KR20210115819A - Apparatus and Method for Verifying Radar Performance - Google Patents

Abstract

According to an embodiment, disclosed is an apparatus for analyzing radar performance comprising: a radar sensor; a LiDAR sensor; and a processor. The processor acquires first sensing data and second sensing data respectively through the radar sensor and the LiDAR sensor, detects a target object based on the first sensing data and the second sensing data respectively, and evaluates performance of the radar sensor based on a location difference of the target object between the first sensing data and the second sensing data.

Description

Apparatus and Method for Verifying Radar Performance

Various embodiments disclosed in this document are related to radar performance evaluation technology.

The radar sensor can detect information such as distance, angle and speed to the target. For example, the radar sensor may recognize the target when the intensity of the signal received by being reflected by the target after transmission using the transceiver is greater than or equal to a threshold value. However, the radar sensor may not recognize an existing target or may misrecognize a target that does not actually exist.

An apparatus for evaluating the performance of a radar sensor (hereinafter, may be referred to as a "radar performance analysis apparatus") needs to accurately recognize the position and speed of a target recognized by the radar sensor. To this end, the tester may measure the coordinates of the target, and analyze and measure the detection data of the radar sensor based on the coordinates. Alternatively, a device having high precision (eg, a GPS module) may be attached to the target, and the detection data of the radar sensor may be analyzed and measured based on the attached device.

However, the radar performance analysis apparatus based on the attachment device may analyze the detection data of the radar only for the target to which the GPS module is attached. Therefore, it may be difficult for the radar performance analysis apparatus based on the attachment device to accurately identify or analyze the positions of a plurality of targets that are not equipped with attachment devices detected by the radar.

Various embodiments disclosed in this document may provide a radar performance analysis apparatus and method capable of confirming the performance of the radar sensor based on the lidar sensor.

A radar performance analysis apparatus according to an embodiment disclosed in this document, a radar sensor (radar); lidar sensors; and a processor, wherein the processor acquires first detection data and second detection data through the radar sensor and the lidar sensor, respectively, and based on the first detection data and the second detection data, respectively and to evaluate the performance of the radar sensor based on a difference in position of a target between the first sensed data and the second sensed data.

In addition, the radar performance analysis method according to an embodiment of the present disclosure may include: acquiring first detection data and second detection data through a radar sensor and a lidar sensor, respectively; detecting a target based on the first sensed data and the second sensed data, respectively; and evaluating the performance of the radar sensor based on a position difference of a target between the first detection data and the second detection data.

A radar performance analysis apparatus according to an embodiment disclosed in this document, a radar sensor (radar); lidar sensors; display; and a processor, wherein the processor acquires first detection data and second detection data through the radar sensor and the lidar sensor, respectively, and based on the first detection data and the second detection data, respectively , and a difference in position of a target between the second sensed data and the first sensed data may be set to be displayed on the display.

According to various embodiments disclosed herein, the performance of the radar sensor may be checked based on the lidar sensor. In addition, various effects directly or indirectly identified through this document may be provided.

1 illustrates a performance display screen of a radar performance analysis apparatus according to an exemplary embodiment.
2 is a block diagram of a radar performance analysis apparatus according to an embodiment.
3 is a view for explaining the detection and visualization of a target position according to an embodiment.
4 illustrates a radar performance analysis method according to an embodiment.
In connection with the description of the drawings, the same or similar reference numerals may be used for the same or similar components.

1 illustrates a performance display screen of a radar performance analysis apparatus according to an exemplary embodiment.

Referring to FIG. 1 , according to an embodiment, the apparatus for analyzing radar performance may detect a nearby object through a radar sensor and a lidar sensor. The radar performance analysis apparatus may generate the preview image 130 obtained by photographing the object through the camera while detecting the object through the radar sensor and the lidar sensor.

