CN113359093B - Radar testing method and device - Google Patents

Radar testing method and device Download PDF

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Publication number
CN113359093B
CN113359093B CN202010147583.6A CN202010147583A CN113359093B CN 113359093 B CN113359093 B CN 113359093B CN 202010147583 A CN202010147583 A CN 202010147583A CN 113359093 B CN113359093 B CN 113359093B
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China
Prior art keywords
radar
shielding
angle
shielding object
rotating
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CN202010147583.6A
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Chinese (zh)
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CN113359093A (en
Inventor
侯强
潘卫
薛甬申
王辉
王仁文
李博达
王浩华
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN202010147583.6A priority Critical patent/CN113359093B/en
Priority to PCT/CN2021/078866 priority patent/WO2021175248A1/en
Publication of CN113359093A publication Critical patent/CN113359093A/en
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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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The embodiment of the application provides a radar test method and a radar test device, wherein the radar test method is used for placing a target object on the normal line of a radar scanning range; adjusting the horizontal deflection angle and the pitching deflection angle of the radar according to a preset angle; performing calibration compensation through the calibration function of the radar; testing the position of the target object by the radar; if the position of the target object meets the preset standard, determining that the radar passes the test, and determining that the radar is accepted. The embodiment of the application provides a set of standardized shielding and radar calibration radar testing method, provides a radar calibration testing method under a shielding scene, increases the calibration and shielding testing coverage, and improves the radar testing efficiency.

Description

Radar testing method and device
Technical Field
The embodiment of the application relates to the field of electronic equipment testing, in particular to a radar testing method and device.
Background
With the development of modern technology, the technology of automatically driving automobiles is becoming more mature. Among them, many modern automobiles are equipped with advanced (advanced) driving assistance systems (advanced driver assistance systems, ADAS). Millimeter wave Radar (Radar) is one of the most prominent sensors of ADAS systems. The calibration and shielding characteristics of the radar are two important characteristics of an ADAS vehicle in an actual scene, and are key test items for radar research and development.
Fig. 1 is a scenario of radar testing. The radar 2 is mounted on a vehicle 1, and a calibration plate 3 is provided in front of the vehicle or in front of the vehicle. The installation position relationship between the radar 2 and the vehicle 1 has a direct relationship with the reported original detection point position/speed accuracy. For example, the radar 2 may be mounted directly in front of the vehicle 1, may be mounted laterally in front of the vehicle 1, and may be mounted at other positions of the vehicle 1. The staff can measure the error angle of the mechanical installation through the calibration function of the radar 2, and provide parameters for subsequent compensation.
However, no standard radar test method exists at present, and no professional device is used for testing, so that not only is the efficiency low, but also larger errors can occur.
Disclosure of Invention
The embodiment of the application provides a radar test method and device, which are used for performing professional radar test and improving test efficiency.
In a first aspect, an embodiment of the present application provides a radar testing method, including:
placing a target object on a normal line of a radar scanning range;
adjusting the horizontal deflection angle and the pitching deflection angle of the radar according to a preset angle;
Performing calibration compensation through the calibration function of the radar;
testing the position of the target object by the radar;
and if the position of the target object meets the preset standard, determining that the radar passes the test.
In a possible implementation manner, after the target object is placed on the normal line of the radar scanning range, before the calibration compensation by the calibration function of the radar, the method further includes:
and a shielding object is arranged between the radar and the target object.
In a possible implementation manner, after the target object is placed on the normal line of the radar scanning range, before the calibration compensation by the calibration function of the radar, the method further includes:
and adjusting the distance between the radar and the target object according to the preset distance or adjusting the distance between the radar and the shielding object according to the preset distance.
In a possible implementation manner, after the target object is placed on the normal line of the radar scanning range, before the calibration compensation by the calibration function of the radar, the method further includes:
and carrying the radar to move through a mobile platform.
In one possible implementation, the preset angle includes a calibration accuracy range limit offset angle, a calibration function support limit offset angle, and the radar installation maximum offset angle.
In a second aspect, an embodiment of the present application provides a radar testing method, including:
setting a shielding object corresponding to a preset shielding degree between a radar and a target object, wherein the shielding object is determined according to a scene use case database, the scene use case database is established according to radar shielding medium influence factors, and the radar shielding medium influence factors comprise structural shielding, close-fitting shielding and weather shielding;
testing the position of the target object by the radar;
and determining the scanning range and the scanning precision of the radar according to the position of the target object.
In one possible implementation, after the radar tests the position of the target, the method further includes:
acquiring alarm information of the radar;
and if the alarm information meets the preset design index, determining that the radar passes the shielding degree alarm test.
In one possible implementation, the alarm information includes an alarm reporting time of the radar;
the alarm information meeting the preset design index comprises that alarm reporting time of the radar is smaller than a preset time threshold.
In one possible implementation, the alarm information includes an alarm degree of the radar;
The alarm information meeting the preset design index comprises the alarm degree corresponding to the preset shielding degree.
In a third aspect, an embodiment of the present application provides a radar test device, including: the device comprises a first angle adjusting mechanism, a second angle adjusting mechanism and a distance adjusting mechanism;
the first angle adjusting mechanism comprises a first rotating plate, a base, a first adjusting knob and a first gear reducer;
the first rotating plate is connected to the base through a first rotating shaft;
the first adjusting knob is connected with the first rotating shaft through a first gear reducer and is used for controlling the first rotating plate to rotate;
the distance adjusting mechanism comprises a supporting frame, a distance adjusting guide post and a distance adjusting knob;
the support frame is arranged on the first rotating plate in a sliding way through the distance adjusting guide post;
one end of the distance adjusting knob is a nut, the through hole is sleeved on the first rotating plate, and the other end of the distance adjusting knob is connected with the supporting frame through threads and used for adjusting the supporting frame to move;
the second angle adjusting mechanism comprises a second rotating plate, a second gear reducer and a second adjusting knob;
the second rotating plate is connected to the supporting frame through a second rotating shaft and is used for mounting a radar;
The second adjusting knob is connected with the second rotating shaft through the second gear reducer and used for controlling the second rotating plate to rotate.
