CN111896923A - Vehicle-mounted radar multi-target independent simulation device and method - Google Patents
Vehicle-mounted radar multi-target independent simulation device and method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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Abstract
The invention provides a vehicle-mounted radar multi-target independent simulation device which comprises a radio frequency darkroom, a radar turntable, two rotary cantilever systems and a horn antenna, wherein the radar turntable and the two rotary cantilever systems are arranged in the radio frequency darkroom; each rotary cantilever system comprises a rotating arm and a cantilever, wherein the rotating arm is horizontal, the rotating direction of the rotating arm is the horizontal direction, and the rotating arm is driven by a rotating motor to simulate the horizontal angle of a target; the boom is vertical and telescopic, driven by a boom motor to simulate the pitch angle of the target. The vehicle-mounted radar multi-target independent simulation device adopts two rotary cantilever systems, and completely independent simulation of two targets on two degrees of freedom, namely a horizontal angle and a pitching angle, is realized through two rotating arms and the vertically telescopic cantilevers arranged on the rotating arms, and no limitation is imposed on a scene and a simulation range.
Description
Technical Field
The invention relates to the field of millimeter wave radar testing, in particular to a vehicle-mounted radar multi-target independent simulation device and method.
Background
Forward millimeter wave radar is an important sensing component of an automotive active safety system. With the continuous development of the technology, the forward millimeter wave radar has a longer detection distance and a higher angle resolution and also has a resolution at a pitching angle. Meanwhile, the test requirements on the millimeter wave radar are continuously improved, and the system is required to provide simulation of independent target positions at horizontal and pitching angles.
Existing millimeter wave radar testing systems often fail to provide a simulation of the target position at a pitch angle. For example, patent document CN201910851521.0 discloses a test system and method integrating radar calibration, active transceiving and measurement parameters, wherein simulation of relative angle by a DUT turret is disclosed. Patent document CN201910851521.0 discloses a radar multi-angle target simulation system, in which a high-speed turntable is provided, and the simulation rotation angle of the high-speed turntable 4 is controlled by a master controller, and the millimeter wave radar test systems disclosed in these two patent documents cannot provide the simulation of the target position at the pitch angle.
See patent document CN201811550694.0, which discloses a radar function testing system and a testing method thereof, which realizes the simulation of a bidirectional target scene, i.e. the simulation of a situation where two targets exist, by providing a rotating device, a sliding device, a first transceiving antenna and a second transceiving antenna. However, since the first and second antennas are associated with the two simulated targets, the targets that can be simulated have limited horizontal and vertical angles, and in particular, cannot be used for testing angular radar (greater than 120 degrees detection range). And since the system has to assign two targets to the first and second antennas, the different assignments have certain limitations to the simulated scenario. Thus, the above techniques have not been able to provide a simulation of independent target locations.
The application number CN201721437567.0 discloses a two-angle automobile radar target simulation system, which comprises a microwave dark box, two millimeter wave radio frequency front ends and a millimeter wave radar, wherein the millimeter wave radar is fixedly arranged on a two-degree-of-freedom turntable, one of the millimeter wave radio frequency front ends is fixedly arranged at the top of a six-degree-of-freedom mechanical arm and moves along with the six-degree-of-freedom mechanical arm, and the other millimeter wave radio frequency front end is fixedly arranged on the inner wall above the first millimeter wave radio frequency front end. However, limited by the technical method of the invention, the range of the horizontal angle which can be simulated is small, and the angle of +/-90 degrees can not be realized in any scene. Therefore, the method is only suitable for a forward long-distance radar with a small detection angle in application, and cannot be well adapted to the test of a high-resolution angle radar; in addition, although the simulation can be realized in the pitch, when two targets alternate up and down in the pitch, the simulation of the targets is difficult, so that the two-angle automobile radar target simulation system cannot realize the simulation of two completely independent angles for the two targets at the same time.