According to an embodiment, the first position information of the target detected through the radar sensor by the radar performance analyzing apparatus and the second position information of the target detected through the lidar sensor may have a deviation due to the difference in performance between the radar sensor and the lidar sensor. there may be However, since a lidar sensor including a light source of multiple channels has better resolution than a radar sensor, it is possible to detect an object position more accurately than a radar sensor.

The radar performance analysis apparatus may display the deviation on the preview image 130 of the camera. For example, the radar performance analyzing apparatus may convert the first position information and the second position information into positions according to a coordinate system of a camera, respectively. The radar performance analysis apparatus may display the converted first and second location information on the preview image.

According to the above-described embodiment, the radar performance analysis apparatus can automatically measure the position of the target in the test evaluation process of the radar sensor without installing a GPS sensor on the surrounding object or manually measuring the position of the surrounding object. .

In addition, according to the above-described embodiment, the radar performance analysis apparatus may evaluate the performance of the radar sensor based on the lidar sensor capable of detecting the position of the object more accurately than the radar sensor and detecting the shape of the object.

2 is a block diagram of a radar performance analysis apparatus according to an embodiment.

Referring to FIG. 2 , the radar performance analysis apparatus 200 according to an embodiment may include a radar sensor 210 , a lidar sensor 220 , a camera 230 , a memory 250 , and a processor 260 . have. In an embodiment, the radar performance analysis apparatus 200 may omit some components or further include additional components. For example, the radar performance analysis apparatus 200 may further include a display 240 . In addition, some of the components of the radar performance analysis apparatus 200 are combined to form a single entity, and functions of the components prior to the combination may be performed identically.

The radar sensor (radar: Radio Detecting And Ranging) 210 may transmit an electromagnetic wave (microwave) and detect an object based on the intensity of the electromagnetic wave reflected by a surrounding object. According to an embodiment, the radar sensor 210 may detect a distance, a direction, and an altitude of an object located within a first field of view. Alternatively, the radar sensor 210 may acquire area information (2D target information) or stereoscopic area information (3D target information) including length information of the object. The radar sensor 210 may acquire the 2D target information or the 3D target information through an additional signal processing function with respect to an object having a larger resolution than that of the radar sensor 210 . The radar sensor 210 may be replaced as an object of performance analysis. The first viewing angle may be determined according to a radiation pattern of an antenna emitting electromagnetic waves included in the radar sensor 210 .

The lidar sensor (Light Detection And Ranging) 220 may detect an object based on the light (or pulse laser) emitted and returned back. According to an embodiment, the lidar sensor 220 may detect an object located within the second viewing angle including the first viewing angle. The lidar sensor 220 may be a comparison target for performance analysis of the radar sensor 210 . The second viewing angle may be determined according to an orientation angle of a light source included in the lidar sensor 220 . The orientation angle may be controlled by the processor 260 . When the lidar sensor 220 is rotatable 360 degrees, the second viewing angle may be expanded according to the rotation of the lidar sensor 220 . In this document, for convenience of description, a case in which the radar sensor 210 and the lidar sensor 220 transmit electromagnetic waves or light in a predetermined direction to detect an object will be described as an example.

The camera 230 may capture still images and moving images. The camera 230 may include an image sensor implemented as a charged coupled device (CCD) sensor or a complementary metal oxide semiconductor (CMOS) sensor. The image sensor may acquire an image corresponding to an external object (eg, a subject) by converting light transmitted from an external object through the lens assembly into an electrical signal. According to an embodiment, the camera 230 may capture a third viewing angle including the first viewing angle. The camera 230 may be a monocular camera. The camera 230 may be used as a visualization tool for performance analysis of the radar sensor 210 .

The display 240 may output content according to a command of the processor 260 . The display may include, for example, a liquid crystal display (LCD), a light emitting diode (LED) display, or an organic light emitting diode (OLED) display.

The memory 250 may store various data used by at least one component (eg, the processor 260 ) of the radar performance analysis apparatus 200 . Data may include, for example, input data or output data for software and related instructions. For example, the memory 250 may store at least one instruction for analyzing radar performance. The memory 250 may include a volatile memory or a non-volatile memory.