In one possible implementation, the first angle adjustment mechanism further includes a first pointer and a first dial;
the first pointer is fixed on the first rotating plate and used for rotating together with the first rotating plate;
the base is provided with the first dial matched with the first pointer and used for displaying the rotation angle of the first rotating plate.
In one possible implementation, the first angle adjustment mechanism further includes an angle pre-tightening knob;
the angle pre-tightening knob is arranged on the base and props against the first rotating shaft and is used for fixing the first rotating plate.
In one possible implementation, the distance adjustment mechanism further comprises a vial;
the level bubble is arranged on the plane of the supporting frame.
In one possible implementation, the distance adjustment mechanism further comprises a distance pre-tightening screw;
the distance pre-tightening screw penetrates through the supporting frame to prop against the first rotating plate and is used for fixing the supporting frame.
In one possible implementation, the second angle adjustment mechanism further includes a second angle dial, a second pointer;
the second pointer is fixed on the second rotating shaft, and the second angle dial is fixed on the supporting frame;
the second angle dial is matched with the second pointer and used for displaying the rotation angle of the second rotating plate.
In one possible implementation, the second angular adjustment mechanism further comprises an angular pre-tightening screw;
the angle pre-tightening screw is arranged on the supporting frame and abuts against the second rotating shaft and used for fixing the second rotating plate.
In one possible implementation manner, the radar testing device further includes a shielding tool, and the first angle adjusting mechanism further includes a shielding tool guide post;
the shielding tool guide post is arranged on the base, and the shielding tool is arranged on the shielding tool guide post;
the shielding tool comprises: the shielding tool comprises a shielding tool base, a shielding first angle adjusting mechanism, a shielding second angle adjusting mechanism and a shielding distance adjusting mechanism;
the shielding tool base is arranged on the base in a sliding manner through the shielding tool guide post;
The shielding object distance adjusting mechanism comprises a shielding object distance pre-tightening screw;
the shielding object distance pre-tightening screw penetrates through the shielding object tooling base to prop against the base or the shielding tooling guide post and is used for fixing the shielding object tooling base;
the first shielding object angle adjusting mechanism comprises a first shielding object rotating frame and a first shielding object pre-tightening knob;
the first shielding object rotating frame is arranged on the shielding object tool base through a first shielding object rotating shaft;
the first shielding object pre-tightening knob abuts against the first shielding object rotating shaft and is used for fixing the first shielding object rotating frame;
the second angle adjusting mechanism of the shielding object comprises a second rotating frame of the shielding object and an angle adjusting knob of the shielding object;
the shielding object second rotating frame is arranged on the shielding object first rotating frame through a shielding object second rotating shaft;
the shielding object angle adjusting knob is connected with the shielding object second rotating shaft and used for controlling the rotation of the shielding object second rotating frame;
the shielding object second rotating frame is used for setting shielding objects.
In one possible implementation, the shielding tool further comprises a liquid supply mechanism;
the liquid supply mechanism comprises at least one liquid container, at least one infusion tube and a spray head;
The liquid container is arranged on the base of the shielding tool, the liquid container is connected with the spray head through the infusion tube, and the spray head is arranged on the second rotating frame of the shielding tool and used for spraying liquid to form a water film.
In one possible implementation, a liquid pump is arranged between the liquid container and the infusion tube for delivering liquid;
the liquid pump is provided with a speed regulating button for regulating the speed of conveying liquid.
In one possible implementation, the first angle adjustment mechanism of the shutter further includes: a first shutter pointer and a first shutter dial;
the first shielding object pointer is arranged on the first shielding object rotating frame and rotates together with the first shielding object rotating frame;
the first index plate of shielding object is arranged on the base of the shielding object tool and matched with the first pointer of shielding object, and is used for displaying the rotation angle of the first rotating frame of shielding object.
In one possible implementation, the shutter second angle adjustment mechanism further includes: a second shutter pointer and a second shutter dial;
the shielding object second pointer is fixed on the shielding object second rotating shaft, and the shielding object second dial is fixed on the shielding object first rotating frame;
The second shielding object pointer is matched with the second shielding object dial and used for displaying the rotating angle of the second shielding object rotating frame.
From the above technical solutions, the embodiments of the present application have the following advantages:
the embodiment of the application provides a radar test method and a radar test device, wherein the radar test method is used for placing a target object on the normal line of a radar scanning range; adjusting the horizontal deflection angle and the pitching deflection angle of the radar according to a preset angle; performing calibration compensation through the calibration function of the radar; testing the position of the target object by the radar; if the position of the target object meets the preset standard, determining that the radar passes the test, and determining that the radar is accepted. The embodiment of the application provides a set of standardized shielding and radar calibration radar testing method, provides a radar calibration testing method under a shielding scene, increases the calibration and shielding testing coverage, and improves the radar testing efficiency.
Drawings
FIG. 1 is a scenario of radar testing;
fig. 2 is an exemplary diagram of a radar testing method according to an embodiment of the present application;
FIG. 3 is a schematic top view of a radar test in an embodiment of the present application;
FIG. 4 is a schematic side view of a radar test in an embodiment of the present application;
FIG. 5 is a diagram of an example radar test with a shroud in an embodiment of the present application;
FIG. 6 is a schematic diagram of another radar testing method according to an embodiment of the present application;
FIG. 7 is an example diagram of radar occlusion medium impact factor classification in an embodiment of the present application;
FIG. 8 is a classification chart of a shielding degree alarm test in an embodiment of the present application;
FIG. 9 is an exemplary diagram of a radar test device according to an embodiment of the present application;
FIG. 10 is an exemplary diagram II of a radar test device according to an embodiment of the present application;
FIG. 11 is an exemplary diagram III of a radar test device in an embodiment of the present application;
FIG. 12 is an exemplary diagram of a radar test device according to an embodiment of the present application;
fig. 13 is an exemplary diagram of a radar test device according to an embodiment of the present application;
FIG. 14 is an exemplary diagram of a radar test device according to an embodiment of the present application;
fig. 15 is an exemplary diagram of a radar test device according to an embodiment of the present application.
