CN113504516B - Position registration device and method before millimeter wave radar test - Google Patents
Position registration device and method before millimeter wave radar test Download PDFInfo
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- CN113504516B CN113504516B CN202110654869.8A CN202110654869A CN113504516B CN 113504516 B CN113504516 B CN 113504516B CN 202110654869 A CN202110654869 A CN 202110654869A CN 113504516 B CN113504516 B CN 113504516B
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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
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- 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 application relates to the technical field of millimeter wave radar detection, in particular to a position registering device and method before millimeter wave radar testing, wherein the position registering device before millimeter wave radar testing comprises: the adjusting mechanism is used for supporting the radar to be detected and adjusting the pose of the radar to be detected; the target simulator is used for transmitting a verification echo to the radar to be tested according to the virtual echo information of the virtual target; and the controller is used for controlling the adjusting component to adjust the pose of the radar to be measured according to the difference between the virtual echo information and the echo information of the effective echo so as to enable the echo information of the effective echo measured by the radar to be measured to be consistent with the virtual echo information. The method has the advantage of accurately adjusting the installation position of the radar to be detected.
Description
Technical Field
The application relates to the technical field of millimeter wave radar detection, in particular to a device and a method for registering positions before millimeter wave radar testing.
Background
At present, automobile driving safety is gradually concerned, and vehicle-mounted millimeter wave radars are increasingly applied to intelligent driving vehicles, so that the functional performance detection requirements of the vehicle-mounted millimeter wave radars are gradually increased.
In the related art, when detecting the millimeter wave radar, an operator usually manually adjusts the installation pose of the millimeter wave radar by means of an alignment device, such as a laser pen, subjectively judges the alignment mode of the millimeter wave radar,
however, the millimeter wave radar to be detected is installed through subjective judgment of an operator, so that the accuracy of the installation position of the millimeter wave radar is difficult to ensure, and the accuracy and objectivity of the subsequent test of the millimeter wave radar are further affected.
Disclosure of Invention
The embodiment of the application provides a position registering device and method before millimeter wave radar test, which are used for solving the problems that in the related art, the accuracy of the millimeter wave radar in the test installation position is low, and the accuracy and objectivity of the millimeter wave radar test result are affected.
In a first aspect, a pre-test position registration apparatus for a millimeter wave radar is provided, which includes:
the adjusting mechanism is used for supporting the radar to be detected and adjusting the pose of the radar to be detected;
the target simulator is used for transmitting a verification echo to the radar to be tested according to the virtual echo information of the virtual target;
and the controller is used for controlling the adjusting component to adjust the pose of the radar to be measured according to the difference between the virtual echo information and the echo information of the effective echo so as to enable the echo information of the effective echo measured by the radar to be measured to be consistent with the virtual echo information.
In some embodiments, the position registration device before millimeter wave radar test further comprises a test box, and the radar to be tested is arranged in the test box.
In some embodiments, the target simulator includes a transceiver antenna, and the test echo is generated according to the virtual echo information, and the test echo is sent to the radar to be tested through the transceiver antenna.
In some embodiments, the target simulator is rotatably disposed on an inner wall of the test box with an axis of the test box as a rotation axis, and the target simulator changes a position so as to simulate targets to be tested at different positions.
In some embodiments, the adjusting mechanism comprises a supporting plate and an adjusting assembly, wherein the supporting plate is used for supporting the radar to be measured, and the adjusting assembly adjusts the pose of the radar to be measured by adjusting the position of the supporting plate.
In some embodiments, the adjusting mechanism further comprises a mounting plate, the mounting plate is arranged on the upper side surface of the supporting plate, and a mounting groove is formed in the mounting plate to connect the radar to be measured.
In some embodiments, the adjustment assembly comprises:
a first adjusting component for adjusting the transverse position of the radar to be measured;
a second adjusting assembly for adjusting the longitudinal position of the radar to be measured;
the third adjusting assembly is used for adjusting the vertical position of the radar to be measured;
and the fourth adjusting component is used for adjusting the inclination angle of the radar to be measured.