Disclosure of Invention
The invention aims to provide a vehicle-mounted radar multi-target independent simulation device and method, which are used for simultaneously realizing multi-target independent simulation on a horizontal angle and a pitching angle.
In order to achieve the purpose, the invention provides a vehicle-mounted radar multi-target independent simulation device which is used for carrying out multi-target independent simulation and test on a millimeter wave radar to be tested with a pitching angle resolution capability and comprises a radio frequency darkroom, a radar turntable, two rotating cantilever systems and a horn antenna, wherein the radar turntable and the two rotating cantilever systems are arranged in the radio frequency darkroom, the horn antenna is arranged on each rotating cantilever system, the millimeter wave radar to be tested is arranged on the radar turntable, and the horn antenna is used for receiving millimeter waves from the millimeter wave radar to be tested and transmitting a signal echo corresponding to a target; each rotating cantilever system comprises a rotating arm and a cantilever which are sequentially connected, the rotating arm is horizontal, the rotating direction is the horizontal direction, and the rotating arm is driven to rotate by a rotating motor so as to simulate the horizontal angle of a target relative to the millimeter wave radar to be detected; the cantilever is vertical and telescopic, and the cantilever is driven to stretch by a cantilever motor to simulate the pitching angle of the target relative to the millimeter wave radar to be detected.
The radar rotary table is arranged on one side wall of the radio frequency darkroom, and the millimeter wave radar to be detected is fixedly arranged on the radar rotary table through a clamp.
The fixed ends of the rotating arms of the two rotating cantilever systems are respectively fixedly arranged on the top wall and the bottom wall of the radio frequency darkroom, the center of the radar rotating platform and the fixed ends of the rotating arms of the two rotating cantilever systems are positioned on the same vertical straight line, and the rotating arm of one rotating cantilever system is shorter than the rotating arm of the other rotating cantilever system.
The stiff end of cantilever is installed on the free end of rocking arm, the cantilever motor is fixed on the rocking arm, horn antenna installs on the free end of cantilever.
The horn antenna is connected with a echo delay module, and the echo delay module comprises a delay optical fiber which is set to delay a signal echo transmitted by the horn antenna so as to simulate the delay of the millimeter wave radar to be detected to a corresponding target.
The radio frequency darkroom is coated by a wave absorbing material, and the surfaces of the rotary cantilever system and the echo delay module are coated by the wave absorbing material. .
On the other hand, the invention provides a vehicle-mounted radar multi-target independent simulation method, which comprises the following steps:
s1: acquiring information parameters of two targets to be simulated;
s2: providing a vehicle-mounted radar multi-target independent simulation device according to the above, mounting a millimeter wave radar to be detected on a radar turntable of the vehicle-mounted radar multi-target independent simulation device, receiving millimeter waves from the millimeter wave radar to be detected by adopting a horn antenna, and respectively acquiring motion control parameters of a rotary cantilever system corresponding to each target and echo control parameters of the horn antenna according to the received millimeter waves and information parameters of two targets;
s3: the echo control parameters of the horn antenna corresponding to each target and the motion control parameters of the rotating cantilever system are respectively used as control instructions to be correspondingly sent to the rotating motor, the cantilever motor and the horn antenna of the rotating cantilever system, the rotating motor drives the rotating arm to rotate so as to simulate the horizontal angle of the target relative to the millimeter wave radar to be detected, the cantilever motor drives the cantilever to stretch and retract so as to simulate the pitching angle of the target relative to the millimeter wave radar to be detected, and the horn antenna is controlled to transmit a signal echo corresponding to the target.
