CN114236486A - Radar test system and method - Google Patents
Radar test system and method Download PDFInfo
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- CN114236486A CN114236486A CN202210164927.3A CN202210164927A CN114236486A CN 114236486 A CN114236486 A CN 114236486A CN 202210164927 A CN202210164927 A CN 202210164927A CN 114236486 A CN114236486 A CN 114236486A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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Abstract
The invention relates to a radar test system and a method, wherein the system comprises: the target simulation module is used for simulating and transmitting an echo signal generated after a target under a first preset parameter receives a signal transmitted by a radar to be detected; the controller is electrically connected with the radar to be detected and the target simulation module, and is used for setting a first preset parameter to drive the target simulation module to emit a signal based on the first preset parameter and detecting whether the radar to be detected works abnormally; the controller receives detection data of the radar to be detected, which is obtained based on the received echo signal and aims at the simulated target, compares the detection data with the first preset parameter to determine whether the radar to be detected works abnormally, so that the detection and judgment of the working state of the radar to be detected are completed, the requirements of multiple different scenes can be met through setting the first preset parameter, and the working state of the radar to be detected under different scenes can be detected more comprehensively.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a radar testing system and a method.
Background
With the development of science and technology, more and more vehicles are equipped with Advanced Driving Assistance Systems (ADAS) which utilize various sensors (millimeter wave radar, laser radar, single/binocular camera and satellite navigation) installed on the vehicles to sense the surrounding environment at any time during the Driving process of the vehicles, collect data, identify, detect and track static and dynamic objects, and combine navigation map data to perform systematic operation and analysis, thereby letting drivers perceive the possible danger and effectively increasing the comfort and safety of Driving the vehicles in advance.
Therefore, how to test the automotive millimeter wave radar and judge whether the automotive millimeter wave radar works normally is a problem which needs to be solved urgently.
Disclosure of Invention
The invention provides a radar test system and a method, wherein detection data is compared with a first preset parameter to determine whether a radar to be tested works abnormally or not, so that the detection and the judgment of the working state of the radar to be tested are completed, various different scene requirements can be met by setting the first preset parameter, and the working state of the radar to be tested in different scenes can be more comprehensively detected, and the specific scheme is as follows:
in a first aspect, a radar testing system is provided, the system comprising:
the target simulation module is used for simulating and transmitting an echo signal generated after a target under a first preset parameter receives a signal transmitted by a radar to be detected;
the controller is electrically connected with the radar to be detected and the target simulation module, and is used for setting the first preset parameter so as to drive the target simulation module to transmit a signal based on the first preset parameter and detecting whether the radar to be detected works abnormally;
the controller receives detection data, obtained by the radar to be detected based on the received echo signal, for the simulated target, and compares the detection data with the first preset parameter to determine whether the radar to be detected works abnormally.
In one embodiment, the system further comprises an interference simulation module electrically connected to the controller;
the interference simulation module comprises a discrete interference submodule and a radar interference submodule, the discrete interference submodule is used for simulating and transmitting a noise interference signal with second preset parameters, and the radar interference submodule is used for simulating and transmitting radar interference signals with third preset parameters, which are transmitted by other radars to be detected under a preset application scene;
the controller is further configured to set the second preset parameter and the third preset parameter to drive the discrete interference submodule to emit a signal based on the second preset parameter and drive the radar interference submodule to emit a signal based on the third preset parameter, and is further configured to control one of the discrete interference submodule and the radar interference submodule to operate or control the discrete interference submodule and the radar interference submodule to operate simultaneously, where the detection data received by the controller from the radar to be detected is detection data, which is obtained by the radar to be detected in the presence of the noise interference signal and/or the radar interference signal, for the simulated target.
In one embodiment, the controller determines that the radar to be detected works normally when the detection data is consistent with the first preset parameter, and determines that the radar to be detected works abnormally when the detection data is inconsistent with the first preset parameter.
