CN113836029A - Method and device for testing performance of millimeter wave radar, storage medium and terminal - Google Patents
Method and device for testing performance of millimeter wave radar, storage medium and terminal Download PDFInfo
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Abstract
The invention provides a method, a device, a terminal and a storage medium for millimeter wave radar performance test, wherein the method comprises the following steps: obtaining layout information corresponding to at least two different layout modes, wherein the layout information comprises quantity information and position information of at least two objects distributed in a first space in the layout modes; based on a millimeter wave radar, detecting and identifying the first space in a target layout mode to obtain first identification information, wherein the first identification information comprises the quantity information and the position information of the objects detected by the millimeter wave radar; obtaining a test result corresponding to the target layout mode based on the first identification information; and determining the performance test result of the millimeter wave radar based on the test results corresponding to the at least two layout modes. Therefore, the problem that the existing outfield test scheme cannot test the multi-target recognition capability of the millimeter wave radar is solved, and the multi-target test performance of the millimeter wave radar can be evaluated.
Description
Technical Field
The invention relates to the technical field of millimeter wave radar testing, in particular to a method, a device, a storage medium and a terminal for millimeter wave radar performance testing.
Background
With the development of Advanced Driving Assistance System (ADAS) technology, millimeter wave radars are increasingly applied, and therefore the distance, speed, direction, multi-target identification performance and the like of the millimeter wave radars need to be comprehensively evaluated to ensure functional safety. In the existing millimeter wave radar test scheme, the test on the detection range, precision and resolution of the millimeter wave radar is mostly performed, the test focus is on the accuracy of the target position parameters, and the test scheme for the multi-target identification capability of the millimeter wave radar is lacked.
Disclosure of Invention
In order to solve at least one technical problem, the invention provides a method, a device, a storage medium and a terminal for testing the performance of a millimeter wave radar, and the invention is specifically realized by the following technical scheme:
the first aspect of the present invention provides a method for testing performance of a millimeter wave radar, the method comprising:
obtaining layout information corresponding to at least two different layout modes, wherein the layout information corresponding to the layout modes comprises quantity information and position information of at least two objects distributed in a first space in the layout modes; the number and/or positions of the objects distributed in the first space in the two different layout modes are different;
detecting and identifying the first space in a target layout mode based on a millimeter wave radar to obtain first identification information, wherein the target layout mode is any one of the at least two different layout modes, and the first identification information comprises the number information and the position information of the objects detected by the millimeter wave radar;
obtaining a test result corresponding to the target layout mode based on the first identification information and the layout information corresponding to the target layout mode;
and determining a performance test result of the millimeter wave radar based on the test results corresponding to the at least two target layout modes.
In some possible embodiments, the at least two objects in the first space in the target layout mode include a first object and a second object different from the first object, the first object being any one of the at least two objects;
and an included angle between a first straight line and a second straight line is larger than an angle resolution value of the millimeter wave radar, the first straight line is determined based on the position of the first object in the first space and the position of the millimeter wave radar, and the second straight line is determined based on the position of the second object in the first space and the position of the millimeter wave radar.
In some possible embodiments, the at least two objects in the first space in the target layout form at least one object group;
the first object and the second object are located in the same object group;
alternatively, the at least one object group includes a first object group and a second object group different from the first object group, and the first object is any one of the first object group and the second object is any one of the second object group.
In some possible embodiments, the objects in the object group are arranged along a zero degree direction of the millimeter wave radar.
In some possible embodiments, the first object group and the second object group are arranged along a direction perpendicular to a zero degree direction of the millimeter wave radar.
In some possible embodiments, a distance between the object in the first space and the longitudinal direction of the millimeter wave radar in the target layout mode is greater than a first preset value, and a distance between the object in the first space and the longitudinal direction of the millimeter wave radar in the target layout mode is less than or equal to a second preset value, where the second preset value is greater than the first preset value.
A second aspect of the present invention provides an apparatus for performance testing of millimeter wave radar, the apparatus comprising:
the layout information acquisition module is used for acquiring layout information corresponding to at least two different layout modes, wherein the layout information corresponding to the layout modes comprises quantity information and position information of at least two objects distributed in a first space in the layout modes; the number and/or positions of the objects distributed in the first space in the different layout modes are different;
a detection information acquisition module, configured to perform detection and identification processing on the first space in a target layout mode based on a millimeter wave radar to obtain first identification information, where the target layout mode is any one of the at least two different layout modes, and the first identification information includes information on the number and position of objects detected by the millimeter wave radar;
the data processing module is used for obtaining a test result corresponding to the target layout mode based on the first identification information and the layout information corresponding to the target layout mode;
and the performance result determining module is used for determining the performance test result of the millimeter wave radar based on the test results corresponding to at least two target layout modes.