Description of the embodiments
The embodiment of the application provides a radar test method and device, which are used for performing professional radar test and improving test efficiency.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "includes" and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
Radar testing generally includes calibration testing and occlusion testing. The calibration test can be used for measuring the accuracy of the radar and calibrating the radar. In the calibration test, a worker generally needs to perform static calibration of the horizontal angle and the pitching angle on the radar, and can also perform dynamic calibration test on the radar. The dynamic calibration test is to test the dynamic calibration characteristic of the radar in the running process of the vehicle, detect whether the accuracy of the radar in the running process of the vehicle meets the requirement, and calibrate the radar so that the radar is more accurate.
The shielding test is used for testing whether the radar can have higher accuracy when shielded by the obstacle, and debugging, screening, calibration and the like can be performed on the radar according to the test result. The obstacle may be a vehicle body surrounding member, fog, water film, or the like.
Currently, when a worker performs a calibration test of a radar, the radar is manually deflected by a certain angle in a horizontal direction and a vertical direction, then the calibration compensation test is performed, and a related angle measuring instrument is also required to be used for horizontally deflecting the radar and pitching the radar. The horizontal deflection angle and the pitching deflection angle of the radar cannot be accurately measured by adopting the measuring instrument to measure, and the efficiency is low.
Currently, when a worker performs a radar shielding test, the worker normally deflects the radar by a certain angle in the horizontal direction and the vertical direction, sets an obstacle in front of the radar, and then performs the radar test. Such tests are inefficient and inaccurate. When the water film shielding test is performed, a worker also needs to test the vehicle in a rainy area or cover the radar surface with wet tissues. This test method requires proper weather and severe conditions. And the different rain potentials can influence the test result. Wet tissues tend to dry gradually over time and to generate air bubbles during the running of the vehicle.
In order to solve the technical problems, the embodiment of the application provides a radar test method for performing professional radar test and improving test efficiency.
Fig. 2 is an exemplary diagram of a radar testing method according to an embodiment of the present application. The radar test method may include:
201. placing a target object on a normal line of a radar scanning range;
in the embodiment of the application, the target object is an object for radar calibration, and after a signal sent by the radar reaches the target object, the radar is returned to obtain the radar, so that the radar can detect the target object. By way of example, the object may be a truck, a trolley, a pedestrian, or an angular reflector, a calibration plate, a target simulator, a fence, a wall, or the like. The embodiment of the application does not limit which target is specifically adopted.
Fig. 3 is a schematic top view of a radar test in an embodiment of the present application. As shown in fig. 3, an object (triangle in fig. 3) is provided on the normal line of the radar. Fig. 4 is a schematic side view of a radar test in an embodiment of the present application. As shown in fig. 4, an object (triangle in fig. 3) is provided on the normal line of the radar.
In the embodiment of the present application, the distance between the target object and the radar may be specifically set according to the actual situation.
202. Adjusting the horizontal deflection angle and the pitching deflection angle of the radar according to a preset angle;
as shown in fig. 3, the horizontal declination of the radar includes: limiting value-theta of left deflection angle in horizontal calibration precision guarantee range H1 Limiting value +theta of right deflection angle in horizontal calibration precision guarantee range H1 Left deflection angle limiting angle-theta supported by horizontal calibration function H2 Right deflection angle limit angle +theta supportable by horizontal calibration function H2 Maximum deflection angle-theta of radar module installed on vehicle to left H3 Maximum rightward offset angle +θ of radar module mounted on vehicle H3 。
As shown in fig. 4, the pitch deflection angle of the radar includes: limiting value-theta of downward deflection angle in pitching calibration precision guarantee range V1 Limit value +theta of upward deflection angle in pitch calibration precision guarantee range V1 Limiting angle-theta of left deflection angle supportable by pitching calibration function V2 Right deflection angle limit angle +theta supportable by pitching calibration function V2 Upward maximum yaw angle- θ for radar module mounted on board a vehicle V3 Maximum rightward offset angle +θ of radar module mounted on vehicle V3 。
In the embodiment of the application, the horizontal deflection angle and the pitching deflection angle of the radar can be adjusted according to the angles.
In some embodiments, prior to step 203, an obstruction may also be provided between the radar and the target in embodiments of the present application. The shielding object may be a water film, a skin, an iron sheet, a bumper, etc., which is not limited in the embodiment of the present application. Fig. 5 is a diagram illustrating an example of radar test with a shroud according to an embodiment of the present application. L (L) 1 The distance from the radar front obstacle to the center of the radar antenna is the distance from the radar front calibration zero point to the obstacle; l (L) 2 Is the distance of the target object to the center of the radar itself. In the embodiment of the application, the method can be based on L 1 、ΔL、L 2 An obstacle is provided between the radar and the target. After the obstacle is set, a calibration test with the obstacle may be performed.
203. Calibrating and compensating through the calibrating function of the radar;
in the embodiment of the application, the radar has a calibration function. The calibration function refers to the detection of a target object by a radar sending signal, and the accuracy error of the radar is determined according to the obtained detection result. In practical applications, the radar will also correct its own error, i.e. perform calibration (calibration compensation) according to the error.
204. Testing the position of the target object through radar;
in the embodiment of the application, after calibration compensation, the radar can detect the target object again to obtain the position of the target object. The position of a target is generally referred to as the angle, distance, etc. of the target relative to the radar.
205. And if the position of the target object meets the preset standard, determining that the radar passes the test.
In the embodiment of the application, when the position of the target object meets the preset standard, the radar is determined to pass the test, and the radar acceptance is completed. When the position of the target object does not meet the preset standard, the radar is determined to not pass the test, and the radar can be marked as unqualified or returned.
Table 1 is a preset standard example of radar test in the embodiment of the present application. Exemplary, according to the example of Table 1, the embodiment of the present application first deflects the radar to the left by a preset angle such that the radar deflection angle is within the calibration accuracy range (0 to- θ H1 ) After radar calibration and compensation are completed, the detection effect of the radar is tested, if the reported angle of the target object is equal to 0 degree (in practical application, the angle is within a certain preset range), and the radar accurately identifies the target object on the normal line, the radar can be calibrated and compensated after deflecting by the preset angle, and the effect after compensation is good, so that the radar can be determined to pass the test. Other testing methods are similar and will not be described in detail herein.
