CN112526466A - Millimeter wave radar calibration test method based on environment - Google Patents
Millimeter wave radar calibration test method based on environment Download PDFInfo
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- CN112526466A CN112526466A CN202011405270.2A CN202011405270A CN112526466A CN 112526466 A CN112526466 A CN 112526466A CN 202011405270 A CN202011405270 A CN 202011405270A CN 112526466 A CN112526466 A CN 112526466A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The invention discloses a millimeter wave radar calibration test method based on environment, which comprises the following steps: the detection method adopts environment-based calibration equipment of the intelligent vehicle millimeter wave radar to calibrate main technical parameters of the millimeter wave radar, including distance parameters, speed parameters and angle parameters of the millimeter wave radar. The invention simulates rainy days and foggy days through the calibration equipment, tests aiming at different environments, and calibrates the distance parameter, the speed parameter and the angle parameter of the millimeter wave radar, thereby ensuring the test accuracy, reducing the restriction of the environment on the test in the outdoor test process, improving the test efficiency, and having lower test investment cost and high test speed.
Description
Technical Field
The invention relates to the technical field of testing of vehicle-mounted millimeter wave radars, in particular to a millimeter wave radar calibration testing method based on environment.
Background
The research and development of intelligent vehicles belong to the strategic development direction of each vehicle enterprise. With falling to the ground of various technologies and laws and regulations matched with the intelligent vehicle, the mass production of the intelligent vehicle indicates daily wait, and the intelligent vehicle gradually enters the daily life of people, so that the intelligent traffic with high safety and without manual intervention is finally realized.
In the development stage of the intelligent vehicle, the test of the whole vehicle and each system is very necessary. In a closed test site or indoor environment, various test tools, test racks and related traffic simulation bodies are utilized to build a real traffic scene, then a tested vehicle is driven to complete the driving action required by the unmanned test, a large amount of test data can be obtained, and the related test of the whole vehicle is completed for research and development;
however, for the calibration test of the millimeter wave radar in the intelligent vehicle sensing system, if the calibration is performed in a good environment of a laboratory, the calibration result has great limitation, and the reliability of the radar data will be questioned in specific environments with strong interference to the millimeter wave radar, such as rain, heavy fog, and the like. If the vehicle is limited by weather in an outdoor environment, accurate calibration cannot be realized, and a large amount of complete vehicle testing equipment and related professionals are needed, so that the occupancy rate of various resources is very high, the time is wasted, and the cost is increased.
In order to improve the efficiency of calibration test, a calibration device of the intelligent vehicle millimeter wave radar based on environment is adopted, and a calibration test method of main technical parameters of the millimeter wave radar under different rain and fog environments is provided.
Disclosure of Invention
The invention aims to provide a millimeter wave radar calibration test method based on environment, which solves the problems in the background technology and meets the actual use requirements.
In order to achieve the purpose, the invention provides the following technical scheme: a millimeter wave radar calibration test method based on environment comprises the following steps: the detection method adopts environment-based calibration equipment of the intelligent vehicle millimeter wave radar to calibrate main technical parameters of the millimeter wave radar, including distance parameters, speed parameters and angle parameters of the millimeter wave radar.
As a preferred embodiment of the invention, distance parameters are calibrated, the distance parameters of the millimeter wave radar comprise parameters such as maximum working distance, distance resolution, ranging precision and the like, when the equipment is used for calibrating the distance parameters, the equipment is needed to calibrate the magnetic grid ruler of the target motion platform for data calibration, and the magnetic grid ruler of the equipment can generally reach micron-scale precision and far cover the measuring precision of the millimeter wave radar.