In one embodiment, the first preset parameters include one or more of the following: the method comprises the following steps of presetting target quantity, presetting an azimuth angle, presetting a distance and presetting a movement speed, wherein second preset parameters comprise one or more of the following items: presetting frequency, presetting waveform style, presetting polarization direction, presetting waveform polarity and quantity, presetting transmitting power and presetting antenna gain; the third preset parameters include one or more of the following: the method comprises the steps of presetting frequency, presetting waveform style, presetting polarization direction, presetting waveform polarity and quantity, presetting transmitting power and presetting antenna gain.
In one embodiment, the discrete interference submodule includes a noise interference source for outputting a raw noise interference signal under the control of the controller and at least one noise interference signal transmitting unit working independently for converting the raw noise interference signal into the noise interference signal having the second preset parameter and transmitting the noise interference signal; the radar interference submodule comprises a plurality of radar interference signal transmitting units which work independently; the target simulation module comprises a signal receiving and transmitting unit which is used for transmitting the echo signal of the target and receiving the radar signal of the radar to be detected.
In one embodiment, the system further comprises a spherical array structure, the signal transceiving unit, the at least one noise jamming signal transmitting unit, and the plurality of radar jamming signal transmitting units are located on the spherical array structure, wherein a first group of the plurality of radar jamming signal transmitting units is symmetrically arranged in a longitudinal direction of the spherical array structure, and a second group of the plurality of radar jamming signal transmitting units is symmetrically arranged in a transverse direction of the spherical array structure.
In one embodiment, the system further comprises a turntable for mounting the radar to be measured and located within the ball grid array structure, and the controller is further configured to control the turntable to rotate in a predetermined manner to change the relative azimuth angle and/or pitch angle of the radar to be measured.
In one embodiment, the interior of the spherical array structure is covered with a wave absorbing material.
In one embodiment, the centre of revolution of the turret coincides with the centre of sphere of the spherical array structure.
In one embodiment, the system further comprises a shielding housing for accommodating the ball array structure, the shielding housing being used for shielding external electromagnetic interference.
In one embodiment, the predetermined frequency is in the range of 76-81GHz, 72-76GHz, 81-83 GHz.
In one embodiment, the system further comprises a spectrum analysis module electrically connected with the controller, wherein the spectrum analysis module is used for receiving at least one radar signal receiving unit of a radar signal transmitted by the radar to be detected and a spectrum analyzer used for analyzing the quality and the waveform of the radar signal and feeding back the analysis result to the controller; the at least one radar signal receiving unit is also located on the ball array structure.
In a second aspect, a radar testing method is provided, the method comprising:
setting a first preset parameter to simulate and transmit an echo signal generated after a target under the first preset parameter receives a signal transmitted by a radar to be detected;
and receiving detection data, which are obtained by the radar to be detected based on the received echo signals and aim at the simulated target, and comparing the detection data with the first preset parameter to determine whether the radar to be detected works abnormally.
In one embodiment, the method further comprises:
setting a second preset parameter and a third preset parameter;
simulating and transmitting the noise interference signal with the second preset parameter and/or simulating and transmitting the radar interference signal with the third preset parameter transmitted by other radars under the preset application scene by the radar to be detected while simulating and transmitting the echo signal;
wherein the received detection data is detection data of the radar to be detected, which is obtained by the radar to be detected under the condition that the noise interference signal and/or the radar interference signal exist, aiming at the simulated target.
The radar test system and the method are suitable for testing the radar to be tested in various scenes, exemplarily, different first preset parameters can be set to simulate different targets and distances, movement speeds and angles of the targets, one or two of the discrete interference submodule and the radar interference submodule can be controlled to work through the controller, so that different types of interference signals can be simulated, and different second preset parameters and third preset parameters can be set, so that the anti-interference capability of the radar to be tested under the interference signals with different parameters can be tested, and the target detection and tracking capability of the radar can be accurately tested.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a radar testing system in an embodiment of the present invention;
FIG. 2 is a front view of a radar testing system in an embodiment of the present invention;
FIG. 3 is a distribution diagram of radar jamming signal transmitting units according to an embodiment of the present invention;
FIG. 4 is a flowchart of a radar testing method 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Throughout the specification, reference to "one embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples.