The processor 260 may control at least one other component (eg, a hardware or software component) of the radar performance analysis apparatus 200 by executing at least one instruction, and perform various data processing or calculations. can The processor 260 may include, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, an application processor, an application specific integrated circuit (ASIC), or field programmable gate arrays (FPGA). )), and may have a plurality of cores.

According to an embodiment, when the radar sensor 210 is mounted, the processor 260 may check alignment state information of the radar sensor 210 , the lidar sensor 220 , and the camera 230 . The arrangement state information may be a default setting stored in the memory 250 or may be set through an input device. The processor 260 may calibrate the radar sensor 210 , the lidar sensor 220 , and the camera 230 based on the checked alignment state information. The calibration may be, for example, matching a reference point (eg, origin) of the radar sensor 210 , the lidar sensor 220 , and the camera 230 . For example, the radar sensor 210 , the lidar sensor 220 , and the camera 230 may be vertically (or vertically) aligned. In this case, the processor 260 may correct the vertical deviation of the reference points of the radar sensor 210 , the lidar sensor 220 , and the camera 230 through calibration. For another example, the radar sensor 210 , the lidar sensor 220 , and the camera 230 may be aligned horizontally (or in a left-right direction). In this case, the processor 260 may correct the left and right deviations of the reference points of the radar sensor 210 , the lidar sensor 220 , and the camera 230 through calibration. In an embodiment, when the alignment state of the radar sensor 210 , the lidar sensor 220 , and the camera 230 is changed, the processor 260 may perform the calibration at least once.

According to an embodiment, the processor 260 may acquire first detection data through the radar sensor 210 and detect the direction and distance of a nearby object based on the acquired first detection data. The first detection data includes the distance between the radar sensor 210 and the object (hereinafter referred to as “distance information”) and the left/right direction angle of the object based on the radar sensor 210 (hereinafter, “first direction angle information”). It may be two-dimensional data including "). Alternatively, the first sensing data may be two-dimensional data including area information of the object. The first sensing data may be 3D data including distance information, first direction angle information, and an up/down direction angle (hereinafter, referred to as “second direction angle information”) of an object. Alternatively, the first sensing data may be 3D data including 3D area information (3D target detection information). The processor 260 uses an additional signal processing function for the first detection data acquired from the radar sensor 210 on behalf of the radar sensor 210 for an object larger than the resolution of the radar sensor 210 through the two-dimensional Target information or the 3D target information may be acquired.

According to an embodiment, the processor 260 may acquire the second detection data through the lidar sensor 220 while acquiring the first detection data. The second sensing data may be 3D data including x, y, and z coordinate information of an object based on the lidar sensor 220 .

According to an embodiment, the processor 260 acquires a preview image for the third viewing angle through the camera 230 while acquiring the first detection data and the second detection data, and stores the preview image in the memory 250 . It may be stored or displayed on the display 240 .

According to an embodiment, when the processor 260 detects an object through the first sensed data, the processor 260 may detect the shape of the object based on the second sensed data. The processor 260 may differently process the second sensed data according to the format of the first sensed data. For example, when the first sensing data related to object detection is 3D data, the processor 260 may detect the 3D shape of the object by clustering adjacent point clouds included in the second sensing data. As another example, when the first sensing data related to object detection is 2D data, the processor 260 may convert the second sensing data into 2D data according to the format of the first sensing data. The processor 260 may determine the two-dimensional shape of the object by clustering points included in the second sensed data converted into two dimensions.

According to an embodiment, the processor 260 may detect a target located closest to the objects in the surrounding environment based on the first detection data and the second detection data, respectively. For example, when the processor 260 detects a plurality of objects based on at least one of the first detection data and the second detection data, the processor 260 detects a target located closest to the detected plurality of objects. can do. According to various embodiments, the processor 260 may detect a target located at a specified distance or direction from among the plurality of objects.