As a preferred embodiment of the present invention, a distance parameter calibration method:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: adjusting the pitch angle or the yaw angle of the millimeter wave radar;
s3: positioning the moving platform from near to far according to a certain distance interval, and simultaneously recording a distance measurement result of the millimeter wave radar and a displacement measurement result of the moving platform;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
As a preferred embodiment of the invention, the speed parameter calibration is carried out, the speed parameters of the millimeter wave radar comprise parameters such as maximum detection speed, speed resolution and speed measurement precision, when the equipment is used for calibrating the speed parameters, an encoder which is arranged on a servo drive motor on a target motion platform and is used for calibrating the equipment is required to be used for measuring,
as a preferred embodiment of the invention, the speed parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: adjusting the pitch angle or the yaw angle of the millimeter wave radar;
s3: moving the moving platform from near to far to the maximum working distance according to a set speed, and simultaneously recording the speed measurement result of the millimeter wave radar and the speed measurement result of the moving platform in real time;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
As a preferred embodiment of the present invention, the angle parameter calibration: the angle parameters of the millimeter wave radar comprise parameters such as detection visual angle range, angle resolution and angle measurement precision, and when the equipment is used for calibrating the speed parameters, an encoder of a servo drive motor of a three-dimensional rotary table of the equipment is required to be used for measurement.
As a preferred embodiment of the present invention, an angle parameter calibration method comprises:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: the calibration target moving platform moves to a certain position according to the set distance and stops;
s3: controlling a yaw angle driving motor or a pitch angle driving motor of the three-dimensional rotary table to move at a slow speed, and simultaneously acquiring a motion angle of the three-dimensional rotary table and a measurement angle of the millimeter wave radar;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the calibration equipment is used for simulating rainy days and foggy days, testing is carried out aiming at different environments, and the distance parameter, the speed parameter and the angle parameter of the millimeter wave radar are calibrated, so that the testing accuracy is ensured, the restriction of the environment on the testing in the outdoor testing process is reduced, the testing efficiency is improved, the testing investment cost is lower, and the testing speed is high.
Drawings
Fig. 1 is a structural diagram of the calibration apparatus according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution: a millimeter wave radar calibration test method based on environment comprises the following steps: the calibration device mainly comprises a three-dimensional turntable, a calibration target moving platform and a rain and fog environment simulation system, the rain and fog environment is simulated by the rain and fog environment simulation system, the test is carried out in the rain and fog environment, the central axis of the millimeter wave radar to be tested is parallel to the axis of the track motion, the detection method adopts the calibration device of the intelligent vehicle millimeter wave radar based on the environment to calibrate the main technical parameters of the millimeter wave radar, including the distance parameter, the speed parameter and the angle parameter of the millimeter wave radar, and calibrate the distance, the speed and the angle of the millimeter wave radar, thereby improving the test accuracy, the millimeter wave radar is fixed on the three-dimensional turntable, thereby the relative position of the millimeter wave radar and the calibration target is adjusted by the three-dimensional turntable, the calibration target is arranged on the calibration target moving platform to move the calibration target, in order to satisfy the demand of test, rain and fog environment simulation system installs in calibration target moving platform top, simulates the rain and fog environment.
Further improved, the distance parameter calibration is carried out, the distance parameters of the millimeter wave radar comprise parameters such as maximum working distance, distance resolution and ranging precision, when the device is used for calibrating the distance parameters, a magnetic grid ruler carried by the device calibration target motion platform is needed to carry out data calibration, and the magnetic grid ruler carried by the device can generally reach micron-level precision and far cover the measurement precision of the millimeter wave radar.
Further improved, the distance parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: adjusting the pitch angle or the yaw angle of the millimeter wave radar;
s3: positioning the moving platform from near to far according to a certain distance interval, and simultaneously recording a distance measurement result of the millimeter wave radar and a displacement measurement result of the moving platform;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
Further improved, the speed parameter calibration, the speed parameters of the millimeter wave radar including the parameters of maximum detection speed, speed resolution and speed measurement precision, etc. when the equipment is used to calibrate the speed parameters, the equipment is used to calibrate the encoder of the servo drive motor on the target motion platform for measurement,
in a further improvement, the speed parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: adjusting the pitch angle or the yaw angle of the millimeter wave radar;
s3: moving the moving platform from near to far to the maximum working distance according to a set speed, and simultaneously recording the speed measurement result of the millimeter wave radar and the speed measurement result of the moving platform in real time;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
Further improved, the angle parameter calibration: the angle parameters of the millimeter wave radar comprise parameters such as detection visual angle range, angle resolution and angle measurement precision, and when the equipment is used for calibrating the speed parameters, an encoder of a servo drive motor of a three-dimensional rotary table of the equipment is required to be used for measurement.