In some possible embodiments, the at least two objects in the first space in the target layout mode include a first object and a second object different from the first object, the first object being any one of the at least two objects;
and an included angle between a first straight line and a second straight line is larger than an angle resolution value of the millimeter wave radar, the first straight line is determined based on the position of the first object in the first space and the position of the millimeter wave radar, and the second straight line is determined based on the position of the second object in the first space and the position of the millimeter wave radar.
The present invention also provides a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of millimeter wave radar performance testing as described above.
The invention also provides a terminal comprising one or more processors and memory. A memory coupled to the processor for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement a method of millimeter wave radar performance testing as described above.
By adopting the technical scheme, the method and the device for testing the performance of the millimeter wave radar have the following beneficial effects:
through the multi-target test scheme with variable intervals and variable combination, various test working conditions of a multi-lane scene can be simulated, the problem that the existing millimeter wave radar outfield test scheme cannot test the multi-target recognition capability of the millimeter wave radar is solved, and the multi-target test performance of the millimeter wave radar can be evaluated.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for testing performance of a millimeter wave radar according to an embodiment of the present invention;
FIG. 2 is a block diagram of a first space provided by an embodiment of the present invention;
fig. 3 is a structural diagram of a device for testing performance of a millimeter wave radar according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer terminal device according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the several embodiments provided in this application, the described system embodiments are only illustrative, for example, the division of the modules is only one logical function division, and there may be other division manners in actual implementation, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of modules or units through some interfaces, and may be in an electrical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The embodiment of the invention provides a method for testing millimeter wave radar performance, and as shown in fig. 1, the method comprises the following steps:
s101, obtaining layout information corresponding to at least two different layout modes, wherein the layout information corresponding to the layout modes comprises quantity information and position information of at least two objects distributed in a first space in the layout modes; the number and/or positions of the objects distributed in the first space in the two different layout modes are different;
the method comprises the steps of obtaining layout information corresponding to at least two different layout modes, wherein the two different layout modes are different in number and/or positions of objects distributed in a first space under the layout modes.
By carrying out target recognition test on multiple objects in multiple different layout modes and then calculating multiple test results, the performance of the millimeter wave radar can be more accurately evaluated.
In an embodiment, the layout manner includes 9 objects distributed in the first space, where every three objects are a row and are divided into three rows in total, please refer to fig. 2, the number information of the layout information corresponding to the layout manner is 9, and the position information is: l is1Is the distance of the first row of objects from the longitudinal direction of the millimeter wave radar, L2Is the distance of the second row of objects from the longitudinal direction of the millimeter wave radar, L3The distance of the third row of objects from the longitudinal direction of the millimeter wave radar, the distance of the first row of objects from the second row of objects is 3.5m, the distance of the second row of objects from the third row of objects is 3.5m, L1、L2、L3The value of (2) can be adjusted, and the distance between columns can be changed;
in one embodiment, the layout mode includes 6 objects distributed in a first space, the quantity information of the layout information corresponding to the layout mode is 6, and the position information is: every three objects are in one row, and are divided into two rows in total, L1 is the distance from the first row of objects to the longitudinal direction of the millimeter wave radar, L2 is the distance from the second row of objects to the longitudinal direction of the millimeter wave radar, L3 is the distance from the third row of objects to the longitudinal direction of the millimeter wave radar, the distance from the first row of objects to the second row of objects is 3.5m, the values of L1, L2 and L3 are adjustable, and the distances between the rows can be changed;
in one embodiment, the layout mode includes 6 objects distributed in a first space, the quantity information of the layout information corresponding to the layout mode is 6, and the position information is: every three objects are in one row, and are divided into two rows in total, L1 is the distance from the first row of objects to the longitudinal direction of the millimeter wave radar, L2 is the distance from the second row of objects to the longitudinal direction of the millimeter wave radar, L3 is the distance from the third row of objects to the longitudinal direction of the millimeter wave radar, the distance from the first row of objects to the second row of objects is 7m, the values of L1, L2 and L3 are adjustable, and the distances between the rows can be changed;
in one embodiment, the layout mode includes that 3 objects are distributed in a first space, the quantity information of the layout information corresponding to the layout mode is 3, and the position information is: the 3 objects are in a row and are divided into a row in total, L1 is the distance from the first row of objects to the longitudinal direction of the millimeter wave radar, L2 is the distance from the second row of objects to the longitudinal direction of the millimeter wave radar, L3 is the distance from the third row of objects to the longitudinal direction of the millimeter wave radar, and the values of L1, L2 and L3 are adjustable.