As shown in fig. 1, the present invention provides a radar testing system, including:
the target simulation module 101 is used for simulating and transmitting an echo signal generated after a target under a first preset parameter receives a signal transmitted by a radar to be detected;
the controller 102 is electrically connected with the radar to be detected and the target simulation module, and is used for setting a first preset parameter to drive the target simulation module to emit a signal based on the first preset parameter, and detecting whether the radar to be detected works abnormally;
the controller 102 receives detection data, obtained by the radar to be detected based on the received echo signal, for the simulated target, and compares the detection data with a first preset parameter to determine whether the radar to be detected works abnormally.
In the invention, the radar to be detected can be an automobile radar, and can be an automobile millimeter wave radar for example. During radar testing, the controller 102 presets a first preset parameter of the target simulation module 101, the radar to be tested transmits a signal after being powered on, the target simulation module 101 transmits an echo signal according to the first preset parameter after receiving the signal transmitted by the radar to be tested, the echo signal is broadcast to the radar to be tested at the moment, the radar to be tested obtains detection data for a target simulated by the target simulation module 101 based on the received echo signal after receiving the echo signal, and feeds the detection data back to the controller 102, in the process, the detection data is related data of the target corresponding to the echo signal received by the radar to be tested, therefore, the detection data may be the same as or different from the first preset parameter, and then the controller 102 compares the detection data with the first preset parameter, so as to determine whether the radar to be tested works abnormally.
In the invention, the target simulation module 101 can be a radar target simulator, can receive the transmitting signal of the radar to be detected, and generate a simulation reflected wave delayed for a certain time than the transmitting signal of the radar, and can simulate a fixed target and a dynamic target.
The first preset parameter may be a preset number of targets, a preset azimuth angle of the targets, a preset distance between the targets, and a preset moving speed of the targets.
The radar test system simulates and transmits an echo signal generated after a target under a first preset parameter receives a signal transmitted by a radar to be detected through a target simulation module, sets the first preset parameter through a controller to drive the target simulation module to transmit the signal according to the first preset parameter, and is used for detecting whether the radar to be detected works abnormally or not, in the detection process, detection data aiming at the simulated target are obtained through the radar to be detected based on the received echo signal, the detection data are compared with the first preset parameter to determine whether the radar to be detected works abnormally or not, so that the detection and the judgment of the working state of the radar to be detected are completed, furthermore, the first preset parameter is a relevant parameter of the target simulated by the target simulation module, and the controller can complete the detection of the working state of the radar to be detected under various scenes by changing the first preset parameter, the radar target simulation system can simulate simpler scenes, such as scenes that vehicles run on an overhead or expressway, the number of targets is relatively small, the distance between the targets is relatively large, the movement speed of the targets is relatively large, and more complex scenes, such as scenes that the vehicles run on urban roads, the number of the targets is relatively large, the distance between the targets is relatively small, and the movement speed of the targets is relatively small.
In one embodiment, the radar testing system further comprises an interference simulation module electrically connected to the controller;
the interference simulation module comprises a discrete interference submodule and a radar interference submodule, the discrete interference submodule is used for simulating and transmitting a noise interference signal with second preset parameters, and the radar interference submodule is used for simulating and transmitting radar interference signals with third preset parameters, which are transmitted by other radars to be detected in a preset application scene;
the controller is further configured to set a second preset parameter and a third preset parameter to drive the discrete interference submodule to emit a signal based on the second preset parameter and drive the radar interference submodule to emit a signal based on the third preset parameter, and is further configured to control one of the discrete interference submodule and the radar interference submodule to operate or control the discrete interference submodule and the radar interference submodule to operate simultaneously, where the detection data received by the controller from the radar to be detected is detection data, which is obtained by the radar to be detected in the presence of the noise interference signal and/or the radar interference signal, for the simulated target.