The beneficial effects that technical scheme that this application provided brought include: before testing, the radar to be tested needs to be installed to an accurate position. Firstly, setting a simulation radar and a virtual target in a specific pose state in simulation software, so that the simulation radar receives virtual echo information; the target simulator generates a test echo according to the virtual echo information and transmits the test echo to the radar to be tested, the target simulator simulates the virtual target in a specific pose state, when the echo information of the test echo received by the radar to be tested is inconsistent with the virtual echo information, the adjusting mechanism adjusts the pose of the radar to be tested until the echo information of the test echo received by the radar to be tested is consistent with the virtual echo information, and registration of the radar to be tested is completed. The mode for adjusting the pose of the radar to be measured replaces manual subjective adjustment, improves the accuracy of the installation position of the radar to be measured, and improves the accuracy and objectivity of the subsequent radar test result to be measured.
In a second aspect, a method for registering a position before millimeter wave radar testing is provided, and based on the device for registering the position before millimeter wave radar testing, the method comprises the following steps:
the simulation radar and the virtual target are set in the simulation software so as to obtain standard virtual echo information received by the simulation radar;
the target simulator generates a verification echo according to the virtual echo information so as to simulate a target to be tested in a virtual target pose state;
the target simulator transmits a verification echo to the radar to be tested, and the radar to be tested receives echo information of the verification echo;
the controller compares the echo information of the test echo received by the radar to be tested with the virtual echo information to control the adjusting mechanism to adjust the pose of the radar to be tested, so that the echo information of the test echo received by the radar to be tested is consistent with the virtual echo information.
In some embodiments, the comparing the echo information of the test echo received by the radar to be tested with the virtual echo information includes comparing and detecting the distance and the angle.
In some embodiments, the method for registering the position before the millimeter wave radar test further includes feedback adjustment, the adjusted echo information of the test echo received by the radar to be tested is fed back to the controller and is further compared with the virtual echo information, and the pose of the radar to be tested is adjusted again through the adjustment mechanism until the echo information of the test echo received by the radar to be tested is consistent with the virtual echo information.
The application also provides a position registration method before millimeter wave radar testing, which has the beneficial effects consistent with those of the position registration device before millimeter wave radar testing, and is not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a test box and its internal structure according to an embodiment of the present application;
FIG. 2 is a schematic view of the structure of the inside of a test box according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural view of an adjusting assembly according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of another view of an adjusting assembly according to an embodiment of the present disclosure;
FIG. 5 is an enlarged schematic view of FIG. 4 at A;
fig. 6 is an enlarged schematic view at B in fig. 4.
In the figure: 1. a test box; 2. a target simulator; 201. a transmitting/receiving antenna; 3. a support plate; 4. a mounting plate; 401. a mounting groove; 5. a first adjustment assembly; 501. a fixing plate; 5011. a first chute; 502. a first screw rod structure; 5021. a first screw rod; 5022. a first motor; 503. a transverse moving plate; 5031. a second chute; 6. a second adjustment assembly; 601. a second screw rod structure; 6011. the second screw rod, 6012 and a second motor; 602. a longitudinal moving block; 7. a third adjustment assembly; 701. a first cam structure; 7011. a first cam; 7012. a third motor; 7013. a first push rod; 7014. a first frame body; 702. a vertical moving plate; 8. a third adjustment assembly; 801. a connecting rod; 802. a second cam structure; 8021. a second cam; 8022. a fourth motor; 8023. a second push rod; 8024. and a second frame body.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
The embodiment of the application provides a position registering device and method before millimeter wave radar testing, which can solve the problems that in the related art, the accuracy of the millimeter wave radar in the testing installation position is low, and the accuracy and objectivity of the millimeter wave radar testing result are affected.
A millimeter wave radar pre-test position registration device, comprising:
the adjusting mechanism is used for supporting the radar to be detected and adjusting the pose of the radar to be detected;
a target simulator 2 for transmitting a test echo to the radar to be tested according to virtual echo information of the virtual target;
and the controller is used for controlling the adjusting component to adjust the pose of the radar to be measured according to the difference between the virtual echo information and the echo information of the effective echo so as to enable the echo information of the effective echo measured by the radar to be measured to be consistent with the virtual echo information.