A plurality of different layout modes are formed through the layout modes of variable quantity, variable spacing (position) and variable combination of objects in the space, a multi-target test scheme of the millimeter wave radar is formed, and various test working conditions of a multi-lane scene can be simulated.
S102, detecting and identifying the first space in a target layout mode based on a millimeter wave radar to obtain first identification information, wherein the target layout mode is any one of the at least two different layout modes, and the first identification information comprises the number information and the position information of the objects detected by the millimeter wave radar;
the first space in the target layout mode is detected and identified through the millimeter wave radar, and first identification information is obtained, wherein the first identification information comprises the number and the position information of the objects detected by the millimeter wave radar in the first space, for example, the number of the objects detected in the first space is 9, and the position information is the distance between each object and the millimeter wave radar.
S103, obtaining a test result corresponding to the target layout mode based on the first identification information and the layout information corresponding to the target layout mode;
and comparing the number and the position information of the detected objects with the number and the identification information of the objects in the actual first space, wherein the number is accurate when the targets are identified in each test, and the similarity of the position information reaches a first preset threshold, if 95%, the test result in the target layout mode is determined to be correct, otherwise, the test result fails.
And S104, determining a performance test result of the millimeter wave radar based on the test results corresponding to the at least two target layout modes.
In order to further ensure the accuracy of the performance test, the layout mode of the first space is changed to obtain different layout modes, multiple test working conditions are set, if one row of objects or two rows of objects are removed, at least two different target layout modes are set, detection and identification are carried out by using a millimeter wave radar, the detection and identification results are compared to obtain corresponding test results, finally, the test results of multiple detection and identification are calculated, N (N is more than or equal to 100) times of tests are carried out, and the test passing rate is P:
p-test pass/N
The larger the value of the test passing rate P is, the better the radar multi-target identification capability is.
Through the multi-target test scheme with variable intervals and variable combination, various test working conditions of a multi-lane scene can be simulated, the problem that the existing millimeter wave radar outfield test scheme cannot test the multi-target recognition capability of the millimeter wave radar is solved, and the multi-target test performance of the millimeter wave radar can be evaluated.
In one embodiment, the at least two objects in the first space in the target layout mode include a first object and a second object different from the first object, the first object being any one of the at least two objects;
and an included angle between a first straight line and a second straight line is larger than an angle resolution value of the millimeter wave radar, the first straight line is determined based on the position of the first object in the first space and the position of the millimeter wave radar, and the second straight line is determined based on the position of the second object in the first space and the position of the millimeter wave radar.
When the distance is far away, object interval in the first space can lead to the unable discernment of target too little under the target layout mode, so this test scheme has made the regulation to the object distance setting in the first space, use millimeter wave radar angle resolution as the benchmark, be 5 like millimeter wave radar angle resolution, the contained angle of the relative radar of two arbitrary objects in this scheme needs to be greater than 5, for example, the distance straight line of first object to millimeter wave radar position is first straight line, the second object different with first object is the second straight line to the distance straight line of millimeter wave radar position, the contained angle of first straight line and second straight line is greater than 5, in order to get rid of distance undersize or contained angle undersize and cause the influence to target identification.
In the first space, the distance limit formula of the object from the millimeter wave radar is as follows:
wherein L is1Is the distance of the first row of objects from the longitudinal direction of the millimeter wave radar, L2Is the distance of the second row of objects from the longitudinal direction of the millimeter wave radar, L3Is the distance of the third row of objects from the longitudinal direction of the millimeter wave radar.
In one embodiment, the at least two objects in the first space in the target layout mode form at least one object group;
the first object and the second object are located in the same object group;
alternatively, the at least one object group includes a first object group and a second object group different from the first object group, and the first object is any one of the first object group and the second object is any one of the second object group.