In this embodiment, referring to fig. 1 further, the radar testing system further includes an interference simulation module 103 electrically connected to the controller 102, wherein the interference simulation module 103 is controlled by the controller to emit an interference signal, so that when testing the radar to be tested, the controller 102 controls the target simulation module 101 to emit an echo signal on one hand, and controls the interference simulation module 103 to emit an interference signal on the other hand, thereby detecting that the radar to be tested is in a working state under the condition that the radar to be tested has the interference signal.
The interference simulation module 103 includes a discrete interference sub-module 1031 and a radar interference sub-module 1032, and under the control of the controller 102, the discrete interference sub-module 1031 transmits a noise interference signal having a second preset parameter, for example, the discrete interference sub-module 1031 transmits a gaussian white noise, and then adjusts the gaussian white noise to a noise interference signal having a preset frequency, where the type of the exemplary noise interference signal may be a single tone, a narrow-band noise, a wide-band noise, and a flicker noise; under the control of the controller 102, the radar interference sub-module 1032 transmits radar interference signals with third preset parameters, which are transmitted by other radars of the radar to be detected in a preset application scene, in this embodiment, the radar interference signals transmitted under different preset application scenes are different, illustratively, the preset application scene is overhead or high-speed driving, the radar to be detected is a current driving vehicle radar, then, the other radars mainly refer to other vehicle radars and traffic radars, exemplarily, the preset application scene is in an environment without traffic radars, and then, the other radars mainly refer to other vehicle radars.
In this embodiment, the controller 102 may control the discrete interference sub-module 1031 and the radar interference sub-module 1032 to work simultaneously, or may control one of them to work, at this time, the interference signal and the echo signal sent by the interference simulation module 103 are synthesized into a synthesized signal in the air, the radar to be detected obtains detection data for a target simulated by the target simulation module 101 based on the received synthesized signal after receiving the synthesized signal, and feeds the detection data back to the controller 102, so that the detection data is detection data for the simulated target obtained when the radar to be detected has a noise interference signal and/or a radar interference signal, and then the controller compares the detection data with a first preset parameter to determine whether the radar to be detected works abnormally, specifically, in the first case, the controller 102 sets a second preset parameter of the discrete interference sub-module 1031 and controls the discrete interference sub-module 1031 to send a signal having the second preset parameter Noise interference signals with preset parameters and echo signals sent by the target simulation module 101 are synthesized into a first synthesized signal in space, after receiving the first synthesized signal, the radar to be detected generates first detection data of a simulated target corresponding to the first synthesized signal according to the first synthesized signal, the first detection data are fed back to the controller 102, and the controller 102 compares the first detection data with the first preset parameters to determine whether the radar to be detected works abnormally; under the second condition, the controller 102 sets a third preset parameter of the radar interference submodule 1032 and controls the radar interference submodule 1032 to send a radar interference signal with the third preset parameter, the radar interference signal and an echo signal sent by the target simulation module 101 are spatially synthesized into a second synthesized signal, after receiving the second synthesized signal, the radar to be detected generates second detection data of a simulated target corresponding to the second synthesized signal according to the second synthesized signal, and feeds the second detection data back to the controller 102, and the controller 102 compares the second detection data with the first preset parameter, so as to determine whether the radar to be detected works abnormally; under the third condition, the controller 102 sets a second preset parameter of the noise interference sub-module 1031 and a third preset parameter of the radar interference sub-module 1032, controls the noise interference sub-module 1031 and the radar interference sub-module 1032 to send out a noise interference signal and a radar interference signal, spatially synthesizes the noise interference signal and an echo signal sent out by the target simulation module 101 into a third synthesis signal, generates third detection data of a simulated target corresponding to the third synthesis signal according to the third synthesis signal after the radar to be detected receives the third synthesis signal, and feeds the third detection data back to the controller 102, and the controller 102 compares the third detection data with the first preset parameter to determine whether the radar to be detected works abnormally, for example, the detection data can be displayed on an interface of the controller 102.