In step S2, the information parameters of the target include: the target type, the distance between the target and the millimeter wave radar to be detected, the speed of the target, the horizontal angle of the target relative to the millimeter wave radar to be detected, the pitch angle of the target relative to the millimeter wave radar to be detected and the reflection characteristic parameters of the target; the motion control parameters of the rotating cantilever system corresponding to each target comprise the stepping amount of a rotating motor and the stepping amount of a cantilever motor, the stepping amount of the rotating motor is obtained by the horizontal angle of the target relative to the millimeter wave radar to be detected, and the stepping amount of the cantilever motor is obtained by the pitching angle of the target relative to the millimeter wave radar to be detected; the echo control parameters of the horn antenna corresponding to each target comprise the delay from the millimeter wave radar to be detected to the target, the Doppler frequency shift of an echo signal and the power of the echo signal, the delay from the millimeter wave radar to be detected to the target is obtained from the distance between the target and the millimeter wave radar to be detected, the Doppler frequency shift of the echo signal can be obtained from the speed of the target, and the power of the echo signal is obtained from the transmitting power of the millimeter wave radar to be detected and the reflection characteristic parameters of the target.
The step S1 includes:
s11: acquiring target types of a plurality of targets, distances between the targets and the millimeter wave radar to be detected, speeds of the targets, horizontal angles of the targets relative to the millimeter wave radar to be detected and pitching angles of the targets relative to the millimeter wave radar to be detected, and taking the horizontal angles and the pitching angles as information parameters of the plurality of targets;
s12: screening out all targets in the detection range of the millimeter wave radar to be detected;
s13: according to the target type and the distance between the target and the millimeter wave radar to be detected in the step S11, acquiring reflection characteristic parameters of all targets in the detection range of the millimeter wave radar to be detected, and taking the reflection characteristic parameters as information parameters of the target;
s14: two targets are selected for preferential simulation.
After the step S14, a step S15 is further included: and judging whether the two targets are shielded or not, and if so, correcting the reflection characteristic parameters of the targets.
The vehicle-mounted radar multi-target independent simulation device adopts two rotary cantilever systems, and completely independent simulation of two targets on two degrees of freedom, namely a horizontal angle and a pitching angle, is realized through two rotating arms and the vertically telescopic cantilevers arranged on the rotating arms, and no limitation is imposed on a scene and a simulation range. In addition, when the millimeter wave radar that awaits measuring needs to be changed, only need to change anchor clamps, set for corresponding benefit and correct the parameter can to can realize the test of a plurality of millimeter wave radars that await measuring, and the convenient switching of millimeter wave radar that awaits measuring.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle-mounted radar multi-target independent simulation device according to an embodiment of the invention.
FIG. 2 is a flow chart of a multi-target independent simulation method of a vehicle-mounted radar according to an embodiment of the invention.
Detailed Description
Fig. 1 shows a multi-target independent simulation apparatus for a vehicle-mounted radar according to an embodiment of the present invention, which is used for performing multi-target independent simulation and test on a millimeter wave radar to be tested with a pitch angle resolution capability, and includes a radio frequency darkroom 1, a radar turntable 2 and two rotating cantilever systems 3 installed inside the radio frequency darkroom 1, and a horn antenna 4 installed on each rotating cantilever system 3.
The horn antenna 4 is configured to receive millimeter waves from a millimeter wave radar to be detected and to emit a signal echo corresponding to a target to simulate a corresponding target. The two rotary cantilever systems 3 are respectively installed and fixed on the top wall and the bottom wall of the radio frequency darkroom 1 and are used for respectively simulating the angle positions of targets corresponding to the horn antennas 4 installed on the rotary cantilever systems.