Specifically, the first space includes at least one object group, please refer to fig. 2, each row, that is, the objects arranged along the zero-degree direction of the millimeter wave radar are one object group, one object group includes three objects, each object group can be regarded as one lane, the three object groups are three lanes, and under different test conditions, the number of the object groups may be one, two, or three. The distance between each group of objects is a first preset value, such as 3.5 m.
In one embodiment, the layout mode includes 9 objects distributed in the first space, and each 3 objects form an object group, please refer to fig. 2, the distance between two adjacent object groups is 3.5m, the objects in each object group are arranged along the zero degree direction of the millimeter wave radar, and the distance between the objects in each object group can be changed.
In one embodiment, the layout mode includes 6 objects distributed in the first space, each 3 objects form an object group, the distance between the two object groups is 3.5m, the objects in each object group are arranged along the zero-degree direction of the millimeter wave radar, and the distance between the objects in each object group can be changed.
In one embodiment, the layout mode includes 6 objects distributed in the first space, each 3 objects form an object group, the distance between the two object groups is 7m, the objects in each object group are arranged along the zero-degree direction of the millimeter wave radar, and the distance between the objects in each object group can be changed.
In one embodiment, the layout mode includes that 3 objects are distributed in the first space, the 3 objects form an object group, the objects in each object group are arranged along the zero-degree direction of the millimeter wave radar, and the distance between the objects in each object group can be changed.
In one embodiment, the objects in the object group are arranged along a zero degree direction of the millimeter wave radar.
The objects in each of the object groups are arranged uniformly in the zero-degree direction of the millimeter wave radar, and when the millimeter wave radar is disposed in the vehicle, the objects in each of the object groups are objects in a lane ahead of the vehicle.
In one embodiment, the first object group and the second object group are arranged along a direction perpendicular to a zero degree direction of the millimeter wave radar.
When a plurality of object groups are present in the first space, the object groups are arranged in a direction perpendicular to the zero degree direction of the millimeter wave radar, and when the millimeter wave radar is provided in the vehicle, the plurality of object groups are roads ahead of the vehicle.
In an embodiment, a distance between the object in the first space and the longitudinal direction of the millimeter wave radar in the target layout mode is greater than a first preset value, and a distance between the object in the first space and the longitudinal direction of the millimeter wave radar in the target layout mode is less than or equal to a second preset value, where the second preset value is greater than the first preset value.
When the object distance is far, the object distance is too small, so that the object cannot be identified by the millimeter wave radar, and the performance test result of the millimeter wave radar is influenced, therefore, the distance between the object in the first space and the longitudinal direction of the millimeter wave radar has a certain range, such as being more than 5m and less than 40 m.
Referring to fig. 3, a second aspect of the present invention provides an apparatus for millimeter wave radar performance testing, the apparatus comprising:
a layout information obtaining module 10, configured to obtain layout information corresponding to at least two different layout manners, where the layout information corresponding to a layout manner includes quantity information and position information of at least two objects distributed in a first space in the layout manner; the number and/or positions of the objects distributed in the first space in the two different layout modes are different;
a detection information obtaining module 20, configured to perform detection and identification processing on the first space in a target layout mode based on a millimeter wave radar to obtain first identification information, where the target layout mode is any one of the at least two different layout modes, and the first identification information includes information on the number and position of objects detected by the millimeter wave radar;
the data processing module 30 is configured to obtain a test result corresponding to the target layout mode based on the first identification information and the layout information corresponding to the target layout mode;
and the performance result determining module 40 is configured to determine a performance test result of the millimeter wave radar based on the test results corresponding to at least two target layout manners.
In one embodiment, the at least two objects in the first space in the target layout mode include a first object and a second object different from the first object, the first object being any one of the at least two objects;
and an included angle between a first straight line and a second straight line is larger than an angle resolution value of the millimeter wave radar, the first straight line is determined based on the position of the first object in the first space and the position of the millimeter wave radar, and the second straight line is determined based on the position of the second object in the first space and the position of the millimeter wave radar.
For specific limitations of the device for millimeter wave radar performance testing, reference may be made to the above limitations, which are not described herein again.
All or part of each module in the millimeter wave radar performance testing device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Referring to fig. 4, an embodiment of the invention provides a terminal including one or more processors and a memory. The memory is coupled to the processor and configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement the method for millimeter wave radar performance testing as in any of the embodiments described above.