According to an exemplary embodiment, the processor 260 may configure a target detected by the first detection data (hereinafter, referred to as a “first object”) and a target detected by the second detection data (hereinafter referred to as a “second object”). ), the similarity between them can be confirmed. For example, the processor 260 may associate between the first object-related information according to the first sensed data and the second object-related information (distance information and shape information) according to the second sensed data. The processor 260 is configured to provide center of gravity, distance information, first direction angle, and area information (eg, the length of the object or the object) of the first object and the second object based on the first object-related information and the second object-related information related to each other. ), the second direction angle, and the similarity between the area information (eg, area size) may be checked. The first object-related information may include, for example, at least one of distance information, three-dimensional area information (eg, the length of an object or a size of a three-dimensional area), first direction angle information, and second direction angle information. The second object-related information may include, for example, distance information and shape information. In this process, in order to compare the first object and the second object, the processor 260 performs the first detection data (or the first object related information) and the second detection data (or the second detection data) according to the resolution of the first detection data. 1 object-related information). The processor 260 may check the similarity between the first object and the second object based on the associated first detection data (or first object-related information) and the second detection data (or second object-related information). If the purpose of vehicle detection is to determine the minimum size of the vehicle (eg, 4m*2m*1.5m) according to the unit volume (0.5m*0.5m*0.5) according to the resolution of the radar sensor 210, the first detection data and the second Sensing data can be correlated.

According to an embodiment, if the similarity between the first object and the second object is equal to or greater than the threshold similarity, the processor 260 may determine that the first object and the second object are mutually identical or identical targets.

In this process, the processor 260 may determine the first object and the second object as the same target as it is confirmed that the first object and the second object match a plurality of times. For example, the processor 260 may detect a surrounding object through the radar sensor 210 and the lidar sensor 220 a first predetermined number of times (eg, 10 times). When the first object and the second object are detected through the detection of the surrounding object, the processor 260 may determine whether the first object and the second object match each other based on the degree of similarity between the first object and the second object. The processor 260 may determine the first object and the second object as the same target when it is confirmed that the first object and the second object match for a second specified number of times (eg, 5 times) less than the first specified number of times. .

According to an embodiment, when the first object and the second object are determined to be the same target, the processor 260 detects the position information of the first object detected by the radar sensor 210 and the lidar sensor 220 . It is possible to check a difference between the location information of the first object. For example, the processor 260 may determine the location information of the first object (hereinafter referred to as “first location information”) and the second object according to the resolution of the radar sensor 210 or the resolution of the lidar sensor 220 . A difference between location information (hereinafter, referred to as “second location information”) may be calculated. The calculated difference may include at least one of a distance difference according to a reference point, an angle difference, and a size difference of the detected object. The calculated distance difference may include, for example, a distance difference between the center of gravity of the first object and the center of gravity of the second object.

According to an embodiment, the processor 260 may check the performance of the radar sensor 210 based on a difference between the first location information and the second location information. For example, the processor 260 may determine that the performance of the radar sensor 210 is lower as the difference between the first location information and the second location information increases.

According to an embodiment, the processor 260 may display an image related to the performance of the radar sensor 210 based on the preview image of the camera 230 .

The processor 260 may generate a preview image including the first object and the second object through the camera 230 . The processor 260 may convert the first location information determined based on the first detection data and the first location information determined based on the second detection data into location information corresponding to the coordinate system of the camera 230 . The processor 260 displays a first object image indicating the position of the first object in the first position information converted from the preview image, and displays a second object image indicating the position and shape of the second object in the converted second position information. can According to various embodiments, the processor 260 may focus the camera 230 on a target, and may generate and display a preview image.

Additionally, the processor 260 may display a difference between the first location information and the second location information in the preview image or through another image through text or a symbol. For example, when the processor 260 confirms selection of the first object image or the second object image in the preview image, the processor 260 may display the other image. The text or symbol may include, for example, a figure of merit (eg, excellent, average, or poor) corresponding to a range to which a difference between the first location information and the second location information belongs.

