【摘要】 毫米波雷达具有较高分辨率，能适应各种天气情况，擅长检测运动目标。毫米波雷达传感器在高级驾驶辅助系统（advanced driving assistance system,ADAS）中发挥着重要的作用。ADAS硬件在环(HIL)测试系统中环境感知模块的毫米波雷达数据注入方式尚不完善，且频繁地进行车载毫米波雷达的场外实际道路试验需要耗费很大的人力物力，并存在着安全风险。数据回放技术可以将一次成功的道路测试数据以信号的形式重新回放给车载控制器（electronic control unit,ECU）对其性能进行测试。针对现有车载多路毫米波雷达和ECU工作特点，设计一个能够配合ECU进行性能测试的车载多路毫米波雷达数据回放装置，采用基于LabVIEW编程语言设计的上位机和以STM32为核心的回放装置下位机，实现具有雷达数据文件选择、数据解析、播放控制功能的多路毫米波雷达数据回放装置。下位机采用USB2.0的高速接收上位机数据,设计了多路控制器局域网络（controller area network,CAN）报文通道映射、播放停止控制、发送时间精度控制功能。实验证明，该回放装置能够达到预期设计目标。更多还原

【Abstract】 Millimeter wave radar has high resolution, can adapt to various weather conditions, and is good at detecting moving targets. Millimeter wave radar sensors play an important role in the Advanced Driving Assistance System(ADAS). The environmental awareness module’s millimeter wave radar data injection method in the ADAS HIL hardware in the loop testing process is not yet perfect. Frequent off-site actual road experiments of vehicle borne millimeter wave radar require significant human and material resources, and there are safety risks. The data playback technology can replay a successful road test data in the form of a signal to the electronic control unit(ECU) to test its performance. Aiming at the working characteristics of existing multi channel millimeter wave radar and ECU, this paper designs a data playback device for multi channel millimeter wave radar that can cooperate with ECU for performance testing. The upper computer is designed using LabVIEW programming language, and the lower computer of the playback device is designed with STM32 as the core. Implement a multi-channel millimeter wave radar data playback device with radar data file selection, data analysis, and playback control functions. The lower computer uses USB2.0 to receive data from the upper computer at a high speed, and designs multiple CAN message channel mapping, playback stop control, and transmission time accuracy control functions. Experiments have proved that the playback device can achieve the expected design goals.更多还原