TABLE 1
The above embodiment is a description of a static calibration test, i.e. a test of radar in a stationary state. In some embodiments, the radar may be mounted on a vehicle and then the vehicle is driven forward in order to test the condition of the radar while in motion. In practical application, the radar may be mounted on a mobile platform such as a test cart or a suspension cable, which is not limited in the embodiment of the present application. In the dynamic calibration test of the radar, other conditions except for the radar motion are similar to those of the static calibration test of the radar in the foregoing embodiment, and will not be described herein.
In some embodiments, a shielding object is arranged between the radar and the target object, so that a radar static calibration test and a radar dynamic calibration test with the shielding object can be performed. The shielding degree of different shielding objects can be divided into light shielding, medium shielding and heavy shielding. The method is free from shielding without shielding. Table 2 is various examples of radar tests in embodiments of the present application.
TABLE 2
In this embodiment of the present application, according to the example of table 2, when setting the preset angle for adjusting the horizontal yaw angle and the pitch yaw angle of the radar, the preset angle may be set as the upper point, the off point, and the inner point of the boundary of the horizontal yaw angle range of the radar in fig. 3, or the upper point, the off point, and the inner point of the boundary of the pitch yaw angle range of the radar in fig. 4.
Fig. 6 is a schematic diagram of another radar testing method according to an embodiment of the present application. The method comprises the following steps:
601. placing a target in front of the radar;
in the embodiment of the present application, the target is similar to that of the previous embodiment, and will not be described here again. In the embodiment of the application, the scanning range of the radar can be determined according to the index of the radar.
In the embodiment of the application, the distance between the target object and the radar is set according to a preset distance. By way of example, if the preset distance is 1m, the target may be placed 1m in front of the radar.
602. Setting a shielding object corresponding to a preset shielding degree between the radar and the target object;
in the embodiment of the application, the shielding degree can be divided into slight shielding, moderate shielding and severe shielding according to the loss degree of the shielding medium to the working frequency band of the radar to be detected.
As shown in fig. 7, according to the type of the blocking medium of the vehicle in actual use, the type of the shielding object can be divided into three items of structural shielding, close-fitting shielding and weather shielding. The structural shielding is divided into a front junction member and a rear junction member; the influence factors of the close-fitting shielding include the type, thickness and position of the covering; the impact factors of weather-type occlusion are different weather scenes. In combination with the installation and application scenes of the radar to be detected in the actual vehicle, the scene use case database can be formed by combining the parameters of different influence factors as shown in fig. 7. After the scene use case database is ordered according to the test priority, the use cases in the scene use case database can be extracted according to the test priority to form corresponding shielding objects. The occlusion degree of the occlusion can be obtained from a scene use case database.
603. Testing the position of the target object through radar;
in the embodiment of the application, the target object can be positioned through the test function of the radar, and then the radar can obtain the distance and the angle (horizontal angle and pitching angle) of the target object, so that the position of the target object is determined.
604. And determining the scanning range and the scanning precision of the radar according to the position of the target object.
In the embodiment of the application, the radar can determine the range capable of measuring the target object, namely the scanning range, by repeatedly testing the position of the target object through the radar, so that the position where the target object can be positioned and the position where the target object cannot be positioned can be obtained. In addition, the position where the target object is placed is known, and the accuracy of the radar can be obtained compared with the position of the target object tested by the radar. And (5) testing for multiple times, and taking an average value to obtain the scanning accuracy of the radar.
Table 3 is an example of radar occlusion testing in an embodiment of the present application.
TABLE 3 Table 3
In some embodiments, the method further comprises obtaining alert information for the radar; if the alarm information meets the preset design index, determining that the radar passes the shielding degree alarm test.
The alarm information of the radar may include radar alarm reporting time, alarm degree, etc. In the preset design index, the reporting time of the radar alarm is required to be smaller than a preset time threshold, and the alarm degree is required to correspond to the shielding degree of the shielding object. For example, if the degree of occlusion of the occlusion object is light occlusion, the alarm degree should also be light occlusion. In practical application, for occlusion degree alarm test: in each shielding medium combination (shielding object of different medium combinations), changing relevant parameters, and continuously increasing the shielding degree to cover light, medium and heavy three-gear, checking whether the radar alarm reporting time meets the design index, and checking whether the alarm degree of the radar on the different medium combinations meets the design expectation.
FIG. 8 is a classification diagram of a occlusion degree alert test in an embodiment of the present application. The shielding degree alarm test is divided into an analog test and an actual drive test. The above test was performed by providing different blinders. And the method is divided into a shielding degree alarm test and a shielding influence test on performance. Finally, combining the tests can obtain whether the radar can normally position the target object under the influence of the shielding object.
Fig. 9 is an exemplary diagram of a radar test device according to an embodiment of the present application. The radar testing device comprises a first angle adjusting mechanism, a second angle adjusting mechanism and a distance adjusting mechanism;
the first angle adjusting mechanism comprises a first rotating plate 102, a base 101, a first adjusting knob 103 and a first gear reducer;
the first rotating plate 102 is connected to the base 101 through a first rotating shaft; the first rotation shaft is provided inside the base 101 and is thus not shown in fig. 9.
The first adjustment knob 103 is connected to the first rotation shaft through a first gear reducer for controlling the rotation of the first rotation plate 102. In this embodiment, when the first adjusting knob 103 rotates, the first gear reducer drives the first rotating shaft to rotate, so as to drive the first rotating plate 102 to rotate. By adopting the first gear reducer, the radar testing device can meet the precision requirement of the calibration test of the 0.1deg stepping angle when adjusting the rotation angle of the radar.