According to various embodiments, the processor 260 is configured to perform the radar sensor 210 based on information obtained in the process of confirming the similarity between the first object and the second object based on the first object-related information and the second object-related information. performance can be checked. For example, the processor 260 may determine that the performance index of the radar sensor 210 is lower as the number of times that the same target is not detected through the process of detecting the surrounding object by the first specified number of times.

According to the above-described embodiment, the radar performance analysis apparatus 200 determines the position of the target in the test evaluation process of the radar sensor 210 without the cumbersome process of installing a GPS sensor on the surrounding object or manually measuring the position of the surrounding object. can be measured automatically.

In addition, according to the above-described embodiment, the radar performance analysis apparatus 200 may indicate the position and shape of the target detected by the radar sensor 210 by auxiliaryly utilizing the camera 230 and the lidar sensor 220 . have.

In addition, the radar performance analysis apparatus 200 may support the tester to easily evaluate the performance of the radar sensor 210 as the location of the target is visualized.

3 is a view for explaining the detection and visualization of a target position according to an embodiment. In FIG. 3 , the y-axis represents the photographing direction of the camera 230 , the irradiation direction of the lidar sensor 220 and the radar sensor 210 , and the x-axis and z-axis represent the coordinate system of the camera 230 . The first area 310 represents the viewing angle of the lidar sensor 220 , and the second area 320 represents the viewing angle of the radar sensor 210 . The third area 330 represents a preview image of the camera 230 .

Referring to FIG. 3 , the radar performance analysis apparatus 200 detects the same target as the first location information p1 based on the radar sensor 210 and the second location information based on the lidar sensor 220 . (p2) can be detected. The radar performance analysis apparatus 200 may detect a position of a target or an approximate shape (radar image) of an object larger than the resolution of the radar sensor 210 through the radar sensor 210 , and the lidar sensor 220 . Through this, the position and shape of the target can be detected. The difference between the first location information p1 and the second location information p2 may be due to a performance difference between the radar sensor 210 and the lidar sensor 220 . Accordingly, the radar performance analysis apparatus 200 may calculate a difference between the first location information p1 and the second location information p2 and evaluate the performance of the radar sensor 210 based on the identified difference.

The radar performance analysis apparatus 200 may convert the first location information p1 and the second location information p2 to correspond to the coordinate system of the camera 230 . The radar performance analysis apparatus 200 calculates the converted first location information p1' or p1" (or the first object image) and the converted second location information p2' (or the second object image). may be displayed on the preview image, for example, the radar performance analysis apparatus 200 may not know the second direction angle of the target when the first detection data acquired through the radar sensor 210 is 2D data Accordingly, the radar performance analyzing apparatus 200 may display the first object image p1 ′ representing the entire upper and lower ranges of the first viewing angle using the second direction angle information. For another example, the radar performance analyzing apparatus ( When the first detected data acquired through the radar sensor 210 is three-dimensional data, 200 indicates a first object image p1" indicating a sensed upper and lower range among the entire upper and lower ranges of the first viewing angle for the second direction angle information. ) can be displayed.

4 illustrates a radar performance analysis method according to an embodiment.

Referring to FIG. 4 , in operation 410 , the radar performance analysis apparatus 200 may acquire first and second detection data respectively through the radar sensor 210 and the lidar sensor 220 . The radar performance analysis apparatus 200 may match the reference points of the radar sensor 210 and the lidar sensor 220 through calibration.

In operation 420, the radar performance analysis apparatus 200 may detect a target based on the first detection data and the second detection data, respectively. The radar performance analysis apparatus 200 detects the surroundings through the radar sensor 210 and the lidar sensor 220 to obtain first and second detection data, and an object detected based on the first and second detection data A target can be detected based on the similarity between them. The radar performance analysis apparatus 200 may check a similarity with respect to at least one of a center of gravity between objects, distance information, a first direction angle, a second direction angle, and area information.

In operation 430 , the radar performance analysis apparatus 200 may evaluate the performance of the radar sensor 210 based on a difference in the position of the target between the first detection data and the second detection data. Additionally, the radar performance analysis apparatus 200 may generate a preview image including a target through the camera 230 while acquiring the first detection data and the second detection data, and indicate the position difference in the preview image.

