CN108226883B - Method and device for testing millimeter wave radar performance and computer readable storage medium - Google Patents
Method and device for testing millimeter wave radar performance and computer readable storage medium Download PDFInfo
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- CN108226883B CN108226883B CN201711213055.0A CN201711213055A CN108226883B CN 108226883 B CN108226883 B CN 108226883B CN 201711213055 A CN201711213055 A CN 201711213055A CN 108226883 B CN108226883 B CN 108226883B
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Abstract
The invention discloses a method, a device and a computer readable storage medium for testing millimeter wave radar performance, wherein the method comprises the following steps: when the millimeter wave radar and the laser radar which are positioned at the preset installation position are in a dynamic scene, acquiring target characteristic data detected by the millimeter wave radar and acquiring target point cloud data detected by the laser radar; determining the coordinates of the target under a laser radar coordinate system according to the target point cloud data, and converting the coordinates of the target under the laser radar coordinate system into the coordinates of the target under the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target; and comparing the target characteristic data with the standard characteristic data of the target to determine the error of the target characteristic data detected by the millimeter wave radar. The invention tests the vehicle-mounted millimeter wave performance, thereby effectively utilizing the millimeter wave radar to realize accurate detection on the obstacle.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a method and a device for testing millimeter wave radar performance and a computer readable storage medium.
Background
Millimeter wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. The millimeter wave radar has the advantages of wide detection range, small influence of weather and the like, and is widely applied to the fields of automatic driving and the like. The detection of the vehicle-mounted millimeter wave radar on the target mainly comprises three characteristic data of the distance, the angle and the speed of the target, however, the vehicle-mounted millimeter wave radar is limited by the wavelength, and frequency band loss exists when the target is detected, so that the detection precision of the vehicle-mounted millimeter wave radar is poor, and when the vehicle-mounted millimeter wave radar is applied to the field of unmanned driving, the precision of the detected obstacle information is difficult to determine.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method and a device for testing the performance of a millimeter wave radar and a computer readable storage medium, and aims to solve the technical problem that when a vehicle-mounted millimeter wave radar is applied to the field of unmanned driving, the accuracy of detected obstacle information is difficult to determine.
In order to achieve the above object, the present invention provides a method for testing millimeter wave radar performance, the method comprising:
when the millimeter wave radar and the laser radar which are positioned at the preset installation position are in a dynamic scene, acquiring target characteristic data detected by the millimeter wave radar and acquiring target point cloud data detected by the laser radar;
determining the coordinates of the target under a laser radar coordinate system according to the target point cloud data, and converting the coordinates of the target under the laser radar coordinate system into the coordinates of the target under the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target;
and comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target to determine the error of the target characteristic data detected by the millimeter wave radar.
Optionally, before the step of obtaining target feature data detected by the millimeter wave radar and obtaining target point cloud data detected by the laser radar when the millimeter wave radar and the laser radar located at the preset installation position are in a dynamic scene, the method includes:
and jointly calibrating the millimeter wave radar and the laser radar which are positioned at the preset installation position through the calibration object positioned at the preset position, and determining the coordinate system conversion relation of the millimeter wave radar and the laser radar.
Optionally, the target feature data includes a distance and an angle of the target.
Optionally, the step of determining coordinates of the target in the lidar coordinate system according to the target point cloud data detected by the lidar includes:
and carrying out voxel filtering processing on the target point cloud data to obtain the coordinates of the target in a laser radar coordinate system.
Optionally, the method further comprises:
when the millimeter wave radar is in a static scene, acquiring moving target characteristic data detected by the millimeter wave radar, and acquiring the distance between the actually measured millimeter wave radar and a calibration object located at a preset position and the distance between the calibration object and the moving target;
determining standard characteristic data of a moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target;
and comparing the characteristic data of the moving target detected by the millimeter wave radar with the standard characteristic data of the moving target, and determining the error of the characteristic data of the moving target detected by the millimeter wave radar.
Optionally, the step of determining the standard feature data of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target includes:
and calculating the distance and the angle of the moving target according to the distance between the millimeter-wave radar and the calibration object and the distance between the calibration object and the moving target to serve as standard characteristic data of the moving target.
Optionally, the method further comprises:
acquiring the speed of a moving target detected by the millimeter wave radar, and acquiring the actual speed of the moving target;
and comparing the speed of the moving target detected by the millimeter wave radar with the actual speed of the moving target, and determining the error of the speed of the moving target detected by the millimeter wave radar.