The distance adjusting mechanism comprises a supporting frame 201, a distance adjusting guide post 202 and a distance adjusting knob 203;
the support frame 201 is slidably arranged on the first rotating plate 102 through the distance adjusting guide post 202; in this embodiment, the distance adjusting guide post 202 is a cylinder installed on the first rotating plate 102, and the supporting frame 201 is provided with a through hole corresponding to the distance adjusting guide post 202, so that the distance adjusting guide post 202 can be installed on the supporting frame 201 through the through hole.
Fig. 10 is an exemplary diagram of a radar test device according to an embodiment of the present application. It can be seen that one end of the distance adjusting knob 203 is a nut, the through hole is sleeved on the first rotating plate 102, and the other end of the distance adjusting knob 203 is connected with the supporting frame 201 through threads, so as to control the movement of the supporting frame 201. In this embodiment, the distance adjusting knob 203 is specifically a long rod, one end is a nut, and the other end is provided with threads. One end of the distance adjusting knob 203 having a nut passes through the through hole of the boss of the first rotation plate 102, and the threaded end of the distance adjusting knob 203 is screwed through the lug of the supporting frame 201. When the distance adjustment knob 203 is rotated, the support frame 201 moves relative to the first rotation plate 102, thereby controlling the movement of the support frame 201.
The second angle adjusting mechanism comprises a second rotating plate 301, a second gear reducer 302 and a second adjusting knob 303;
the second rotating plate 301 is connected to the supporting frame 201 through a second rotating shaft; the second rotation shaft is not shown in fig. 9, and generally passes through the support frame 201 and the second rotation plate 301 laterally, so that the second rotation plate 301 can rotate up and down (pitch rotation).
The second adjusting knob 303 is connected to the second rotating shaft through the second gear reducer 302, and is used for controlling the second rotating plate 301 to rotate. It can be appreciated that when the second adjusting knob 303 rotates, the gear of the second gear reducer 302 is driven to rotate, so as to drive the second rotating shaft and the second rotating plate 301 to rotate.
The radar 4 may be mounted on the second rotating plate 301, and then the horizontal deflection angle of the radar 4, the distance from the target object or the shielding object, and the pitch deflection angle of the radar may be changed by the rotation of the first rotating plate 102, the movement of the supporting frame 201, and the rotation of the second rotating plate 301, so that the radar 4 may implement the processing of the radar 4 in the radar test method in the above embodiment.
In some embodiments, the first angle adjustment mechanism further comprises a first pointer 104 and a first dial 105; the first pointer 104 is fixed on the first rotating plate 102 and is used for rotating together with the first rotating plate 102; the base 101 is provided with a first dial 105 cooperating with the first pointer 104 for displaying the rotation angle of the first rotation plate 102. The embodiment of the application with the first pointer 104 can accurately change the horizontal deflection angle of the radar 4.
In the embodiment of the present application, when the first rotating plate 102 rotates, the first rotating plate 102 drives the first pointer 104 to rotate, so that the first pointer 104 points to different scales on the first dial 105, and thus the rotation angle of the first rotating plate 102 can be read out from the first dial 105.
It will be appreciated that the minimum scale of the first dial 105 meets the angle calibration test requirements.
In some embodiments, the first angle adjustment mechanism further includes an angle pre-tightening knob 106; the angle pre-tightening knob 106 is disposed on the base 101 against the first rotating shaft, and is used for fixing the first rotating plate 102.
In this embodiment, when the angle pretensioning knob 106 is twisted, the first rotating shaft may be pressed, and the first rotating shaft is not rotated, thereby fixing the first rotating plate 102.
In some embodiments, the distance adjustment mechanism further comprises a vial; the vials 204 are disposed in the plane of the support frame 201. In the present embodiment, the vial 204 may be used to observe whether the support stand 201 and the entire radar test device are level. It will be appreciated that in the present embodiment, the support 201 is L-shaped and includes a planar surface on which the vials 204 are disposed and two upstanding posts.
In some embodiments, the distance adjustment mechanism further includes a distance pretension screw 205; a distance pre-tightening screw 205 passes through the support frame 201 against the first rotation plate 102 for fixing the support frame 201. In the embodiment of the present application, there are two distance pre-tightening screws 205, which are respectively disposed on two sides, so that the support frame 201 can be more firmly fixed. The support frame 201 may be fixed when the distance pre-tightening screw 205 is tightened, and the movement of the support frame 201 may be controlled by the distance adjustment knob 203 when the distance pre-tightening screw 205 is loosened.
In some embodiments, the second angle adjustment mechanism further comprises a second angle dial 305, a second pointer 304; the second pointer 304 is fixed on the second rotating shaft, and the second angle dial 305 is fixed on the supporting frame 201; the second angle dial 305 cooperates with the second pointer 304 to show the rotation angle of the second rotation plate 301. The embodiment of the application with the second pointer 304 can accurately change the pitch deflection angle of the radar 4.
In this embodiment, when the second rotating plate 301 rotates, the second rotating shaft rotates, so as to drive the second pointer 304 to rotate, so that the second pointer 304 points to different scales on the second angle dial 305, and the rotation angle of the second rotating plate 301 can be read from the scales on the second angle dial 305.
In some embodiments, the second angular adjustment mechanism further includes an angular pre-tightening screw 306; the angle pre-tightening screw 306 is disposed on the supporting frame 201 against the second rotating shaft, and is used for fixing the second rotating plate 301.
In the embodiment of the present application, when the angle pretensioning screw 306 is twisted, the second rotation shaft can be pressed so that the second rotation shaft cannot be rotated, thereby fixing the second rotation plate 301.
Fig. 11 is an exemplary diagram of a radar test device according to an embodiment of the present application. In some embodiments, the radar test device further comprises a shielding tool, and the first angle adjustment mechanism further comprises a shielding tool guide post 107;
the shielding tool guide post 107 is arranged on the base 101, and the shielding tool is arranged on the shielding tool guide post 107;
shelter from frock includes: the shielding tool base 501, a shielding first angle adjusting mechanism, a shielding second angle adjusting mechanism and a shielding distance adjusting mechanism;
fig. 12 is an exemplary diagram of a radar test device according to an embodiment of the present application. It can be seen that the shielding tool base 501 is slidably disposed on the base 101 through the shielding tool guide post 107. The shielding tool guide post 107 is specifically a cylinder inlaid on the base 101. The shielding tool base 501 is sleeved on the shielding tool guide post 107 and can move back and forth along the shielding tool guide post 107. It can be appreciated that, generally, the left and right sides are all provided with and shelter from the frock guide pillar 107, then shelter from thing frock base 501 can the suit on two shelter from frock guide pillar 107, and is more firm, also can prevent to shelter from thing frock base 501 rotation.