According to an embodiment, the radar performance analysis apparatus (eg, 200 in FIG. 2 ) may include a radar sensor (eg, 210 in FIG. 2 ), a lidar sensor (eg, 220 in FIG. 2 ); and a processor (eg, 260 in FIG. 2 ), wherein the processor acquires first and second detection data through the radar sensor and the lidar sensor, respectively, and the first detection data and the second detection data It may be configured to detect a target based on the two detection data, respectively, and evaluate the performance of the radar sensor based on a difference in position of the target between the first detection data and the second detection data.

The processor calculates a difference between a first distance to the target according to the first detection data and a second distance to the target according to the second detection data, and based on the calculated difference, It can be set to evaluate performance.

The processor may be configured to associate the first sensed data and the second sensed data according to a resolution of the first sensed data.

The processor may be configured to reduce a dimension of the second sensed data to two dimensions when the first sensed data is two-dimensional data.

The processor detects a surrounding object a first specified number of times through the radar sensor and the lidar sensor, and a first object detected based on the radar sensor and a second object detected based on the lidar sensor It may be set to determine that the first object and the second object correspond to the same target when the second specified number of times or more coincide.

The processor may be configured to check whether the first object and the second object match, based on a degree of similarity between the first object and the second object.

The processor may be configured to check the similarity with respect to at least one of a center of gravity, distance information, a first direction angle, a second direction angle, and area information of the first object and the second object.

The radar performance analysis apparatus (eg, 200 in FIG. 2 ) further includes a camera (eg, 230 in FIG. 2 ), and the processor, while acquiring the first detection data and the second detection data, the A preview image may be acquired through a camera, and a first object detected based on the first detection data and a second object detected based on the second detection data may be superimposed and displayed on the preview image.

The processor may be configured to check the location information of the first object and the location information of the second object, and to display a difference between the location information of the first object and the location information of the second object on the preview image have.

The processor converts the position information of the first object and the position information of the second object into position information corresponding to the coordinate system of the camera, respectively, and in the preview image, a first object image and It may be set to display the second object image.

The processor is configured to focus the camera on at least one of location information of the first object and location information of the second object, and obtain the preview image including the first object and the second object can be set to

According to an embodiment, the radar performance analysis method includes an operation of respectively acquiring first detection data and second detection data through a radar sensor and a lidar sensor, based on the first detection data and the second detection data, respectively The method may include detecting a target, and evaluating the performance of the radar sensor based on a position difference of the target between the first sensed data and the second sensed data.

The detecting may include: detecting a surrounding object a first predetermined number of times through the radar sensor and the lidar sensor; and when the first object and the second object match a second specified number of times or more, it may be determined that the first object and the second object correspond to the same target.

The determining may include checking whether the first object and the second object match based on a degree of similarity between the first object and the second object.

The radar performance analysis method includes: while acquiring the first detection data and the second detection data, acquiring a preview image through a camera; and a first detected based on the first detection data in the preview image The method may further include overlapping the object and the second object detected based on the second sensed data and displaying the overlapping operation.

The displaying may include: checking location information of the first object and location information of the second object; and displaying a difference between the location information of the first object and the location information of the second object on the preview image.

The displaying may include converting the position information of the first object and the position information of the second object into position information corresponding to the coordinate system of the camera, and adding the second object to each of the converted position information in the preview image. It may include an operation of displaying the first object image and the second object image.

According to an embodiment, the radar performance analysis apparatus (eg, 200 in FIG. 2 ) includes a radar sensor (eg, 210 in FIG. 2 ), a lidar sensor (eg 220 in FIG. 2 ), and a display (eg, in FIG. 2 ). 240), and a processor (eg, 260 in FIG. 2 ), wherein the processor acquires first and second detection data through the radar sensor and the lidar sensor, respectively, and the first detection data and detecting a target based on each of the second sensing data, and displaying a position difference of the target between the second sensing data and the first sensing data on the display.