Optionally, the method further comprises:
and respectively carrying out error check on the target characteristic data detected by the millimeter wave radar and the moving target characteristic data.
In addition, in order to achieve the above object, the present invention further provides a device for testing millimeter wave radar performance, including: the millimeter wave radar performance testing method comprises the following steps of a memory, a processor and a program for testing the performance of the millimeter wave radar, wherein the program is stored on the memory and can run on the processor, and when the program for testing the performance of the millimeter wave radar is executed by the processor, the steps of the method for testing the performance of the millimeter wave radar are realized.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a program for testing millimeter wave radar performance, which when executed by a processor, implements the steps of the method for testing millimeter wave radar performance as described above.
The invention provides a method for testing millimeter wave radar performance, in the method, when a millimeter wave radar and a laser radar which are positioned at preset installation positions are in a dynamic scene, firstly, target characteristic data detected by the millimeter wave radar is obtained, and target point cloud data detected by the laser radar is obtained; and then, according to target point cloud data detected by the laser radar, determining coordinates of the target in a laser radar coordinate system, converting the coordinates of the target in the laser radar coordinate system into coordinates of the target in the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target, and then comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target, namely using the target characteristic data detected by the laser radar as a true value, verifying errors of the target characteristic data detected by the millimeter wave radar, and completing detection precision verification of the millimeter wave radar, thereby realizing performance test of the millimeter wave radar. By testing the millimeter wave performance in the mode, when the millimeter wave radar is applied to the field of unmanned driving, the obstacle information detected by the millimeter wave radar can be verified, so that the millimeter wave radar can be effectively utilized to realize accurate detection on the obstacle.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for testing millimeter wave radar performance according to the present invention;
FIG. 3 is a schematic view of a detailed flow chart of a first embodiment of the method for testing millimeter wave radar performance according to the present invention;
fig. 4 is a schematic flow chart of a third embodiment of the method for testing the performance of a millimeter wave radar according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: when the millimeter wave radar and the laser radar which are positioned at the preset installation position are in a dynamic scene, acquiring target characteristic data detected by the millimeter wave radar and acquiring target point cloud data detected by the laser radar; determining the coordinates of the target under a laser radar coordinate system according to the target point cloud data, and converting the coordinates of the target under the laser radar coordinate system into the coordinates of the target under the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target; and comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target to determine the error of the target characteristic data detected by the millimeter wave radar.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a terminal belonging to a device in a hardware operating environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention is loaded with a control system of the unmanned vehicle.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a Wi-Fi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a program for testing the performance of the millimeter wave radar.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and processor 1001 may be configured to invoke a program stored in memory 1005 to test millimeter wave radar performance and perform the following operations:
when the millimeter wave radar and the laser radar which are positioned at the preset installation position are in a dynamic scene, acquiring target characteristic data detected by the millimeter wave radar and acquiring target point cloud data detected by the laser radar;
determining the coordinates of the target under a laser radar coordinate system according to the target point cloud data, and converting the coordinates of the target under the laser radar coordinate system into the coordinates of the target under the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target;
and comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target to determine the error of the target characteristic data detected by the millimeter wave radar.
Further, processor 1001 may call a program stored in memory 1005 to test millimeter wave radar performance, and also perform the following operations:
and jointly calibrating the millimeter wave radar and the laser radar which are positioned at the preset installation position through the calibration object positioned at the preset position, and determining the coordinate system conversion relation of the millimeter wave radar and the laser radar.
Further, processor 1001 may call a program stored in memory 1005 to test millimeter wave radar performance, and also perform the following operations:
and carrying out voxel filtering processing on the target point cloud data to obtain the coordinates of the target in a laser radar coordinate system.
Further, processor 1001 may call a program stored in memory 1005 to test millimeter wave radar performance, and also perform the following operations:
when the millimeter wave radar is in a static scene, acquiring moving target characteristic data detected by the millimeter wave radar, and acquiring the distance between the actually measured millimeter wave radar and a calibration object located at a preset position and the distance between the calibration object and the moving target;
determining standard characteristic data of a moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target;
and comparing the characteristic data of the moving target detected by the millimeter wave radar with the standard characteristic data of the moving target, and determining the error of the characteristic data of the moving target detected by the millimeter wave radar.