As shown in fig. 12, the shade distance adjustment mechanism includes a shade distance pre-tightening screw 502; the shielding object distance pre-tightening screw 502 passes through the shielding object tooling base 501 to prop against the shielding tool guide post 107 and is used for fixing the shielding object tooling base 501; when the shielding object is screwed down from the pre-tightening screw 502, the shielding object can press the shielding tool guide post 107 from the pre-tightening screw 502, so that the fixed shielding object tool base 501 cannot move back and forth.
In other embodiments, the shroud distance pre-tightening screw 502 passes through the shroud tooling base 501 to abut the base 101, and may also act to secure the shroud tooling base 501 when tightened.
The first angle adjustment mechanism of the shielding object comprises a first rotating frame 601 of the shielding object and a first pre-tightening knob 602 of the shielding object;
the first rotating frame 601 of the shielding object is arranged on the tool base 501 of the shielding object through a first rotating shaft (not shown in fig. 11) of the shielding object; the first pre-tightening knob 602 of the shielding object is propped against the first rotating shaft of the shielding object and is used for fixing the first rotating frame 601 of the shielding object. In this embodiment, after the first rotating frame 601 of the shielding object rotates to a suitable position, the first pre-tightening knob 602 of the shielding object may be screwed, so that the first pre-tightening knob 602 of the shielding object presses the first rotating shaft of the shielding object, thereby fixing the first rotating frame 601 of the shielding object.
The second angle adjustment mechanism of the shielding object comprises a second rotating frame 701 of the shielding object and an angle adjustment knob 703 of the shielding object;
the shielding second rotating frame 701 is arranged on the shielding first rotating frame 601 through a shielding second rotating shaft; in the embodiment of the present application, the second rotating shaft of the shade is generally placed transversely, so the second rotating frame 701 of the shade can vertically rotate, so that the shade installed on the second rotating frame 701 of the shade can be adjusted to a suitable pitching angle.
The shutter angle adjusting knob 703 is connected to the shutter second rotating shaft, and is used for controlling the shutter second rotating frame 701 to rotate; in some embodiments, the shutter angle adjustment knob 703 is connected to the shutter second rotation shaft through a shutter gear reducer 702. When the shutter angle adjustment knob 703 rotates, the shutter gear reducer 702 and the shutter second rotating shaft are driven to rotate, thereby controlling the shutter second rotating frame 701 to rotate.
The shutter second rotating frame 701 is used for setting a shutter. For example, the shade may be bound to the shade second rotating frame 701. In some embodiments, a water film may be formed in the shutter second rotating frame 701 by a spray head, and reference may be made to the following embodiments.
In some embodiments, the shielding tool further comprises a liquid supply mechanism;
fig. 13 is an exemplary diagram of a radar test device according to an embodiment of the present application. As can be seen, the liquid supply mechanism comprises at least one liquid container 801, at least one infusion tube 802, a spray head 803;
the liquid container 801 is arranged on the shelter tool base 501, the spray head 803 is connected through the infusion tube 802, and the spray head 803 is arranged on the shelter second rotating frame 701 and is used for spraying liquid on the shelter second rotating frame 701 to form a water film.
In some embodiments, a liquid pump 804 is disposed between the liquid container 801 and the infusion tube 802 for delivering liquid;
the liquid pump 804 is provided with a speed regulating button 805 for regulating the speed of the liquid to be delivered.
In the embodiment of the application, the liquid pump 804 can regulate the speed by the speed regulating button 805, so that the speed of conveying the liquid from the liquid container 801 to the spray head 803 is regulated, and the thickness of the water film formed by the spray head 803 in the second rotating frame 701 of the shelter is different. Generally, the faster the liquid is delivered, the greater the film thickness of the water. According to the embodiment of the application, the speed of conveying the liquid can be regulated according to the actual situation, so that a proper water film is obtained.
In the present embodiment, two liquid containers 801 and corresponding fittings such as a liquid transfer tube 802, a liquid pump 804, and the like may be provided. The concentration of the liquid, the kind of the liquid, etc. loaded in the different liquid containers 801 may be different. In practical applications, three or more liquid containers 801 may be further provided, and the number of liquid containers 801 is not limited in the embodiments of the present application.
In one possible example, liquid is delivered through only one of the liquid containers 801. In another possible example, the liquid is transported through two liquid containers 801, whereby the two liquids are mixed to form a special water film. In another example, the left nozzles 803 on the second rotating frame 701 of the shelter deliver liquid through the left liquid container 801, the right nozzles 803 deliver liquid through the right liquid container 801, and the left liquid pump 804 is adjusted to have different liquid flow rates from the right through the speed adjusting button 805, so that water films with different thicknesses on the left side and the right side are formed on the second rotating frame 701 of the shelter, and the semi-severe shelter working condition is simulated.
In some embodiments, the shade first angle adjustment mechanism further comprises: a first shutter pointer 603 and a first shutter dial 604;
The first shielding object pointer 603 is arranged on the first shielding object rotating frame 601 and rotates together with the first shielding object rotating frame 601; the first shade dial 604 is disposed on the first shade fixture base 501 and cooperates with the first shade pointer 603 to display the rotation angle of the first shade rotation frame 601. It will be appreciated that when the first shutter rotation frame 601 rotates, the first shutter pointer 603 rotates with it, so that the first shutter pointer 603 points to different scales on the first shutter dial 604, and thus the rotation angle of the first shutter rotation frame 601 can be read from the first shutter dial 604.