The processor, while acquiring the first detection data and the second detection data, acquires a preview image through a camera, the first object and the second detected based on the first detection data in the preview image It may be set to overlap and display the second object detected based on the sensed data.

The processor converts the position information of the first object and the position information of the second object into position information corresponding to the coordinate system of the camera, respectively, and in the preview image, a first object image and It may be set to display the second object image.

It should be understood that the various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and include various modifications, equivalents, or substitutions of the embodiments. In connection with the description of the drawings, like reference numerals may be used for similar or related components. The singular form of the noun corresponding to the item may include one or more of the item, unless the relevant context clearly dictates otherwise. As used herein, “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C” and “A, Each of the phrases "at least one of B, or C" may include any one of, or all possible combinations of, items listed together in the corresponding one of the phrases. Terms such as “first”, “second”, or “first” or “second” may simply be used to distinguish the component from other such components, and refer to the component in another aspect (e.g., importance or order) is not limited. that one (e.g., first) component is "coupled" or "connected" to another (e.g., second) component with or without the terms "functionally" or "communicatively" When referenced, it means that one component can be connected to the other component directly (eg by wire), wirelessly, or through a third component.

As used herein, the terms “module,” “part,” and “means” may include units implemented in hardware, software, or firmware, and include terms such as, for example, logic, logical blocks, components, or circuits; They can be used interchangeably. A module may be an integrally formed part or a minimum unit or a part of the part that performs one or more functions. For example, according to an embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

Various embodiments of the present document are stored in a storage medium (eg, internal memory or external memory) (memory 250) readable by a machine (eg, radar performance analysis device 200). It may be implemented as software (eg, a program) including one or more instructions. For example, the processor (eg, the processor 260) of the device (eg, the radar performance analysis apparatus 200) may call at least one of the one or more instructions stored from the storage medium and execute it. Enables a device to be operated to perform at least one function according to the called at least one instruction, The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. A device-readable storage medium may be provided in the form of a non-transitory storage medium, where 'non-transitory' is a device in which the storage medium is tangible, and a signal (eg, : electromagnetic waves), and this term does not distinguish between a case in which data is semi-permanently stored in a storage medium and a case in which data is temporarily stored.

According to one embodiment, the method according to various embodiments disclosed in this document may be provided in a computer program product (computer program product). Computer program products may be traded between sellers and buyers as commodities. The computer program product is distributed in the form of a machine-readable storage medium (eg compact disc read only memory (CD-ROM)), or through an application store (eg Play Store ^TM ) or on two user devices ( It can be distributed (eg downloaded or uploaded) directly, online between smartphones (eg: smartphones). In the case of online distribution, at least a part of the computer program product may be temporarily stored or temporarily generated in a machine-readable storage medium such as a memory of a server of a manufacturer, a server of an application store, or a relay server.

According to various embodiments, each component (eg, a module or a program) of the above-described components may include a singular or a plurality of entities. According to various embodiments, one or more components or operations among the above-described corresponding components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (eg, a module or a program) may be integrated into one component. In this case, the integrated component may perform one or more functions of each component of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. . According to various embodiments, operations performed by a module, program, or other component are executed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations are executed in a different order, or omitted. or one or more other operations may be added.

Claims (20)