Each rotating cantilever system 3 is a two-degree-of-freedom rotating cantilever system, is set to simulate the horizontal angle and the pitching angle of a target relative to the millimeter wave radar to be tested, and comprises a rotating arm 31 and a cantilever 32 which are sequentially connected, so that the two targets are completely independent of each other, and the independent simulation of the targets at the horizontal angle and the pitching angle is respectively realized. Wherein, rocking arm 31 has stiff end and free end, rocking arm 31 is the horizontally and direction of rotation is the horizontal direction, can realize that the horizontal direction 180 degrees are rotatory, rocking arm 31 is driven its rotation by a rotating electrical machines 34 to the horizontal angle of simulation target for the millimeter wave radar that awaits measuring. The fixed ends (namely the rotating centers) of the rotating arms 31 of the two rotating cantilever systems 3 are respectively installed and fixed on the top wall and the bottom wall of the radio frequency darkroom 1, and the center of the radar turntable 2 and the fixed ends of the rotating arms 31 of the two rotating cantilever systems 3 are positioned on the same vertical straight line, so that the rotating angle of the rotating arms 31 is equal to the horizontal angle of a target relative to a millimeter wave radar to be detected, and the signal processing during target simulation is simplified; and the boom 31 of one of the rotating boom systems 3 is shorter than the boom 31 of the other rotating boom system, on the one hand avoiding the risk of interference of the two rotating boom systems in motion, and on the other hand avoiding signal occlusion by means of the diffraction properties of millimeter waves when the horn antenna farther from the radar is occluded by the mechanism.
The stiff end of cantilever 32 is installed on the free end of rocking arm 31, and cantilever motor 35 fixes equally on rocking arm 31, cantilever 32 is vertical and telescopic, cantilever 32 is driven its flexible pitching angle for the millimeter wave radar that awaits measuring with the simulation target by a cantilever motor 35, and horn antenna 4 installs on the free end of cantilever 32 for its free end realizes vertical direction's linear motion.
In addition, the horn antenna 4 is connected to an echo delay module 41, and the echo delay module 41 includes a delay fiber configured to delay a signal echo transmitted by the horn antenna 4, so as to simulate a delay of the millimeter wave radar to be detected to a corresponding target, thereby simulating a distance to the target. The echo delay module 41 is installed on the rotating arm 31 instead of being installed outside a dark room, so that the fixed delay from the horn antenna 4 to the echo delay module 41 can be reduced, and the minimum target distance which can be simulated by the vehicle-mounted radar multi-target independent simulation device can be greatly reduced.
The radio frequency darkroom 1 is coated by a wave absorbing material to shield external interference and provide a required electromagnetic environment for the millimeter wave radar to be detected; the surfaces of the whole rotating cantilever system 3 (i.e. the surfaces of the rotating arm 31, the cantilever 32, the rotating motor 34 and the cantilever motor 35) and the surfaces of the echo delay modules 41 are both coated by a wave-absorbing material, and the horn antenna 4 is not coated by the wave-absorbing material, so that the two-way unique visibility of the millimeter wave radar to be detected and the horn wire 33 is formed.
Based on the above vehicle-mounted radar multi-target independent simulation device, the work flow of the implemented vehicle-mounted radar multi-target independent simulation method is shown in fig. 2, and the work flow runs in a real-time processor of the NI company, and the method comprises the following steps:
step S1: acquiring information parameters of two targets to be simulated, specifically comprising:
step S11: the target types of the multiple targets, the distances between the targets and the millimeter wave radar to be detected, the speeds of the targets, the horizontal angles of the targets relative to the millimeter wave radar to be detected and the pitching angles of the targets relative to the millimeter wave radar to be detected are obtained and are used as information parameters of the multiple targets.
The target type, the distance between the target and the millimeter wave radar to be detected, the speed of the target, the horizontal angle of the target relative to the millimeter wave radar to be detected and the pitch angle of the target relative to the millimeter wave radar to be detected are all obtained by receiving an information list of the target provided by simulation scene software, and the information list of the target is sent to the real-time processor of the NI through the Ethernet and is operated through an interface model in the real-time processor of the NI. Therefore, the relative independence of the device on the test software is realized, so that the device can be suitable for different simulation software;
further, in step S11, the method further includes the steps of: and carrying out coordinate system transformation on the position parameters of the target, wherein the position parameters of the target comprise the speed of the target, the distance between the target and the millimeter wave radar to be detected, the horizontal angle of the target relative to the millimeter wave radar to be detected and the pitching angle of the target relative to the millimeter wave radar to be detected, and the coordinate system transformation refers to the transformation from a world coordinate system to an angle coordinate system with the millimeter wave radar to be detected as an origin.