In the present invention, the controller 102 controls one or more of the discrete interference sub-module 1031 and the radar interference sub-module 1032 to operate, so that the interference simulation module 103 emits interference signals of different types, including noise interference signals and radar interference signals, and further, the interference simulation module 103 emits interference signals under different parameters through setting of the controller 102 on the second preset parameter and the third preset parameter, so that the present invention is applicable to multiple preset application scenarios, and can simulate more complex application scenarios, and further can detect the anti-interference capability under multiple application scenarios, and only different interference sub-modules need to be controlled and corresponding parameters need to be changed in the debugging process, and the device does not need to be greatly changed, and the detection method is more flexible and variable.
In one embodiment, the controller determines that the radar to be detected works normally when the detection data is consistent with the first preset parameter, and determines that the radar to be detected works abnormally when the detection data is inconsistent with the first preset parameter.
In this embodiment, if the detection data is consistent with the first preset parameter, the controller 102 determines that the radar to be detected normally operates, and further, the performance of the radar to be detected can be detected, for example, the controller 102 compares the detection data, which is obtained by the received radar to be detected based on the received echo signal and is directed to the simulated target, with the first preset parameter, so as to determine whether the radar to be detected can detect the target of the first preset parameter; the controller 102 compares the first detection data with a first preset parameter, so as to determine the anti-interference capability of the radar to be detected on the noise interference signal of a second preset parameter; the controller 102 compares the second detection data with the first preset parameter, so as to determine the anti-interference capability of the radar to be detected on the radar interference signal of the third preset parameter; and the controller compares the third detection data with the first preset parameter so as to determine the anti-interference capability of the radar to be detected on the noise interference signal of the second preset parameter and the radar interference signal of the third preset parameter.
In one embodiment, the first preset parameters include one or more of the following: presetting the number of targets, a preset azimuth angle, a preset distance and a preset movement speed; the second preset parameters include one or more of the following: presetting frequency, presetting waveform style, presetting polarization direction, presetting waveform polarity and quantity, presetting transmitting power and presetting antenna gain; the third preset parameters include one or more of the following: the method comprises the steps of presetting frequency, presetting waveform style, presetting polarization direction, presetting waveform polarity and quantity, presetting transmitting power and presetting antenna gain.
In this embodiment, the first preset parameter includes one or more of a preset target number, a preset azimuth, a preset distance, and a preset movement speed, and if the first preset parameter includes multiple items, it indicates that the radar to be detected works normally only when each item in the detection data is the same as the corresponding first preset parameter. When the radar to be detected works abnormally, the display screen of the controller displays that the radar to be detected fails to track, and the track is reestablished, wherein the radar to be detected is a false target in the full screen or has no target.
The second preset parameters include one or more of the following: preset frequency, preset waveform style, preset polarization direction, preset waveform polarity and quantity, preset transmit power, and preset antenna gain, for example, in the second preset parameter, the preset frequency may be a frequency band of a millimeter wave radar, a frequency band of 76-81GHz, and the preset polarization direction is: vertical polarization, horizontal polarization and 45-degree polarization, and can be used for radiating any polarization direction independently or combining the three randomly; the preset waveform pattern can be single tone, narrow-band noise, broadband noise, flicker noise, and low-speed scanning waveforms with the period of more than 0.1ms, such as square waves, triangular waves, sawtooth waves and the like; the polarity and the number of the preset waveforms can be variable in positive and negative polarities, and 65536 waveforms are maximum; presetting the transmitting power to be not less than +10dBm and the dynamic range to be not less than 15 dB; the antenna gain is preset to be not less than 18dBi, the azimuth plane 3dB beam width is 20 degrees, and the elevation plane 3dB beam width is 20 degrees.