The position registration device before millimeter wave radar testing is used for adjusting the testing position of the radar to be tested. Which comprises an adjusting mechanism, a target simulator 2 and a controller. Virtual echo information received by the analog radar is obtained by setting the analog radar and the virtual target. The target simulator 2 is used for simulating the pose of a virtual target, the echo characteristics of the virtual echo are simulated through the target simulator 2, a verification echo is generated, and the radar to be tested receives the verification echo and the measured echo information of the verification echo. It can be understood that when the virtual echo information is consistent with the echo information of the test echo, the installation position of the radar to be tested is correct; when the virtual echo information is inconsistent with the echo information of the effective echo, the installation position of the radar to be detected has deviation, and the installation position of the radar to be detected needs to be adjusted.
If the installation position of the radar to be measured has a deviation, when the target simulator 2 transmits the test echo to the radar to be measured, the echo information of the test echo measured by the radar to be measured has a difference from the virtual echo information. At this time, an adjusting signal can be generated at the controller by verifying the difference between the echo information of the echo and the virtual echo information so as to control the adjusting structure to adjust the installation position of the radar to be detected. The relative pose between the radar to be tested and the target to be tested is adjusted to be consistent with the relative pose between the simulation radar and the virtual target through the indication of the difference between the echo information and the virtual echo information of the effective echo, namely the pose of the radar to be tested is adjusted to be consistent with the pose of the simulation radar, and the echo information of the effective echo is consistent with the virtual echo information after the pose adjustment of the radar to be tested is completed.
The controller includes a host computer configured with scene simulation software that includes a simulated radar and a virtual target. Namely, setting a simulated radar and a virtual target in the scene simulation software, and aligning the simulated radar with the virtual target, wherein the alignment is that the virtual target is arranged right in front of the simulated radar. The simulated radar and the virtual target in a specific relative pose state are set by setting the physical properties and the installation pose of the virtual target to align the virtual target with the simulated radar. In this particular relative pose state, the distance, angle, speed and RCS values of the virtual target relative to the simulated radar may all be directly derived by the simulation software. The distance, angle, speed and RCS values of the virtual target relative to the simulated radar are translated into a validation echo. The test echoes are transmitted by the target simulator 2 to the radar under test.
When the radar to be measured works, the radar to be measured emits waves to the target to be measured, and then echoes from the target to be measured are received, so that the state information of the target to be measured is obtained.
Referring to fig. 1 and 2, a target simulator 2 is integrated with a controller, and a test echo is transmitted to a radar to be tested through the target simulator 2, so that the target simulator simulates a target to be tested in a state of a virtual target pose. The radar to be tested sends out the wave back, the target simulator 2 accepts the wave signal, and send the test echo to the radar to be tested, if the radar to be tested is accurate in installation position, namely the pose of the radar to be tested is consistent with the pose of the simulation radar, the echo information of the test echo is consistent with the virtual echo information. If the installation position of the radar to be tested is deviated, namely the pose of the target to be tested is different from the pose of the simulated radar, the echo information of the effective echo is different from the virtual echo information. And the installation accuracy of the radar to be detected can be judged by the difference between the echo information of the effective echo and the virtual echo information.
The target simulator 2 may be provided in plural numbers, and in this embodiment, two target simulators 2 are provided. And a plurality of simulators register the radar to be detected at the same time, so that the accuracy of the radar registration to be detected is improved. Before registration of the radar to be detected, the controller aligns the positions of the target simulators 2, so that the target simulators 2 simulate the target to be detected in the virtual target pose state.
The controller is used for processing echo information and virtual echo information of the effective echo. The controller comprises a pose calculating unit and an automatic adjusting control unit, wherein the pose calculating unit calculates pose differences of the radar to be detected and the simulated radar according to differences of echo information of the effective echo and virtual echo information. The automatic adjustment control unit generates an adjustment signal and sends the adjustment signal to the adjustment module.
The radar to be measured is arranged on the adjusting mechanism, the adjusting module receives the adjusting instruction to drive the radar to be measured to adjust the corresponding pose, so that the pose of the radar to be measured is convenient to adjust to be consistent with the pose of the simulated radar, the radar to be measured is arranged at the testing position, and the registering work of the radar to be measured is completed.