The processor is used for controlling the overall operation of the computer terminal equipment so as to complete all or part of the steps of the millimeter wave radar performance testing method. The memory is used to store various types of data to support the operation at the computer terminal device, which data may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In an exemplary embodiment, the computer terminal Device may be implemented by one or more Application Specific 1 integrated circuits (AS 1C), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is configured to perform the above-mentioned method for radar performance testing, and achieve the technical effects consistent with the above-mentioned method.
In another exemplary embodiment, there is also provided a storage medium comprising program instructions which, when executed by a processor, implement the steps of the method of millimeter wave radar performance testing in any of the above embodiments. For example, the storage medium may be the memory including the program instructions, and the program instructions may be executed by the processor of the terminal to perform the method for testing the performance of the millimeter wave radar, and achieve the technical effects consistent with the method.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method for performance testing of millimeter wave radar, the method comprising:
obtaining layout information corresponding to at least two different layout modes, wherein the layout information corresponding to the layout modes comprises quantity information and position information of at least two objects distributed in a first space in the layout modes; the number and/or positions of the objects distributed in the first space in the two different layout modes are different;
detecting and identifying the first space in a target layout mode based on a millimeter wave radar to obtain first identification information, wherein the target layout mode is any one of the at least two different layout modes, and the first identification information comprises the number information and the position information of the objects detected by the millimeter wave radar;
obtaining a test result corresponding to the target layout mode based on the first identification information and the layout information corresponding to the target layout mode;
and determining a performance test result of the millimeter wave radar based on the test results corresponding to the at least two target layout modes.
2. The method according to claim 1, wherein the at least two objects in the first space in the target layout mode include a first object and a second object different from the first object, the first object being any one of the at least two objects;
and an included angle between a first straight line and a second straight line is larger than an angle resolution value of the millimeter wave radar, the first straight line is determined based on the position of the first object in the first space and the position of the millimeter wave radar, and the second straight line is determined based on the position of the second object in the first space and the position of the millimeter wave radar.
3. The method of claim 1, wherein the at least two objects in the first space in the target layout mode form at least one object group;
the first object and the second object are located in the same object group;
alternatively, the at least one object group includes a first object group and a second object group different from the first object group, and the first object is any one of the first object group and the second object is any one of the second object group.
4. The method according to claim 3, wherein the objects in the object group are aligned along a zero degree direction of the millimeter wave radar.
5. The method according to claim 3, wherein the first object group and the second object group are aligned in a direction perpendicular to a zero degree direction of the millimeter wave radar.
6. The method according to claim 1, wherein the distance between the object in the first space and the longitudinal direction of the millimeter wave radar in the target layout mode is greater than a first preset value, and the distance between the object in the first space and the longitudinal direction of the millimeter wave radar in the target layout mode is less than or equal to a second preset value, wherein the second preset value is greater than the first preset value.
7. An apparatus for performance testing of millimeter wave radar, the apparatus comprising:
the layout information acquisition module is used for acquiring layout information corresponding to at least two different layout modes, wherein the layout information corresponding to the layout modes comprises quantity information and position information of at least two objects distributed in a first space in the layout modes; the number and/or positions of the objects distributed in the first space in the two different layout modes are different;
a detection information acquisition module, configured to perform detection and identification processing on the first space in a target layout mode based on a millimeter wave radar to obtain first identification information, where the target layout mode is any one of the at least two different layout modes, and the first identification information includes information on the number and position of objects detected by the millimeter wave radar;
the data processing module is used for obtaining a test result corresponding to the target layout mode based on the first identification information and the layout information corresponding to the target layout mode;
and the performance result determining module is used for determining the performance test result of the millimeter wave radar based on the test results corresponding to at least two target layout modes.
8. The apparatus according to claim 7, wherein the at least two objects in the first space in the target layout mode include a first object and a second object different from the first object, the first object being any one of the at least two objects;
and an included angle between a first straight line and a second straight line is larger than an angle resolution value of the millimeter wave radar, the first straight line is determined based on the position of the first object in the first space and the position of the millimeter wave radar, and the second straight line is determined based on the position of the second object in the first space and the position of the millimeter wave radar.
9. A storage medium storing instructions which, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 6.
10. A terminal comprising a memory storing instructions and a processor loading the instructions to perform the steps of the method according to any one of claims 1 to 6.
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