Specifically, the angle parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: the calibration target moving platform moves to a certain position according to the set distance and stops;
s3: controlling a yaw angle driving motor or a pitch angle driving motor of the three-dimensional rotary table to move at a slow speed, and simultaneously acquiring a motion angle of the three-dimensional rotary table and a measurement angle of the millimeter wave radar;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
The method comprises the steps of starting a rain and fog simulation system before testing, placing a calibration target on a mobile platform after rain and fog are formed in an environment to be detected, then starting a millimeter wave radar and a three-dimensional rotary table, adjusting the position of the millimeter wave radar through the three-dimensional rotary table, calibrating distance, speed and angle data of the millimeter wave radar, and detecting the calibration target through the millimeter wave radar.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A millimeter wave radar calibration test method based on environment comprises the following steps: calibration equipment, its characterized in that: the detection method adopts environment-based calibration equipment of the intelligent vehicle millimeter wave radar to calibrate main technical parameters of the millimeter wave radar, including distance parameters, speed parameters and angle parameters of the millimeter wave radar.
2. The environment-based millimeter wave radar calibration test method according to claim 1, wherein: the distance parameter calibration is carried out, the distance parameters of the millimeter wave radar comprise parameters such as the maximum working distance, the distance resolution and the ranging precision, when the equipment is used for calibrating the distance parameters, the equipment is needed to calibrate the magnetic grid ruler of the target motion platform, data calibration is carried out, the magnetic grid ruler of the equipment can generally reach the micron-order precision, and the measuring precision of the millimeter wave radar is far covered.
3. The environment-based millimeter wave radar calibration test method according to claim 2, characterized in that: the distance parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: adjusting the pitch angle or the yaw angle of the millimeter wave radar;
s3: positioning the moving platform from near to far according to a certain distance interval, and simultaneously recording a distance measurement result of the millimeter wave radar and a displacement measurement result of the moving platform;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
4. The environment-based millimeter wave radar calibration test method according to claim 1, wherein: and calibrating the speed parameters, wherein the speed parameters of the millimeter wave radar comprise parameters such as maximum detection speed, speed resolution, speed measurement precision and the like, and when the equipment is used for calibrating the speed parameters, the equipment is required to calibrate an encoder of a servo drive motor on a target motion platform for measurement.
5. The environment-based millimeter wave radar calibration test method according to claim 4, wherein: the speed parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: adjusting the pitch angle or the yaw angle of the millimeter wave radar;
s3: moving the moving platform from near to far to the maximum working distance according to a set speed, and simultaneously recording the speed measurement result of the millimeter wave radar and the speed measurement result of the moving platform in real time;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
6. The environment-based millimeter wave radar calibration test method according to claim 1, wherein: angle parameter calibration: the angle parameters of the millimeter wave radar comprise parameters such as detection visual angle range, angle resolution and angle measurement precision, and when the equipment is used for calibrating the speed parameters, an encoder of a servo drive motor of a three-dimensional rotary table of the equipment is required to be used for measurement.
7. The environment-based millimeter wave radar calibration test method according to claim 6, wherein: the angle parameter calibration method comprises the following steps:
s1: adjusting environmental parameters, setting the rainfall or fog visibility, and carrying out multipoint measurement by using a corresponding rain gauge or fog visibility meter;
s2: the calibration target moving platform moves to a certain position according to the set distance and stops;
s3: controlling a yaw angle driving motor or a pitch angle driving motor of the three-dimensional rotary table to move at a slow speed, and simultaneously acquiring a motion angle of the three-dimensional rotary table and a measurement angle of the millimeter wave radar;
s4: and adjusting initial parameters, repeating for multiple times, and drawing a calibration curve.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116559803A (en) * | 2023-07-07 | 2023-08-08 | 四川省华盾防务科技股份有限公司 | Rapid test method and test system for small phased array |
| CN118483666A (en) * | 2024-07-15 | 2024-08-13 | 成都世源频控技术股份有限公司 | Radar simulation test system based on unmanned aerial vehicle |
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