Thus, the radar to be tested needs to be installed to an accurate position before testing. Firstly, setting the pose of the simulated radar and the virtual target in a simulation module, so as to obtain virtual echo information measured by the simulated radar in the pose state. The target simulator 2 generates a verification echo according to the virtual echo information, so as to simulate the target to be tested in the pose state of the virtual target, and transmits the verification echo to the radar to be tested, so that the radar to be tested measures the echo information of the verification echo, and the pose of the radar to be tested is different from that of the simulation radar, and the echo information of the verification echo is different from that of the virtual echo. And then analyzing and processing the difference between the echo information of the effective echo and the virtual echo information by the controller to generate an adjusting signal, wherein the adjusting signal enables the adjusting mechanism to adjust the pose of the radar to be detected, and the pose of the radar to be detected is conveniently adjusted to be consistent with the pose of the simulated radar by the difference indication of the echo information of the effective echo and the virtual echo information. When the echo information of the effective echo is consistent with the virtual echo information, the installation position of the radar to be tested is the correct position at the moment, and the mode of adjusting the pose of the radar to be tested replaces manual subjective adjustment, so that the accuracy of the installation position of the radar to be tested is improved, and the accuracy and objectivity of the subsequent radar test result to be tested are improved.
Optionally, the position registration device before millimeter wave radar testing further comprises a testing box 1, and the radar to be tested is arranged in the testing box 1.
Referring to fig. 1 and 2, the test box 1 is cylindrical, and the target simulator 2 is also disposed in the test box 1 of the radar to be tested, so that the test box 1 reduces interference between an external pair and the radar to be tested and the target simulator 2, and facilitates a position registration process of the radar to be tested.
Optionally, the target simulator 2 includes a transceiver antenna 201, and generates a test echo according to the virtual echo information, and the test echo is sent to the radar to be tested through the transceiver antenna 201.
Optionally, the target simulator 2 is rotatably disposed on the inner wall of the test box 1 with the axis of the test box 1 as a rotation axis, and the target simulator 2 changes positions so as to simulate targets to be tested at different positions.
Referring to fig. 1 and 2, wherein the target simulator 2 comprises a ring, the axis of which coincides with the axis of the test chamber 1. And the circular ring is rotatably arranged on the inner wall of the test box 1, and the rotation axis of the circular ring is consistent with the axis of the circular ring. When the target simulator 2 is provided in plural, plural rings are arranged in a vertical direction. The target simulator 2 includes a transceiver antenna 201, and the transceiver antenna 201 is integrated on the ring. Waves emitted by the radar to be measured are received via the transceiver antenna 201 of the target simulator 2, and a test echo is emitted by the transceiver antenna 201 of the target simulator 2. When the ring rotates, the receiving and transmitting antenna 201 on the target simulator 2 changes in position, so that the target simulator 2 can simulate targets to be tested at various different positions.
Optionally, the adjusting mechanism comprises a supporting plate 3 and an adjusting component, the supporting plate 3 is used for supporting the radar to be measured, and the adjusting component adjusts the pose of the radar to be measured by adjusting the position of the supporting plate 3.
Optionally, the adjusting mechanism further includes a mounting plate 4, the mounting plate 4 is disposed on the upper side surface of the supporting plate 3, and a mounting groove 401 is formed on the mounting plate 4 to connect with the radar to be measured.
Optionally, the adjustment assembly comprises:
a first adjusting component for adjusting the transverse position of the radar to be measured;
a second adjusting assembly for adjusting the longitudinal position of the radar to be measured;
the third adjusting assembly is used for adjusting the vertical position of the radar to be measured;
and the fourth adjusting component is used for adjusting the dip angle of the radar to be measured.
Referring to fig. 3 and 4, wherein the adjusting mechanism comprises a support plate 3 and an adjusting assembly, both the support plate 3 and the adjusting assembly are arranged in the test box 1. The support plate 3 is used for supporting the radar to be tested, and the adjusting component adjusts the pose of the radar to be tested by adjusting the position of the support plate 3. The adjustment assembly comprises a first adjustment assembly 5, a second adjustment assembly 6, a third adjustment assembly 7 and a fourth adjustment assembly 8.