Step S12: and screening out all targets in the detection range of the millimeter wave radar to be detected.
Step S12 specifically includes:
and judging whether each target is in the detection range of the millimeter wave radar to be detected, if so, deleting the target, otherwise, continuing to execute the step S13.
Step S13: according to the target type and the distance between the target and the millimeter wave radar to be detected in the step S11, acquiring reflection characteristic parameters of all targets in the detection range of the millimeter wave radar to be detected, and taking the reflection characteristic parameters as information parameters of the target;
the reflection characteristic parameters of the target are obtained by performing statistical analysis through a reflection characteristic experiment of the target. Reflection characteristic parameters of the target, such as reflected power, RCS and the like, depend on the type of the target and the distance between the target and the millimeter wave radar to be measured.
Step S14: selecting two targets to be simulated preferentially;
the two targets selected for preferential simulation may adopt any existing target selection strategy of radar, for example, a target selection strategy adopting reflection characteristic parameters of the targets to be preferential.
Further, after the step S14, a step S15 may be further included: judging whether shielding exists between the two targets, and if shielding exists, correcting the reflection characteristic parameters of the targets;
the modified reflection characteristic parameters of the target include reflected power, RCS, and the like. The method for correcting the reflection characteristic parameter comprises the following steps: firstly, obtaining the reflected power of radar beams when targets with different RCS characteristics are shielded at different positions through experiments, and taking the reflected power as a target value; then measuring the receiving power of the radar when the two horn antennas in the darkroom are shielded, and taking the receiving power as an actual value; and then, adjusting the transmitting power of the target simulator according to the difference between the target value and the actual value to enable the actual receiving power of the radar to approach the experimental target value.
Step S2: providing a vehicle-mounted radar multi-target independent simulation device according to the above, mounting a millimeter wave radar to be detected on a radar turntable 2 of the vehicle-mounted radar multi-target independent simulation device, receiving millimeter waves from the millimeter wave radar to be detected by adopting a horn antenna 4, and respectively acquiring a motion control parameter of a rotary cantilever system 3 corresponding to each target and an echo control parameter of the horn antenna 4 according to the received millimeter waves and information parameters of two targets;
wherein, the information parameter of the target comprises: the target type, the distance between the target and the millimeter wave radar to be detected, the speed of the target, the horizontal angle of the target relative to the millimeter wave radar to be detected, the pitch angle of the target relative to the millimeter wave radar to be detected and the reflection characteristic parameters of the target.
The motion control parameters of the rotating cantilever system 3 corresponding to each target include a step amount of the rotating motor 34 and a step amount of the cantilever motor 35, wherein the step amount of the rotating motor 34 is obtained from a horizontal angle of the target relative to the millimeter wave radar to be detected, and the step amount of the cantilever motor 35 is obtained from a pitch angle of the target relative to the millimeter wave radar to be detected.
The echo control parameters of the horn antenna 4 corresponding to each target comprise the delay from the millimeter wave radar to be detected to the target, the Doppler shift of the echo signal and the echo signal power of the echo signal, the delay from the millimeter wave radar to be detected to the target is obtained by the distance between the target and the millimeter wave radar to be detected, the Doppler shift is obtained by the speed of the target, and the echo signal power is obtained by the transmitting power of the millimeter wave radar to be detected and the reflection characteristic parameters of the target.