Further, processor 1001 may call a program stored in memory 1005 to test millimeter wave radar performance, and also perform the following operations:
and calculating the distance and the angle of the moving target according to the distance between the millimeter-wave radar and the calibration object and the distance between the calibration object and the moving target to serve as standard characteristic data of the moving target.
Further, processor 1001 may call a program stored in memory 1005 to test millimeter wave radar performance, and also perform the following operations:
acquiring the speed of a moving target detected by the millimeter wave radar, and acquiring the actual speed of the moving target;
and comparing the speed of the moving target detected by the millimeter wave radar with the actual speed of the moving target, and determining the error of the speed of the moving target detected by the millimeter wave radar.
Further, processor 1001 may call a program stored in memory 1005 to test millimeter wave radar performance, and also perform the following operations:
and respectively carrying out error check on the target characteristic data detected by the millimeter wave radar and the moving target characteristic data.
Based on the hardware structure, the invention provides various embodiments of the method for testing the performance of the millimeter wave radar.
Referring to fig. 2, a first embodiment of a method for testing millimeter wave radar performance according to the present invention provides a method for testing millimeter wave radar performance, the method including:
step S10, when the millimeter wave radar and the laser radar which are positioned at the preset installation position are in a dynamic scene, acquiring target characteristic data detected by the millimeter wave radar and acquiring target point cloud data detected by the laser radar;
millimeter wave radars are radars that operate in the millimeter wave band (millimeter wave) for detection. The millimeter wave radar has the advantages of wide detection range, small influence of weather and the like, and is widely applied to the fields of automatic driving and the like. The detection of the vehicle-mounted millimeter wave radar on the target mainly comprises three characteristic data of the distance, the angle and the speed of the target, however, the accuracy of the target characteristic data detected by the vehicle-mounted millimeter wave radar is not high enough due to the frequency band loss of the vehicle-mounted millimeter wave radar when the target is detected, and the method for testing the performance of the vehicle-mounted millimeter wave radar is provided for testing the performance of the vehicle-mounted millimeter wave radar (namely, the accuracy of the three characteristic data of the distance, the angle and the speed of the target detected by the vehicle-mounted millimeter wave radar is verified).
The performance of the millimeter wave radar is tested in a dynamic scene. The dynamic scene means that the vehicle runs along the straight front direction at a low speed, the vehicle-mounted millimeter wave radar moves along with the vehicle, and the target can be a static target or a moving target. In a dynamic scene, a system architecture related to the method for testing the performance of the millimeter wave radar comprises the millimeter wave radar and the laser radar. The millimeter wave radar may be a Frequency Modulated Continuous Wave (FMCW) millimeter wave radar. The laser radar mainly detects the distance, the angle and the speed of a target by emitting laser beams, can be a radar system working in a spectrum range from infrared to ultraviolet, and has higher detection precision. Therefore, the present embodiment tests the performance of the millimeter wave radar by using the detection data of the laser radar on the target as a true value. In order to test the performance of the millimeter wave radar by using the detection data of the laser radar on the target as a true value, the millimeter wave radar and the laser radar need to be calibrated in a combined manner, and the coordinate system conversion relationship between the millimeter wave radar and the laser radar is determined. Then, referring to fig. 3, before step S10, the method includes:
and step S11, jointly calibrating the millimeter wave radar and the laser radar which are positioned at the preset installation position through the calibration object positioned at the preset position, and determining the coordinate system conversion relation of the millimeter wave radar and the laser radar.
During specific implementation, the laser radar is installed on the vehicle body of the vehicle in advance, the millimeter wave radar is installed on the vehicle head of the vehicle, the installation positions of the laser radar and the millimeter wave radar are ensured to be in the same vertical direction, and the installation positions of the laser radar and the millimeter wave radar are not equal in height. In addition, a calibration object is preset at a fixed position (for example, 50m or 100m in front of the vehicle) in front of the vehicle, the calibration object may be a rod-shaped object with a small cross section, and the setting of the calibration object needs to be in the same vertical direction as the lidar and the millimeter wave radar, so as to ensure that the calibration object detected by the lidar is located on the X axis under the lidar coordinate system and the angle of the calibration object is about 0 degree. Based on millimeter wave radar and laser radar predetermine the mounted position and the position that sets up of calibration object, the calibration object that millimeter wave radar detected is X compared in laser radar's horizontal offset, and vertical offset is Z (vertical direction is coincident, therefore vertical offset is 0), then, the millimeter wave radar reaches laser radar's transform matrix calculation for R ═ unit array, T ═ X, 0, Z ], be millimeter wave radar and laser radar's coordinate system transform relation promptly.