Referring to fig. 3, the first adjusting assembly 5 includes a fixing plate 501, a first screw 5021 structure and a lateral moving plate 503, the fixing plate 501 is fixed on an inner bottom wall of the test box 1, a first sliding slot 5011 is formed on one side surface of the fixing plate 501, and a length direction of the first sliding slot 5011 is transversely set. The first screw rod structure 502 comprises a first motor 5022 and a first screw rod 5021, the first screw rod 5021 is rotatably installed in the first sliding groove 5011, one end of the transverse moving plate 503 extends into the first sliding groove 5011, the first screw rod 5021 penetrates through the transverse moving plate 503, and the transverse moving plate 503 is in threaded connection with the first screw rod 5021. The first motor 5022 is in transmission connection with the first screw rod 5021, so as to drive the first screw rod 5021 to rotate, and further drive the transverse moving plate 503 to move in the transverse direction, namely the X-axis direction in the figure.
Referring to fig. 3, the second adjustment assembly 6 includes a second screw structure 601 and a longitudinal shift block 602. The upper side of the traverse plate 503 is provided with a second chute 5031 with a longitudinal length direction, and the second screw rod structure 601 is arranged on the traverse plate 503 to drive the longitudinal moving block 602 to longitudinally move on the traverse plate 503, wherein the longitudinal direction is the Y-axis direction in the figure. The second screw rod structure 601 includes a second screw rod 6011 and a second motor 6012, the second screw rod 6011 is rotatably arranged in the second chute 5031, one end of the longitudinal moving block 602 extends into the second chute 5031, the second screw rod 6011 is arranged in the longitudinal moving block 602 in a penetrating manner, and the longitudinal moving block 602 is in threaded connection with the second screw rod 6011. The second motor 6012 is in transmission connection with the second screw rod 6011, so as to drive the second screw rod 6011 to rotate, and further drive the longitudinal moving block 602 to move in the longitudinal direction.
Referring to fig. 4 and 5, the third adjusting assembly 7 includes a first cam structure 701 and a vertical moving plate 702, the first cam structure 701 is provided at an upper side surface of the vertical moving block 602, and the vertical moving plate 702 is provided at an upper side of the vertical moving block 602 at intervals. The first cam structure 701 drives the vertical moving plate 702 to move vertically, i.e. in the Z-axis direction in the drawing. The first cam 7011 structure includes a first cam 7011, a third motor 7012, a first push rod 7013, and a first frame 7014, the first frame 7014 is fixed on the upper side surface of the longitudinal moving block 602, the first cam 7011 is rotatably disposed on the first frame 7014, and the rotation axis of the first cam 7011 is horizontally disposed. The first push rod 7013 vertically penetrates through the first frame 7014, one end face of the first push rod 7013 is abutted to the circumferential side face of the first cam 7011, and the other end of the first push rod 7013 is fixed to the lower side face of the vertical moving plate 702. The third motor 7012 is in transmission connection with the first cam 7011, and the third motor 7012 drives the first cam 7011 to rotate so as to drive the push rod to slide in the vertical direction, thereby adjusting the vertical position of the vertical moving plate 702.
Referring to fig. 4 and 6, the fourth adjustment assembly 8 includes a tie bar 801 and a plurality of second cam structures 802. The vertical moving plate 702 is connected with the supporting plate 3 through a connecting rod. One end surface of the connection rod 801 is fixed to the upper side surface of the vertical movement plate 702, and the other end of the connection rod 801 is ball-hinged to the lower side surface of the support plate 3, and in this embodiment, preferably, the axis of the connection rod 801 coincides with the central axes of the vertical movement plate 702 and the support plate 3. A plurality of second cam structures 701 are provided between the support plate 3 and the vertical movement plate 702. In this embodiment, the number of the second cam structures 802 is four, and the four second cam structures 802 are respectively disposed at four corners of the support plate 3. The second cam structure 802 includes a second cam 8021, a fourth motor 8022, a second pushrod 8023, and a second frame 8024. The second frame 8024 is fixed on the upper side surface of the vertical moving plate 702, the second cam 8021 is rotatably disposed on the second frame 8024, and the rotation axis direction of the second cam 8021 is horizontally disposed. The second push rod 8023 is arranged on the second frame 8024 in a penetrating way, one end face of the second push rod 8023 is abutted against the circumferential side face of the second cam 8021, and the other end of the second push rod 8023 is arranged on the lower side face of the supporting plate 3 in a rolling way. The fourth motor 8022 is in transmission connection with the second cam 8021, and the fourth motor 8022 drives the second cam 8021 to rotate so as to drive the second push rod 8023 to move in the vertical direction. By adjusting the vertical height of the four different second push rods 8023, the inclination angle of the support plate 3 is thereby facilitated to be adjusted.
