 12. The space of the ultrasonic wave in the air medium is classified into a near field region and a far field region according to the wave beam shape, a series of maximum and minimum sound pressure values can appear on a wave source line of the near field region, and the distance from the last maximum sound pressure value to a wave source on the wave source line is called the near field region length and is denoted by N. The sound pressure in the near field region has a drastic fluctuation change, and a plurality of nodes with minimum sound pressure exist. These nodes may cause blind spots for probing. The transceiving antenna 10 is located outside the near field region of the ultrasonic radar 11. That is, the radius of the arc-shaped wave absorbing plate 8 and the radius of the arc of the bracket 12 on which the ultrasonic radar 11 is mounted should be larger than the near field region length N, which should satisfy:
Wherein D is the diameter of the radiating surface of the ultrasonic radar 11, f is the ultrasonic frequency, and c is the sound velocity in the air medium.
In order for the ultrasonic echoes transmitted by the transceiver antenna 10 to be received by the ultrasonic radar 11, the ultrasonic radar array 2 should be located within the half-spread angle θ of the far field region, which should satisfy:
The transceiver antenna 10 should satisfy the spatial focusing coefficient R θ of the ultrasonic transducer, and the spatial focusing coefficient R θ should satisfy:
Wherein, I 0 and p 0 are sound intensity and sound pressure of a certain position in the sound axis direction respectively, and I is average sound pressure of all directions in the same position; r is far field distance; p is the sound pressure on the R sphere S.
When the echo simulator 3 simulates an ultrasonic echo, the doppler shift phenomenon of the ultrasonic radar 11 is considered, that is, when the distance between the ultrasonic radar 11 and an obstacle changes, the actual received ultrasonic frequency of the ultrasonic radar 11 is different from the actual source ultrasonic frequency, and the ultrasonic echo transmitted by the transceiver antenna 10 should satisfy the doppler shift formula:
Wherein Δf is a frequency shift value, v is a relative movement speed between the sound source and the receiving body, and θ is an included angle between an incident direction of the ultrasonic wave and a target movement direction.
When the parking algorithm is running, the lower computer 5 sends a front wheel steering angle signal of the vehicle dynamics model to the steering electronic control system 15, and the steering electronic control system 15 controls the steering motor 17 to output a certain torque and a certain steering angle, so that the real front wheel steering angle tracks the front wheel steering angle planned in the parking algorithm. If the driver turns the steering wheel during the algorithm operation, the steering electronic control system 15 records the steering wheel angle and controls the torque feedback motor to provide a feedback torque for the steering wheel to provide a real steering feel for the driver, and meanwhile, the steering electronic control system 15 controls the steering motor 17 to output corresponding torque and angle according to the steering angle information sent by the steering angle sensor, so that the front wheel steering angle reaches a desired value.
When the parking algorithm is running, if the vehicle dynamics model brakes, the lower computer 5 sends the master cylinder and wheel cylinder pressure signals planned in the parking algorithm to the brake electronic control unit 20, and the brake electronic control unit 20 realizes the pressure building of the master cylinder and the wheel cylinder by controlling the opening and closing combination of the electromagnetic valves in the hydraulic execution unit 19. If a driver presses a brake pedal in the algorithm running process, pedal travel information is collected by a pedal travel sensor and sent to the lower computer 5, and the lower computer 5 obtains corresponding master cylinder pressure and wheel cylinder pressure according to a received pedal travel table and sends the corresponding master cylinder pressure and wheel cylinder pressure to the brake electronic control unit 20, so that pressure building of the master cylinder and the wheel cylinders is realized.