In some embodiments, the shade second angle adjustment mechanism further comprises: a shutter second pointer 704 and a shutter second dial 705;
the second shielding pointer 704 is fixed on the second shielding rotating shaft, and the second shielding dial 705 is fixed on the first shielding rotating frame 601; the second shielding pointer 704 is matched with the second shielding dial 705 and used for displaying the rotation angle of the second shielding rotating frame 701. It will be appreciated that when the second shutter rotating frame 701 rotates, the second shutter rotating shaft and the second shutter pointer 704 rotate, so that the second shutter pointer 704 points to different scales on the second shutter dial 705, and thus the rotating angle of the second shutter rotating frame 701 can be read from the second shutter dial 705.
Fig. 14 is a diagram illustrating an example sixth radar test device according to an embodiment of the present application, and fig. 15 is a diagram illustrating an example seventh radar test device according to an embodiment of the present application. It can be seen that in some embodiments, the radar testing apparatus further includes a shading fixture front-to-back adjustment knob 503. One end of the front and back adjusting knob 503 of the shielding tool is a nut, which passes through the base 501 of the shielding tool, and the other end is threaded and connected with the base 101. When the front and back adjusting knob 503 of the shielding tool is rotated, the front and back adjusting knob 503 of the shielding tool is extended to the base 101, so that the base 501 of the shielding tool moves to the base 101, the accurate front and back movement of the base 501 of the shielding tool is realized, and the method can be applied to the adjustment of the distance between the radar 4 and the shielding object in the embodiment of the method.
In the embodiment of the application, the problems of a random standardized calibration test method and test criteria in the prior technical scheme are solved: according to the embodiment of the application, the standardized calibration test and the standardized shielding test method are carried out by carrying out the influence factor classification, the test item classification and the standard test steps on the calibration test and the shielding test respectively, the calibration test method under the shielding scene is provided, the coverage of the calibration test and the shielding test is increased, and the test efficiency is improved.
In the embodiment of the application, the problem that the calibration function under the shielding scene cannot be tested in the current technical scheme is solved: the embodiment of the application provides a calibration test method under a shielding scene on one hand, and designs a calibration and shielding integrated test device on the other hand, as shown in the embodiment corresponding to fig. 9 to 15, various calibration tests under various shielding scenes can be performed.
In the embodiment of the application, the problem that the degree of freedom of the measured shielding plate and the radar to be measured which are adjustable in the prior art is limited is solved: the embodiment of the application designs a vehicle-mounted radar calibration test system (such as a radar adjustment system in the radar test device in fig. 9-10) which has three degrees of freedom of azimuth rotation, pitching rotation and forward and backward movement, and designs a vehicle-mounted radar shielding test system (such as a shielding object adjustment system in the radar test device in fig. 9-15), which can apply two different degrees of freedom of liquid spraying, azimuth rotation, pitching rotation and forward and backward movement, can meet the combination of various factors of calibration and shielding test, and improves the coverage of the test.
In the embodiment of the application, the problem that the precision of the testing device is low and the true value is inaccurate in the current technical scheme is solved: according to the embodiment of the application, the multistage precise gear transmission device and the pointer disk with the minimum scale reaching 0.1 degree are integrated in the transmission device of the rotating system, so that the requirement of high-precision calibration test can be met.
In the embodiment of the application, aiming at the problem that the coverage of test influencing factors is limited in the prior technical scheme: the system in the scheme of calibration and shielding test that this application embodiment put forward has analyzed all kinds of test items and test influence factor combination, has effectively covered the test item that current on-vehicle radar was calibrated and shielded, has designed the combination of multiple radar and the rotation and the removal degree of freedom of covering in the integrated testing arrangement of shielding and calibration that this application embodiment provided, has effectively simulated the state that the radar was installed on the car, and this testing arrangement can arrange the darkroom in the test, also can carry on the test to the car for the test of different weather scenes.
In the embodiment of the application, the problem of low testing efficiency existing in the current technical scheme is solved: the method provided by the embodiment of the application systemizes, normalizes and logizes the calibration and shielding test scheme, improves the test efficiency, avoids repeated tests and provides clear test ideas for testers; the device provided by the embodiment of the application can be installed in simulation test environments such as darkrooms and the like, and can be installed on an actual drive test vehicle, so that the time for disassembly and assembly is reduced, and the shielding and calibration test device is integrated, so that the test efficiency is improved.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Claims (22)

1. A radar testing method, comprising:
placing a target object on a normal line of a radar scanning range;
adjusting the horizontal deflection angle and the pitching deflection angle of the radar according to a preset angle;
performing calibration compensation through the calibration function of the radar;
testing the position of the target object by the radar;
and if the position of the target object meets the preset standard, determining that the radar passes the test.
2. The method of claim 1, wherein after the target is placed on the normal of the radar scan range, the method further comprises, prior to calibration compensation by the calibration function of the radar:
and a shielding object is arranged between the radar and the target object.
3. The method according to claim 1 or 2, wherein after the placing of the object on the normal of the radar scan range, before the calibration compensation by the calibration function of the radar, the method further comprises:
and adjusting the distance between the radar and the target object according to the preset distance.
4. The method of claim 2, wherein after disposing a barrier between the radar and the target, the method further comprises:
And adjusting the distance between the radar and the shielding object according to the preset distance.
5. The method according to claim 1 or 2, wherein after the placing of the object on the normal of the radar scan range, before the calibration compensation by the calibration function of the radar, the method further comprises:
and carrying the radar to move through a mobile platform.
6. The method according to claim 1 or 2, wherein the preset angle includes a calibration accuracy range limit offset angle, a calibration function support limit offset angle, and the radar installation maximum offset angle.
7. A radar testing method, comprising:
setting a shielding object corresponding to a preset shielding degree between a radar and a target object, wherein the shielding object is determined according to a scene use case database, the scene use case database is established according to radar shielding medium influence factors, and the radar shielding medium influence factors comprise structural shielding, cling type shielding and weather type shielding;
testing the position of the target object by the radar;
and determining the scanning range and the scanning precision of the radar according to the position of the target object.