Referring to fig. 3 and 4, a mounting plate 4 is fixed to an upper side of the support plate 3, and the mounting plate 4 is disposed perpendicular to the support plate 3. Two parallel mounting grooves 401 are formed in the mounting plate 4, and when the radar to be detected needs to be mounted, the radar to be detected can be conveniently fixed on the mounting plate 4 by penetrating bolts from the mounting grooves 401.
The first motor 5022, the second motor 6012, the third motor 7012 and the fourth motor 8022 can each receive the adjustment signals sent by the controller and make specified actions.
When the pose of the radar to be measured is adjusted, the first screw rod structure 502 in the first adjusting component 5 is used for adjusting the transverse position of the radar to be measured, the second screw rod structure 601 in the second adjusting component 6 is used for adjusting the longitudinal position of the radar to be measured, the first cam mechanism 701 in the third adjusting component 7 is used for adjusting the vertical position of the radar to be measured, and the plurality of second cam structures 802 in the fourth adjusting component 8 are used for adjusting the inclination angle of the radar to be measured. The adjustment of 6 degrees of freedom of the radar to be measured is facilitated, so that the radar to be measured can be conveniently adjusted to a correct installation pose through the adjusting mechanism, and the subsequent test work of the radar to be measured is facilitated.
Another embodiment of the present application provides a method for registering a position before millimeter wave radar testing, which is based on the device for registering a position before millimeter wave radar testing, and includes the following steps:
the simulation radar and the virtual target are set in the simulation software so as to obtain standard virtual echo information received by the simulation radar;
the target simulator 2 generates a verification echo according to the virtual echo information so as to simulate the target to be tested in the state of the virtual target pose;
the target simulator 2 transmits a verification echo to the radar to be detected, and the radar to be detected receives echo information of the verification echo;
the controller compares the echo information of the test echo received by the radar to be tested with the virtual echo information to control the adjusting mechanism to adjust the pose of the radar to be tested, so that the echo information of the test echo received by the radar to be tested is consistent with the virtual echo information.
The method for registering the position before millimeter wave radar testing comprises the following steps:
setting a simulated radar and a virtual target in scene simulation software, and setting physical properties and installation pose of the virtual target, namely converting the data information of the virtual target into standard virtual echo information which is required to be received by the simulated radar.
The virtual echo information is transmitted into the target simulator 2, the target simulator 2 simulates the echo characteristics of the first echo information and generates a verification echo, and at the moment, the target simulator 2 simulates the pose state of the virtual target, namely, the target simulator 2 simulates the target to be tested in the pose state of the virtual target.
The target simulator 2 transmits the test echo to the radar to be tested, which measures echo information of the test echo, using the transceiver antenna 201.
The controller compares and detects the echo information of the effective echo and the virtual echo information, calculates the pose difference between the radar to be detected and the simulated radar, and generates an adjusting signal for adjusting the pose of the radar to be detected.
The adjusting signal is transmitted to the adjusting mechanism, and the pose of the radar to be measured is adjusted. Therefore, the echo information of the effective echo is consistent with the virtual echo information, namely, the pose of the radar to be detected is adjusted to be consistent with the pose of the simulated radar, and the registration of the radar to be detected is completed.
Optionally, the comparison of echo information of the test echo received by the radar to be tested with virtual echo information includes comparison detection of distance and angle.
The comparison of the echo information of the effective echo and the virtual echo information comprises comparison detection of distance and angle, and comparison detection of speed and RCS value can be selectively added.
Optionally, the method for registering the position before the millimeter wave radar test further comprises feedback adjustment, the echo information of the verification echo received by the radar to be tested after adjustment is fed back to the controller and is further compared with the virtual echo information, and the pose of the radar to be tested is adjusted again through the adjustment mechanism until the echo information of the verification echo received by the radar to be tested is consistent with the virtual echo information.
The position registration method before millimeter wave radar testing further comprises feedback adjustment:
the radar to be detected after being regulated by the regulating mechanism feeds back the measured echo information of the effective echo to the controller, the measured echo information is further compared with the virtual echo information, regulating signals are generated again, and the regulating mechanism is controlled to further regulate the pose of the radar to be detected. And displaying and finishing registration work of the installation position of the radar to be tested until the echo information of the effective echo measured by the radar to be tested is consistent with the virtual echo information.