Claims (5)
1. An automatic parking system hardware-in-the-loop test stand based on ultrasonic radar, which is characterized in that: comprises a frame body, an ultrasonic radar array, an echo simulator, an upper computer, a lower computer, a wire control steering system, a wire control actuating system and an arc wave absorbing plate, wherein the ultrasonic radar array, the echo simulator, the upper computer, the lower computer and the arc wave absorbing plate are arranged at the upper part of the frame body, the wire control steering system and the wire control actuating system are arranged at the lower part of the frame body, the echo simulator is assembled at the rear part of the arc wave absorbing plate, the ultrasonic radar array is assembled at the front part of the arc wave absorbing plate and is arranged at the position corresponding to the echo simulator, the arc wave absorbing plate is provided with a through hole, a receiving and transmitting antenna on the echo simulator passes through the through hole and corresponds to the ultrasonic radar array, the ultrasonic radar and the echo simulator in the ultrasonic radar array are respectively connected with the lower computer through a CAN bus, the upper computer and the lower computer are connected through a network cable, the drive-by-wire steering system and the drive-by-wire braking system are respectively connected with a lower computer through a CAN bus, an echo simulator receives ultrasonic radar signals through a receiving and transmitting antenna, the echo simulator transmits ultrasonic echo signals of a virtual target through the receiving and transmitting antenna according to a vehicle dynamics model and virtual obstacle information in the lower computer, a parking control instruction and a virtual test scene model are arranged in an upper computer, the upper computer CAN transmit the arranged virtual test scene model and the parking control instruction to the lower computer, the upper computer CAN monitor the execution condition of the parking control instruction and control the parking control instruction process, the lower computer transmits virtual target information to the echo simulator according to the vehicle dynamics model and the test scene, the lower computer simultaneously receives real ultrasonic signals received by ultrasonic radars in the ultrasonic radar array and carries out data processing, and then the lower computer sends the detected obstacle information to an automatic parking control instruction, and the lower computer controls the steer-by-wire system and the brake-by-wire system to respond.
2. The ultrasonic radar-based hardware-in-the-loop test stand for an automatic parking system, as set forth in claim 1, wherein: the ultrasonic radar array comprises twelve ultrasonic radars, wherein twelve ultrasonic radars are arranged on a support in two rows, a mounting plate on the support is arc-shaped, six ultrasonic radars are symmetrically arranged in each row, four ultrasonic radars in the middle of each row are short-distance ultrasonic radars, and two ultrasonic radars on two sides are long-distance ultrasonic radars.
3. The ultrasonic radar-based hardware-in-the-loop test stand for an automatic parking system, as set forth in claim 1, wherein: the steering-by-wire system comprises a steering wheel system, a steering device system and a steering electronic control system, wherein the steering wheel system comprises a steering wheel and a steering column pipe, the steering wheel is arranged at the front end of a frame body, a seat is arranged at the position corresponding to the steering wheel, the steering wheel is arranged at the top end of the steering column pipe, a torque sensor, a steering angle sensor and a torque feedback motor are arranged in the steering column pipe, the torque sensor, the steering angle sensor and the torque feedback motor are all connected with the steering electronic control system, the torque sensor and the steering angle sensor can transmit acquired data to the steering electronic control system in real time, the steering electronic control system controls the operation of the torque feedback motor according to the received data, the steering device system comprises a front wheel angle sensor, a steering motor, a gear-rack steering mechanism and a torque sensor, the front wheel angle sensor, the steering motor and the torque sensor are all connected with the steering electronic control system, the steering motor is connected with the gear-rack steering mechanism, and the front wheel angle sensor and the torque sensor can transmit the acquired data to the steering electronic control system in real time, and the steering electronic control system receives the data from the steering electronic control system, and the steering electronic control system is connected with the steering mechanism and the steering device is controlled by the lower control system.
4. The ultrasonic radar-based hardware-in-the-loop test stand for an automatic parking system, as set forth in claim 1, wherein: the brake-by-wire system is an electronic hydraulic brake system and comprises a high-pressure oil supply unit, a hydraulic execution unit, a brake electronic control unit, a brake pedal assembly and a brake assembly, wherein the brake pedal assembly is composed of a brake pedal, a pedal feel simulator and a pedal travel sensor, the pedal feel simulator and the pedal travel sensor are assembled on the brake pedal, the pedal feel simulator and the pedal travel sensor are connected with the brake electronic control unit, the pedal feel simulator and the pedal travel sensor can transmit collected data to the brake electronic control unit in real time, the brake electronic control unit is connected with the hydraulic execution unit, the hydraulic execution unit is respectively connected with the high-pressure oil supply unit and the brake assembly, the brake electronic control unit controls the work of the hydraulic execution unit according to the data transmitted by the pedal feel simulator and the pedal travel sensor, the high-pressure oil supply unit supplies high-pressure oil to the hydraulic execution unit, the hydraulic execution unit further controls the work of the brake assembly, and the brake electronic control unit is connected with a lower computer and controlled by the lower computer.
5. The ultrasonic radar-based hardware-in-the-loop test stand for an automatic parking system, as set forth in claim 1, wherein: the bottom of the frame body is provided with universal wheels.
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