Step S3: the echo control parameter of the horn antenna 4 corresponding to each target and the motion control parameter of the rotating cantilever system 3 are respectively used as control instructions to be correspondingly sent to the rotating motor 34 and the cantilever motor 35 of the rotating cantilever system 3 and the horn antenna 4, the rotating motor 34 drives the rotating arm 31 to rotate so as to simulate the horizontal angle of the target relative to the millimeter wave radar to be detected, the cantilever motor 35 drives the cantilever 32 to stretch and retract so as to simulate the pitching angle of the target relative to the millimeter wave radar to be detected, and the horn antenna 4 is controlled to transmit a signal echo corresponding to the target.
The steps S1-S3 are realized by developing an interface model in the real-time processor by using simulink, so that the vehicle-mounted radar multi-target independent simulation method integrates the functions of coordinate system transformation, target screening, reflection characteristic parameter correction and the like through the interface model, so that when simulation software is switched, the automatic acquisition of information parameters of two targets to be simulated can be completed only by performing variable matching, and the original process of redeveloping a simulator and motion mechanism control software is omitted.
The above embodiments are merely preferred embodiments of the present invention, which are not intended to limit the scope of the present invention, and various changes may be made in the above embodiments of the present invention. All simple and equivalent changes and modifications made according to the claims and the content of the specification of the present application fall within the scope of the claims of the present patent application. The invention has not been described in detail in order to avoid obscuring the invention.
Claims (10)
1. A vehicle-mounted radar multi-target independent simulation device is used for carrying out multi-target independent simulation and test on a millimeter wave radar to be tested with a pitching angle resolution capability and is characterized by comprising a radio frequency darkroom (1), a radar turntable (2) and two rotary cantilever systems (3) which are arranged inside the radio frequency darkroom (1), and a horn antenna (4) which is arranged on each rotary cantilever system (3), wherein the millimeter wave radar to be tested is arranged on the radar turntable (2), and the horn antenna (4) is arranged to receive millimeter waves from the millimeter wave radar to be tested and emit signal echoes corresponding to a target; each rotating cantilever system (3) comprises a rotating arm (31) and a cantilever (32) which are sequentially connected, the rotating arm (31) is horizontal, the rotating direction is the horizontal direction, and the rotating arm (31) is driven to rotate by a rotating motor (34) so as to simulate the horizontal angle of a target relative to the millimeter wave radar to be detected; the cantilever (32) is vertical and telescopic, and the cantilever (32) is driven to be telescopic by a cantilever motor (35) so as to simulate the pitching angle of the target relative to the millimeter wave radar to be detected.
2. The vehicle-mounted radar multi-target independent simulation device according to claim 1, wherein the radar rotary table (2) is installed on one side wall of the radio frequency darkroom (1), and the millimeter wave radar to be tested is fixedly installed on the radar rotary table (2) through a clamp.
3. The vehicle-mounted radar multi-target independent simulation device according to claim 1, wherein fixed ends of the rotating arms (31) of the two rotating cantilever systems (3) are respectively fixedly arranged on the top wall and the bottom wall of the radio frequency darkroom (1), the center of the radar rotating platform (2) and the fixed ends of the rotating arms (31) of the two rotating cantilever systems (3) are positioned on the same vertical straight line, and the rotating arm (31) of one rotating cantilever system (3) is shorter than the rotating arm (31) of the other rotating cantilever system.
4. The vehicle-mounted radar multi-target independent simulation device according to claim 1, wherein a fixed end of the cantilever (32) is mounted on a free end of the rotating arm (31), the cantilever motor (35) is fixed on the rotating arm (31), and the horn antenna (4) is mounted on the free end of the cantilever (32).
5. The vehicle-mounted radar multi-target independent simulation device according to claim 1, wherein the horn antenna (4) is connected with an echo delay module (41), and the echo delay module (41) comprises a delay optical fiber which is set to delay a signal echo transmitted by the horn antenna (4) so as to simulate the delay of a millimeter wave radar to be tested to a corresponding target.
6. The vehicle-mounted radar multi-target independent simulation device according to claim 1, wherein the radio frequency darkroom (1) is coated by a wave absorbing material, and the surfaces of the rotary cantilever system (3) and the echo delay module (41) are coated by a wave absorbing material.