The third preset parameters include one or more of the following: preset frequency, preset waveform style, preset polarization direction, preset waveform polarity and quantity, preset transmission power, and preset antenna gain, for example, in the third preset parameter, the preset frequency may be a frequency band of a millimeter wave radar, a frequency band of 76-81GHz, and the preset polarization direction is: vertical polarization, horizontal polarization and 45-degree polarization, and can be used for radiating any polarization direction independently or combining the three randomly; the preset waveform pattern can be sawtooth wave, triangular wave, frequency shift keying, binary phase shift keying, quadrature phase shift keying and frequency agility; the polarity and the number of the preset waveforms can be variable in positive and negative polarities, and 65536 waveforms are maximum; presetting the transmitting power to be not less than +10dBm and the dynamic range to be not less than 15 dB; the antenna gain is preset to be not less than 18dBi, the azimuth plane 3dB beam width is 20 degrees, and the elevation plane 3dB beam width is 20 degrees.
In the invention, the second preset parameter and the third preset parameter have three linear polarizations of vertical, horizontal and 45 degrees, basically cover all antenna polarization modes of millimeter wave automobile radars and traffic radars, have universality and can be more close to complex road conditions faced by the millimeter wave radars.
In one embodiment, the discrete interference submodule comprises a noise interference source for outputting a primary noise interference signal under the control of the controller and at least one noise interference signal transmitting unit working independently of each other for converting the primary noise interference signal into a noise interference signal having a second preset parameter and transmitting the noise interference signal; the radar interference submodule comprises a plurality of radar interference signal transmitting units which work independently; the target simulation module comprises a signal receiving and transmitting unit used for transmitting an echo signal of a target and receiving a radar signal of a radar to be detected.
In the present embodiment, as shown in fig. 1, the discrete interference submodule 1031 includes a noise interference source 10311 and a noise interference signal transmitting unit 10312, the noise interference source 10311 is used to output the original noise interference signal to the noise interference signal transmitting unit 10312, and, for example, a radio frequency coaxial cable unidirectional connection is formed between the noise interference source 10311 and the noise interference signal transmitting unit 10312. Under the control of the controller 102, each channel of the noise interference source 10311 can independently output a base band signal of gaussian white noise, the amplitude and the on-off of which are controllable, and the signal is sent to the input port of the array through the coaxial cable to output the original noise interference signal to the noise interference signal transmitting unit. The number of the noise interference signal emission units 10312 may be one or more, for example, 4; each noise interference signal emission unit 10312 works independently, the controller 102 can enable each noise interference signal emission unit 10312 to emit the same noise interference signal or emit different noise interference signals through setting of a second preset parameter, and the controller 102 can control all the noise interference signal emission units 10312 to work simultaneously or control a part of the noise interference signal emission units 10312 to work.
The number of radar interference signal emission units 10321 may be multiple, each radar interference signal emission unit is operated independently, controller 102 may enable each radar interference signal emission unit to emit the same radar interference signal or emit different radar interference signals by setting a third preset parameter, and controller 102 may control all radar interference signal emission units to operate simultaneously or control a part of them to operate. Further, as shown in fig. 1, the radar interference sub-module 1032 further includes a radar interference signal simulation unit 10322 for simulating radar interference signals, and the controller 102 simulates different radar interference signals by setting a third preset parameter of the radar interference signal simulation unit 10322.
The target simulation module 101 mainly functions to output a chirp signal, and CAN perform communication between the controller 102 and the target simulation module 101 through an ISO _ CAN-USB, the target simulation module includes a signal transceiver unit 1011 for transmitting an echo signal of a target and receiving a radar signal of a radar to be detected, and further includes a target simulation unit 1012 for simulating an echo signal of a target, the signal transceiver unit 1011 transmits the radar signal to the target simulation unit 1012 after receiving the radar signal of the radar to be detected, and the target simulation unit 1012 is triggered to simulate the echo signal of the target having a first preset parameter, for example, the target simulation unit 1012 and the signal transceiver unit 1011 are bidirectionally connected by a radio frequency coaxial cable.