In the radar performance analysis apparatus,
radar sensor;
lidar sensors; and
including a processor;
The processor is
first detection data and second detection data are respectively acquired through the radar sensor and the lidar sensor;
detecting a target based on each of the first sensed data and the second sensed data;
The radar performance analysis apparatus is set to evaluate the performance of the radar sensor based on a difference in the position of the target between the first detection data and the second detection data. The method according to claim 1, wherein the processor,
calculating a difference between a first distance from the target according to the first detection data and a second distance from the target according to the second detection data;
A radar performance analysis apparatus configured to evaluate the performance of the radar sensor based on the calculated difference. The method according to claim 1, wherein the processor,
The radar performance analysis apparatus is set to correlate the first sensed data and the second sensed data according to the resolution of the first sensed data. The method according to claim 3, wherein the processor,
When the first sensed data is two-dimensional data, the radar performance analysis apparatus is set to reduce the dimension of the second sensed data to two dimensions. The method according to claim 1, wherein the processor,
Detecting a surrounding object a first specified number of times through the radar sensor and the lidar sensor,
When the first object detected based on the radar sensor and the second object detected based on the lidar sensor match a second specified number of times or more, it is determined that the first object and the second object correspond to the same target A radar performance analysis device, set to The method according to claim 5, wherein the processor,
The radar performance analysis apparatus, configured to check whether the first object and the second object match based on the degree of similarity between the first object and the second object. The method according to claim 6, wherein the processor,
The radar performance analysis apparatus is set to check the similarity with respect to at least one of a center of gravity, distance information, a first direction angle, a second direction angle, and area information of the first object and the second object. The method according to claim 1,
Further comprising a camera, the processor comprising:
While acquiring the first detection data and the second detection data, acquiring a preview image through the camera,
The radar performance analysis apparatus is set to overlap the preview image with a first object detected based on the first detection data and a second object detected based on the second detection data. The method of claim 8, wherein the processor,
Check the location information of the first object and the location information of the second object,
and a difference between the location information of the first object and the location information of the second object is set to be displayed on the preview image. The method of claim 8, wherein the processor,
Converting the position information of the first object and the position information of the second object into position information corresponding to the coordinate system of the camera, respectively;
The radar performance analysis apparatus is set to display a first object image and a second object image on each of the converted position information in the preview image. The method of claim 8, wherein the processor,
focusing the camera on at least one of the location information of the first object and the location information of the second object;
A radar performance analysis apparatus configured to acquire the preview image including the first object and the second object. In the radar performance analysis method by the processor,
acquiring the first detection data and the second detection data through the radar sensor and the lidar sensor, respectively;
detecting a target based on the first sensed data and the second sensed data, respectively; and
and evaluating the performance of the radar sensor based on a position difference of a target between the first detection data and the second detection data. The method of claim 12, wherein the detecting comprises:
detecting a surrounding object a first predetermined number of times through the radar sensor and the lidar sensor; and
When the first object and the second object match more than a second specified number of times, it is determined that the first object and the second object correspond to the same target. The method according to claim 13, The determining operation,
and determining whether the first object and the second object match based on a degree of similarity between the first object and the second object. The method according to claim 1,
acquiring a preview image through a camera while acquiring the first detection data and the second detection data; and
The method of claim 1 , further comprising overlapping a first object detected based on the first detection data and a second object detected based on the second detection data on the preview image and displaying the overlapped image. The method according to claim 15, The displaying operation,
checking the location information of the first object and the location information of the second object; and
and displaying a difference between the location information of the first object and the location information of the second object on the preview image. The method according to claim 15, The displaying operation,
converting the position information of the first object and the position information of the second object into position information corresponding to the coordinate system of the camera, respectively; and
and displaying a first object image and a second object image on each of the converted position information in the preview image. In the radar performance analysis apparatus,
radar sensor;
lidar sensors;
display; and
including a processor;
The processor is
first detection data and second detection data are respectively acquired through the radar sensor and the lidar sensor;
detecting a target based on each of the first sensed data and the second sensed data;
A radar performance analysis apparatus configured to display a position difference of a target between the second detection data and the first detection data on the display. The method of claim 18, wherein the processor,
While acquiring the first detection data and the second detection data, a preview image is acquired through a camera,
The radar performance analysis apparatus is set to overlap the preview image with a first object detected based on the first detection data and a second object detected based on the second detection data. The method of claim 19, wherein the processor,
Converting the position information of the first object and the position information of the second object into position information corresponding to the coordinate system of the camera, respectively;
The radar performance analysis apparatus is set to display a first object image and a second object image on each of the converted position information in the preview image.

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