8. The method of claim 7, wherein after testing the location of the target by the radar, the method further comprises:
Acquiring alarm information of the radar;
and if the alarm information meets the preset design index, determining that the radar passes the shielding degree alarm test.
9. The method of claim 8, wherein the alert information includes an alert reporting time of the radar;
the alarm information meeting the preset design index comprises that alarm reporting time of the radar is smaller than a preset time threshold.
10. The method of claim 8, wherein the alert information includes an alert level of the radar;
the alarm information meeting the preset design index comprises the alarm degree corresponding to the preset shielding degree.
11. A radar testing apparatus, comprising: the first angle adjusting mechanism, the second angle adjusting mechanism and the distance adjusting mechanism;
the first angle adjusting mechanism comprises a first rotating plate, a base, a first adjusting knob and a first gear reducer;
the first rotating plate is connected to the base through a first rotating shaft;
the first adjusting knob is connected with the first rotating shaft through a first gear reducer and is used for controlling the first rotating plate to rotate;
the distance adjusting mechanism comprises a supporting frame, a distance adjusting guide post and a distance adjusting knob;
The support frame is arranged on the first rotating plate in a sliding way through the distance adjusting guide post;
one end of the distance adjusting knob is a nut, the through hole is sleeved on the first rotating plate, and the other end of the distance adjusting knob is connected with the supporting frame through threads and used for adjusting the supporting frame to move;
the second angle adjusting mechanism comprises a second rotating plate, a second gear reducer and a second adjusting knob;
the second rotating plate is connected to the supporting frame through a second rotating shaft and is used for mounting a radar;
the second adjusting knob is connected with the second rotating shaft through the second gear reducer and used for controlling the second rotating plate to rotate.
12. The apparatus of claim 11, wherein the first angle adjustment mechanism further comprises a first pointer and a first dial;
the first pointer is fixed on the first rotating plate and used for rotating together with the first rotating plate;
the base is provided with the first dial matched with the first pointer and used for displaying the rotation angle of the first rotating plate.
13. The apparatus of claim 11 or 12, wherein the first angle adjustment mechanism further comprises an angle pre-tightening knob;
The angle pre-tightening knob is arranged on the base and props against the first rotating shaft and is used for fixing the first rotating plate.
14. The apparatus of claim 11 wherein the distance adjustment mechanism further comprises a vial;
the level bubble is arranged on the plane of the supporting frame.
15. The apparatus of claim 11 or 14, wherein the distance adjustment mechanism further comprises a distance pre-tightening screw;
the distance pre-tightening screw penetrates through the supporting frame to prop against the first rotating plate and is used for fixing the supporting frame.
16. The apparatus of claim 11, wherein the second angle adjustment mechanism further comprises a second angle dial and a second pointer;
the second pointer is fixed on the second rotating shaft, and the second angle dial is fixed on the supporting frame;
the second angle dial is matched with the second pointer and used for displaying the rotation angle of the second rotating plate.
17. The apparatus of claim 11 or 16, wherein the second angular adjustment mechanism further comprises an angular pre-tightening screw;
the angle pre-tightening screw is arranged on the supporting frame and abuts against the second rotating shaft and used for fixing the second rotating plate.
18. The apparatus of claim 11, wherein the radar testing apparatus further comprises a shielding fixture, and the first angle adjustment mechanism further comprises a shielding fixture guide post;
the shielding tool guide post is arranged on the base, and the shielding tool is arranged on the shielding tool guide post;
the shielding tool comprises: the shielding tool comprises a shielding tool base, a shielding first angle adjusting mechanism, a shielding second angle adjusting mechanism and a shielding distance adjusting mechanism;
the shielding tool base is arranged on the base in a sliding manner through the shielding tool guide post;
the shielding object distance adjusting mechanism comprises a shielding object distance pre-tightening screw;
the shielding object distance pre-tightening screw penetrates through the shielding object tooling base to prop against the base or the shielding tooling guide post and is used for fixing the shielding object tooling base;
the first shielding object angle adjusting mechanism comprises a first shielding object rotating frame and a first shielding object pre-tightening knob;
the first shielding object rotating frame is arranged on the shielding object tool base through a first shielding object rotating shaft;
the first shielding object pre-tightening knob abuts against the first shielding object rotating shaft and is used for fixing the first shielding object rotating frame;
The second angle adjusting mechanism of the shielding object comprises a second rotating frame of the shielding object and an angle adjusting knob of the shielding object;
the shielding object second rotating frame is arranged on the shielding object first rotating frame through a shielding object second rotating shaft;
the shielding object angle adjusting knob is connected with the shielding object second rotating shaft and used for controlling the rotation of the shielding object second rotating frame;
the shielding object second rotating frame is used for setting shielding objects.
19. The apparatus of claim 18, wherein the shielding fixture further comprises a liquid supply mechanism;
the liquid supply mechanism comprises at least one liquid container, at least one infusion tube and a spray head;
the liquid container is arranged on the base of the shielding tool, the liquid container is connected with the spray head through the infusion tube, and the spray head is arranged on the second rotating frame of the shielding tool and used for spraying liquid to form a water film.
20. The device of claim 19, wherein a liquid pump is disposed between the liquid container and the infusion tube for delivering liquid;
the liquid pump is provided with a speed regulating button for regulating the speed of conveying liquid.
21. The apparatus of claim 18, wherein the shroud first angle adjustment mechanism further comprises: a first shutter pointer and a first shutter dial;
The first shielding object pointer is arranged on the first shielding object rotating frame and rotates together with the first shielding object rotating frame;
the first index plate of shielding object is arranged on the base of the shielding object tool and matched with the first pointer of shielding object, and is used for displaying the rotation angle of the first rotating frame of shielding object.
22. The apparatus of claim 18, wherein the shroud second angle adjustment mechanism further comprises: a second shutter pointer and a second shutter dial;
the shielding object second pointer is fixed on the shielding object second rotating shaft, and the shielding object second dial is fixed on the shielding object first rotating frame;
the second shielding object pointer is matched with the second shielding object dial and used for displaying the rotating angle of the second shielding object rotating frame.
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