In the description of the present application, it is to be understood that the forward direction of "X" in the drawings represents the right direction, and correspondingly, the reverse direction of "X" represents the left direction; the forward direction of "Y" represents the forward direction, and correspondingly, the reverse direction of "Y" represents the rearward direction; the forward direction of "Z" represents above, and correspondingly, the reverse direction of "Z" represents below, and the azimuth or positional relationship indicated by the terms "X", "Y", "Z", etc. are based on the azimuth or positional relationship shown in the drawings of the specification, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the device or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
It should be noted that in this application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A position registering method before millimeter wave radar testing is based on a position registering device before millimeter wave radar testing, which is characterized in that,
the position registration method before millimeter wave radar testing comprises the following steps:
the method comprises the steps that a simulation radar and a virtual target are arranged in simulation software, and the virtual target is arranged right in front of the simulation radar, so that standard virtual echo information received by the simulation radar can be obtained;
the target simulator (2) generates a verification echo according to the virtual echo information so as to simulate the target to be tested in the state of the virtual target pose;
the target simulator (2) transmits a verification echo to the radar to be detected, and the radar to be detected receives echo information of the verification echo;
the controller is used for controlling the adjusting mechanism to adjust the pose of the radar to be detected by comparing the echo information of the effective echo received by the radar to be detected with the virtual echo information, so that the echo information of the effective echo received by the radar to be detected is consistent with the virtual echo information, and the pose of the radar to be detected is convenient to adjust to be consistent with the pose of the simulated radar;
the millimeter wave radar pre-test position registration device comprises:
the adjusting mechanism is used for supporting the radar to be detected and adjusting the pose of the radar to be detected;
a target simulator (2) for transmitting a test echo to the radar to be tested according to the virtual echo information of the virtual target, and obtaining the virtual echo information received by the simulation radar by setting the simulation radar and the virtual target;
the controller is used for controlling the adjusting component to adjust the pose of the radar to be tested according to the difference between the virtual echo information and the echo information of the effective echo so as to enable the echo information of the effective echo measured by the radar to be tested to be consistent with the virtual echo information;
the radar to be tested is arranged in the test box (1);
the target simulator (2) comprises a receiving and transmitting antenna (201), the test echo is generated according to the virtual echo information, and the test echo is sent to the radar to be tested through the receiving and transmitting antenna (201).
2. The method for registering positions before millimeter wave radar testing according to claim 1, wherein the target simulator (2) is rotatably arranged on the inner wall of the test box (1) by taking the axis of the test box (1) as a rotation axis, and the target simulator (2) changes positions so as to simulate targets to be tested at different positions.
3. The millimeter wave radar pre-test position registration method according to claim 1, wherein the adjusting mechanism comprises a supporting plate (3) and an adjusting assembly, the supporting plate (3) is used for supporting the radar to be tested, and the adjusting assembly adjusts the pose of the radar to be tested by adjusting the position of the supporting plate (3).
4. The method for registering positions before millimeter wave radar testing according to claim 3, wherein the adjusting mechanism further comprises a mounting plate (4), the mounting plate (4) is arranged on the upper side surface of the supporting plate (3), and a mounting groove (401) is formed in the mounting plate (4) so as to be connected with the radar to be tested.
5. The millimeter wave radar pre-test position registration method of claim 3, wherein said adjustment assembly comprises:
a first adjusting assembly (5) for adjusting the lateral position of the radar to be measured;
a second adjusting assembly (6) for adjusting the longitudinal position of the radar to be measured;
a third adjusting assembly (7) for adjusting the vertical position of the radar to be measured;
and the fourth adjusting assembly (8) is used for adjusting the dip angle of the radar to be measured.
6. The method for registering a position before millimeter wave radar test according to claim 1, wherein the comparison of echo information of the test echo received by the radar to be tested and virtual echo information includes comparison detection of distance and angle.
7. The method for registering positions before millimeter wave radar testing according to claim 1, further comprising feedback adjustment, wherein the adjusted echo information of the test echo received by the radar to be tested is fed back to the controller and is further compared with the virtual echo information, and the pose of the radar to be tested is adjusted again through the adjustment mechanism until the echo information of the test echo received by the radar to be tested is consistent with the virtual echo information.
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