In one embodiment, the system further includes a spherical array structure, a signal transceiving unit, at least one noise interference signal transmitting unit, and a plurality of radar interference signal transmitting units located on the spherical array structure, wherein a first group of the plurality of radar interference signal transmitting units are symmetrically arranged in a longitudinal direction of the spherical array structure, and a second group of the plurality of radar interference signal transmitting units are symmetrically arranged in a transverse direction of the spherical array structure.
In the present embodiment, as shown in fig. 1, the spherical array structure 1000 is a carrier of the signal transceiving unit 1011, the at least one noise interference signal transmitting unit 10312, and the plurality of radar interference signal transmitting units 10321, and exemplarily, the spherical array structure has a width of 6.5 meters and a length of 5 meters.
In this embodiment, as shown in fig. 2, a first group of radar interference signal emitting units 103211 of the plurality of radar interference signal emitting units 10321 are symmetrically arranged in the longitudinal direction of the spherical array structure 1000, and a second group of radar interference signal emitting units 103212 of the plurality of radar interference signal emitting units are symmetrically arranged in the transverse direction of the spherical array structure 1000, further referring to fig. 2, the first group of radar interference signal emitting units 103211 and the second group of radar interference signal emitting units 103212 are arranged in a cross-shaped array, and the transverse direction refers to the direction parallel to the ground in the cross-shaped array. The longitudinal direction refers to a direction perpendicular to the ground in the cross-shaped array, if the radar to be detected is an automobile radar, the first group of radar interference signal emitting units 103211 are generally traffic radars, the second group of radar interference signal emitting units 103212 are generally automobile radars, and illustratively, the first group of radar interference signal emitting units 103211 and the second group of radar interference signal emitting units 103212 may be 16 radar.
Further, a noise interference source 10311 is located in the cabinet 2000 behind the ball array structure 1000, and the controller 102 and the target simulation unit 1012 are also located in the cabinet 2000. The noise interference source 10311 and the noise interference signal transmitting unit 10312 are connected by a radio frequency coaxial cable in one way, the target simulation unit 1012 and the signal transceiving unit 1011 are connected by a radio frequency coaxial cable in two ways, the controller 102 and the radar interference signal transmitting unit are connected by a CAN bus in two ways, and the controller 102 and the target simulation unit 1012 and the noise interference source 10311 are connected by an Ethernet in two ways.
In one embodiment, the radar testing system further comprises a turntable for mounting the radar to be tested and located within the spherical array structure, and the controller is further configured to control the turntable to rotate in a predetermined manner to change the relative azimuth angle and/or the pitch angle of the radar to be tested.
In this embodiment, as shown in fig. 3, the radar test system further includes a turntable 104, the radar to be tested is mounted on the turntable 104, the controller 102 can control the turntable to rotate in a predetermined manner, illustratively, the turntable can be controlled to rotate within a range of azimuth angles of-90 ° to 90 ° and a range of elevation angles of-20 ° to 20 °, the working states of the radar to be tested at different azimuth angles and elevation angles are simulated, and the anti-interference capability of the radar to be tested at the angle is further evaluated.
In one embodiment, the interior of the spherical array structure is covered with a wave absorbing material.
In this embodiment, as shown in fig. 2, the interior of the spherical array structure 1000 is covered with a wave-absorbing material 105, the signal transceiver unit 1011, the at least one noise interference signal emitter unit 10312, and the plurality of radar interference signal emitter units 10321 are embedded in the corresponding slots of the wave-absorbing material 105, and in order to improve the isolation of the units and not affect the antenna pattern, the height from the top end of the wave-absorbing material 105 to the surface of the mouth of the unit is about 15 cm.