7. A multi-target independent simulation method for a vehicle-mounted radar is characterized by comprising the following steps:
step S1: acquiring information parameters of two targets to be simulated;
step S2: providing a vehicle-mounted radar multi-target independent simulation device according to any one of claims 1 to 6, mounting a millimeter wave radar to be detected on a radar rotary table (2) of the vehicle-mounted radar, receiving millimeter waves from the millimeter wave radar to be detected by using a horn antenna (4), and respectively acquiring a motion control parameter of a rotary cantilever system (3) and an echo control parameter of the horn antenna (4) corresponding to each target according to the received millimeter waves and information parameters of two targets;
step S3: the echo control parameter of the horn antenna (4) corresponding to each target and the motion control parameter of the rotating cantilever system (3) are respectively used as control instructions to be correspondingly sent to the rotating motor (34), the cantilever motor (35) and the horn antenna (4) of the rotating cantilever system (3), the rotating motor (34) drives the rotating arm (31) to rotate so as to simulate the horizontal angle of the target relative to the millimeter wave radar to be detected, the cantilever motor (35) drives the cantilever (32) to stretch and retract so as to simulate the pitch angle of the target relative to the millimeter wave radar to be detected, and the horn antenna (4) is controlled to emit a signal echo corresponding to the target.
8. The vehicle-mounted radar multi-target independent simulation method according to claim 7, wherein in the step S2, the information parameters of the target comprise: the target type, the distance between the target and the millimeter wave radar to be detected, the speed of the target, the horizontal angle of the target relative to the millimeter wave radar to be detected, the pitch angle of the target relative to the millimeter wave radar to be detected and the reflection characteristic parameters of the target;
the motion control parameters of the rotating cantilever system (3) corresponding to each target comprise the stepping amount of the rotating motor (34) and the stepping amount of the cantilever motor (35), the stepping amount of the rotating motor (34) is obtained by the horizontal angle of the target relative to the millimeter wave radar to be detected, and the stepping amount of the cantilever motor (35) is obtained by the pitch angle of the target relative to the millimeter wave radar to be detected;
the echo control parameters of the horn antenna (4) corresponding to each target comprise the delay from the millimeter wave radar to be detected to the target, the Doppler frequency shift of an echo signal and the power of the echo signal, the delay from the millimeter wave radar to be detected to the target is obtained from the distance between the target and the millimeter wave radar to be detected, the Doppler frequency shift of the echo signal can be obtained from the speed of the target, and the power of the echo signal is obtained from the transmitting power of the millimeter wave radar to be detected and the reflection characteristic parameters of the target.
9. The vehicle-mounted radar multi-target independent simulation method according to claim 7, wherein the step S1 comprises:
step S11: acquiring target types of a plurality of targets, distances between the targets and the millimeter wave radar to be detected, speeds of the targets, horizontal angles of the targets relative to the millimeter wave radar to be detected and pitching angles of the targets relative to the millimeter wave radar to be detected, and taking the horizontal angles and the pitching angles as information parameters of the plurality of targets;
step S12: screening out all targets in the detection range of the millimeter wave radar to be detected;
step S13: according to the target type and the distance between the target and the millimeter wave radar to be detected in the step S11, acquiring reflection characteristic parameters of all targets in the detection range of the millimeter wave radar to be detected, and taking the reflection characteristic parameters as information parameters of the target;
step S14: two targets are selected for preferential simulation.
10. The vehicle-mounted radar multi-target independent simulation method according to claim 9, wherein after the step S14, the method further comprises the step S15: and judging whether the two targets are shielded or not, and if so, correcting the reflection characteristic parameters of the targets.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113064123A (en) * | 2021-03-09 | 2021-07-02 | 浙江省计量科学研究院 | Multi-parameter calibrating device for multi-target radar velocimeter and echo simulation method |
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