In this embodiment, when millimeter wave radar and laser radar are in a dynamic scene, millimeter wave radar and laser radar are controlled to detect the target simultaneously, the target characteristic data detected by millimeter wave radar includes the distance and the angle of the target, and the laser radar detects the point cloud data of the target. In this embodiment, first, target feature data detected by the millimeter wave radar is obtained, and target point cloud data detected by the laser radar is obtained.
Step S20, determining coordinates of the target under a laser radar coordinate system according to the target point cloud data, and converting the coordinates of the target under the laser radar coordinate system into coordinates of the target under the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target;
then, according to the target point cloud data detected by the laser radar, determining the coordinates (the coordinates are space coordinates) of the target under a laser radar coordinate system, then according to the coordinate system conversion relation between the millimeter wave radar and the laser radar, converting the coordinates of the target under the laser radar coordinate system into the coordinates of the target under the millimeter wave radar coordinate system, and then according to the coordinates of the target under the millimeter wave radar coordinate system, obtaining the standard characteristic data of the target.
And step S30, comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target, and determining the error of the target characteristic data detected by the millimeter wave radar.
The target characteristic data detected by the millimeter wave radar is compared with the standard characteristic data of the target, the difference value between the target characteristic data detected by the millimeter wave radar and the standard characteristic data of the target is calculated, the error of the target characteristic data detected by the millimeter wave radar is obtained, detection precision verification of the millimeter waves is completed, and therefore performance testing of the millimeter wave radar is achieved.
And then, checking the target characteristic data detected by the millimeter wave radar, namely checking the detected target characteristic data according to the error of the target characteristic data detected by the millimeter wave radar.
In a dynamic scene, the test on the performance of the millimeter-wave radar also comprises the test on the target speed detected by the millimeter-wave radar. Specifically, the speed of the target detected by the millimeter wave radar is acquired, and the actual speed (set as v) of the target can be calculated by the following formula with respect to the millimeter wave radar and the laser radar that move together with the moving vehicle:
v＝V*cosθ
wherein, V represents the speed of a vehicle and CAN be obtained by analysis on a CAN bus of the vehicle; θ represents an actual angle of the target, and the angle of the target detected by the laser radar is used as the actual angle of the target.
And comparing the calculation result V × cos θ with the target speed detected by the millimeter wave radar, and verifying the error of the target speed detected by the millimeter wave radar.
In this embodiment, when the millimeter wave radar and the laser radar located at the preset installation position are in a dynamic scene, firstly, target characteristic data detected by the millimeter wave radar is obtained, and target point cloud data detected by the laser radar is obtained; and then, according to target point cloud data detected by the laser radar, determining coordinates of the target in a laser radar coordinate system, converting the coordinates of the target in the laser radar coordinate system into coordinates of the target in the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target, and then comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target, namely using the target characteristic data detected by the laser radar as a true value, verifying errors of the target characteristic data detected by the millimeter wave radar, and completing detection precision verification of the millimeter wave radar, thereby realizing performance test of the millimeter wave radar. By testing the millimeter wave performance in the mode, when the millimeter wave radar is applied to the field of unmanned driving, the obstacle information detected by the millimeter wave radar can be verified, so that the millimeter wave radar can be effectively utilized to realize accurate detection on the obstacle.
The second embodiment of the present invention provides a method for testing performance of a millimeter wave radar, based on the embodiment shown in fig. 2, the step of determining coordinates of a target in a laser radar coordinate system according to target point cloud data detected by a laser radar includes:
and step S21, carrying out voxel filtering processing on the target point cloud data to obtain the coordinates of the target in a laser radar coordinate system.
In this embodiment, after the target point cloud data detected by the laser radar is obtained, because the redundancy of the three-dimensional point cloud data is large, the target point cloud data needs to be filtered to remove noise from the target point cloud data detected by the laser radar. The voxel filter can be preset, and voxel filtering processing is carried out on target point cloud data detected by the laser radar by calling the voxel filter, so that the coordinates of the target in a laser radar coordinate system are obtained.
In other embodiments, other filters, such as a pass filter, a statistical filter, a radius filter, etc., may also be preset to perform filtering processing on the target point cloud data detected by the laser radar.
The embodiment performs voxel filtering processing on target point cloud data detected by the laser radar, and can remove noise of the point cloud data to obtain high-precision space coordinates.
Referring to fig. 4, a third embodiment of the present invention provides a method for testing performance of a millimeter wave radar, based on the embodiment shown in fig. 2, the method further includes:
step S40, when the millimeter wave radar is in a static scene, acquiring the characteristic data of the moving target detected by the millimeter wave radar, and acquiring the distance between the millimeter wave radar and the calibration object located at a preset position and the distance between the calibration object and the moving target, which are actually measured;
step S50, determining standard characteristic data of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target;
and step S60, comparing the moving target characteristic data detected by the millimeter wave radar with the standard characteristic data of the moving target, and determining the error of the moving target characteristic data detected by the millimeter wave radar.
The performance of the millimeter wave radar is tested in a static scene. A static scenario refers to a vehicle-mounted millimeter wave radar being stationary while the target is moving. Under the static scene, in the dead ahead of millimeter wave radar, set up the calibration object in advance with certain position of millimeter wave radar in same vertical direction, then set up the moving target in the same horizontal direction of calibration object, make the moving target move with a less speed along the same horizontal direction of calibration object all the time, from this, the position relation of millimeter wave radar and calibration object, moving target constitutes right triangle all the time.
In this embodiment, the moving target feature data detected by the millimeter wave radar is first obtained, and the distance between the millimeter wave radar and the calibration object located at the preset position actually measured by the measuring tool and the distance between the calibration object and the moving target actually measured by the measuring tool are simultaneously obtained. And then, determining standard characteristic data of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target. Specifically, step S50 includes:
and step S51, calculating the distance and the angle of the moving target as the standard characteristic data of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target.
The method comprises the steps of always forming a right triangle based on the position relation between the millimeter wave radar and a calibration object and between the millimeter wave radar and a moving target, presetting a trigonometric function algorithm, calculating the distance of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target by utilizing a trigonometric function, then calculating the angle of the moving target by combining the distance of the moving target and presetting an inverse trigonometric function algorithm, and taking the distance and the angle of the moving target as standard characteristic data of the moving target.
And then, comparing the standard characteristic data of the moving target, which is the distance and the angle of the moving target, with the characteristic data of the moving target detected by the millimeter wave radar, and verifying the error of the characteristic data of the moving target detected by the millimeter wave radar.
In addition, in a static scenario, the test on the performance of the millimeter-wave radar further includes verification of the speed of a moving target detected by the millimeter-wave radar, and specifically, the method may further include:
step S70, acquiring the speed of the moving target detected by the millimeter wave radar and acquiring the actual speed of the moving target;
and step S80, comparing the speed of the moving target detected by the millimeter wave radar with the actual speed of the moving target, and determining the error of the speed of the moving target detected by the millimeter wave radar.
The speed of the moving target detected by the millimeter wave radar can be obtained by calculating a linear relation between the distance of the moving target detected by the millimeter wave radar and the time difference between the millimeter wave radar transmitting the millimeter waves and receiving the millimeter waves reflected by the moving target. Firstly, the speed of the moving target detected by the millimeter wave radar is obtained, the actual speed of the moving target is obtained, and then the speed of the moving target detected by the millimeter wave radar is compared with the actual speed of the moving target, so that the error of the speed of the moving target detected by the millimeter wave radar can be obtained.
In addition, the characteristic data of the moving target detected by the millimeter wave radar in a static scene can be verified, namely, the detected characteristic data of the moving target can be verified according to the error of the characteristic data of the moving target detected by the millimeter wave radar.
In this embodiment, when the millimeter wave radar is in a static scene, first, feature data of a moving target detected by the millimeter wave radar is acquired, and a distance between the actually measured millimeter wave radar and a calibration object located at a preset position and a distance between the calibration object and the moving target are acquired; then, determining standard characteristic data of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target; and then comparing the moving target characteristic data detected by the millimeter wave radar with the standard characteristic data of the moving target, and verifying the error of the moving target characteristic data detected by the millimeter wave radar. In this way, this embodiment has realized testing millimeter wave performance under static scene, and when millimeter wave radar was applied to the unmanned driving field, the barrier information that millimeter wave radar surveyed can be verified to can utilize millimeter wave radar to realize accurate detection to the barrier effectively.
In addition, the embodiment of the invention also provides a device for testing the performance of the millimeter wave radar.
The device for testing the performance of the millimeter wave radar in the embodiment of the invention comprises: the millimeter wave radar performance testing method comprises a memory, a processor and a program which is stored on the memory and can be run on the processor, wherein the program for testing the millimeter wave radar performance realizes the steps of the method for testing the millimeter wave radar performance when being executed by the processor.
The specific embodiment of the program for testing the performance of the millimeter wave radar stored in the device for testing the performance of the millimeter wave radar according to the present invention, which is executed by the processor, is substantially the same as the embodiments of the method for testing the performance of the millimeter wave radar described above, and is not described herein again.
In addition, the embodiment of the invention also provides a computer readable storage medium.
The computer-readable storage medium of the present invention stores thereon a program for testing performance of a millimeter wave radar, which when executed by a processor implements the steps of the method for testing performance of a millimeter wave radar as described above.
The specific embodiment of the program for testing the performance of the millimeter wave radar when executed by the processor is substantially the same as the embodiments of the method for testing the performance of the millimeter wave radar, and is not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A method of testing millimeter wave radar performance, the method comprising:
when the millimeter wave radar and the laser radar which are positioned at the preset installation position are in a dynamic scene, acquiring target characteristic data detected by the millimeter wave radar, wherein the target characteristic data comprises the distance and the angle of a target, and acquiring target point cloud data detected by the laser radar, wherein the dynamic scene means that a vehicle runs along the right front at a lower speed, the vehicle-mounted millimeter wave radar moves along with the vehicle at the moment, and the target can be a static target or a moving target;
performing voxel filtering processing on the target point cloud data to obtain coordinates of the target in a laser radar coordinate system, and converting the coordinates of the target in the laser radar coordinate system into coordinates of the target in the millimeter wave radar coordinate system according to a preset coordinate system conversion relation between the millimeter wave radar and the laser radar to obtain standard characteristic data of the target;
when the millimeter wave radar is in a static scene, acquiring characteristic data of a moving target detected by the millimeter wave radar, and acquiring the actually measured distance between the millimeter wave radar and a calibration object located at a preset position and the distance between the calibration object and the moving target, wherein the static scene means that the vehicle-mounted millimeter wave radar is static and the target is moving. In a static scene, a calibration object is preset at a certain position in the same vertical direction with the millimeter-wave radar right in front of the millimeter-wave radar, and then a moving target is arranged in the same horizontal direction of the calibration object, so that the moving target always moves at a lower speed along the same horizontal direction of the calibration object, and therefore, the position relation of the millimeter-wave radar, the calibration object and the moving target always forms a right-angled triangle;
calculating the distance and the angle of the moving target according to the distance between the millimeter wave radar and the calibration object and the distance between the calibration object and the moving target to serve as standard characteristic data of the moving target;
and comparing the target characteristic data detected by the millimeter wave radar with the standard characteristic data of the target to determine the error of the target characteristic data detected by the millimeter wave radar.
2. The method for testing the performance of a millimeter wave radar according to claim 1, wherein the step of obtaining target feature data detected by the millimeter wave radar and obtaining target point cloud data detected by the laser radar when the millimeter wave radar and the laser radar located at the preset installation position are in a dynamic scene comprises the steps of:
and jointly calibrating the millimeter wave radar and the laser radar which are positioned at the preset installation position through the calibration object positioned at the preset position, and determining the coordinate system conversion relation of the millimeter wave radar and the laser radar.
3. The method of testing millimeter wave radar performance of claim 1, further comprising:
acquiring the speed of a moving target detected by the millimeter wave radar, and acquiring the actual speed of the moving target;
and comparing the speed of the moving target detected by the millimeter wave radar with the actual speed of the moving target, and determining the error of the speed of the moving target detected by the millimeter wave radar.
4. The method of testing millimeter wave radar performance of any of claims 1 to 3, further comprising:
and respectively carrying out error check on the target characteristic data detected by the millimeter wave radar and the moving target characteristic data.
5. An apparatus for testing millimeter wave radar performance, comprising: a memory, a processor and a program stored on the memory and executable on the processor for testing millimeter wave radar performance, the program for testing millimeter wave radar performance implementing the steps of the method for testing millimeter wave radar performance as claimed in any one of claims 1 to 4 when executed by the processor.
6. A computer-readable storage medium, on which a program for testing performance of a millimeter wave radar is stored, the program for testing performance of a millimeter wave radar implementing the steps of the method for testing performance of a millimeter wave radar according to any one of claims 1 to 4 when executed by a processor.
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