In one embodiment, the centre of rotation of the turret coincides with the centre of sphere of the spherical array structure.
In this embodiment, the center of sphere of the spherical array structure 1000 coincides with the center of rotation of the turntable, so that the turntable drives the rotation of the radar to be detected to prevent the radar from interfering with the signal transmitting unit and the noise from interfering with the distance between the signal transmitting unit and the radar to be detected, and the distance is the radius of the spherical array structure 1000.
In one embodiment, the radar testing system further comprises a shielding housing for accommodating the ball array structure, the shielding housing being used for shielding external electromagnetic interference.
In the present embodiment, the radar test system further includes a shielding case 106 for accommodating the ball array structure 1000, and external electromagnetic interference is shielded by the shielding case 106, so that a typical interference scenario is easier to configure and reproduce.
In one embodiment, the predetermined frequency is in the range of 76-81GHz, 72-76GHz, 81-83 GHz.
The preset frequency can be in the range of 76-81GHz, 72-76GHz, 81-83GHz, can be a certain frequency, and can be a certain frequency range of the three frequency ranges, for example, in the embodiment, 76-81GHz is the frequency band of the automotive millimeter wave radar, so when the device is used for testing the automotive millimeter wave radar, the preset frequency can be 76-81 GHz.
In one embodiment, the radar test system further comprises a spectrum analysis module electrically connected with the controller, the spectrum analysis module is used for receiving at least one radar signal receiving unit of a radar signal transmitted by the radar to be tested, and a spectrum analyzer used for analyzing the quality and the waveform of the radar signal and feeding back the analysis result to the controller, and the at least one radar signal receiving unit is also positioned on the spherical array structure.
In the present invention, as shown in fig. 1, the spectrum analysis module 107 includes a radar signal receiving unit 1071 and a spectrum analyzer 1072, the number of the radar signal receiving units 1071 may be one or multiple, the radar signal receiving unit 1071 is located on the spherical array structure 1000, and when a radar to be detected sends out a radar signal, the radar signal receiving unit 1071 transmits the received radar signal to the spectrum analyzer 1072, and the spectrum analyzer 1072 performs analysis.
The spectrum analyzer 1072 is located in the cabinet 2000 behind the spherical array structure 1000, the radar signal receiving unit 1071 is connected with the spectrum analyzer through a radio frequency coaxial cable, and the controller 102 and the spectrum analyzer 1072 are connected in an ethernet bidirectional mode. The spectrum analyzer 1072 is an instrument for studying the spectrum structure of an electric signal, is used for measuring signal parameters such as signal distortion degree, modulation degree, spectrum purity, frequency stability and intermodulation distortion, can be used for measuring certain parameters of circuit systems such as an amplifier and a filter, and is a multipurpose electronic measuring instrument. In millimeter wave automobile radar test, mainly used aassessment to await measuring central frequency of radar's transmission signal, frequency bandwidth, spurious distribution, power level, phase place noise and time domain characteristic etc. key index, these indexes directly determine the legitimacy, uniformity and the manufacturability of radar that awaits measuring. In the invention, a spectrum analyzer is used for monitoring the quality of an output signal of the radar to be detected, and under various interference conditions, the radar to be detected outputs a waveform pattern so as to generate an analysis result.
As shown in fig. 4, the present invention also provides a radar testing method, including:
s401, setting a first preset parameter to simulate and transmit an echo signal generated after a target under the first preset parameter receives a signal transmitted by a radar to be detected;
s402, receiving detection data, obtained by the radar to be detected based on the received echo signal, for the simulated target, and comparing the detection data with the first preset parameter to determine whether the radar to be detected works abnormally.
In step S401, the controller presets a first preset parameter of the target simulation module, so that the target simulation module transmits an echo signal according to the first preset parameter after receiving a signal transmitted by the radar to be tested, and the echo signal is broadcast to the radar to be tested.
In step S402, after receiving the echo signal, the radar to be detected obtains detection data for the target simulated by the target simulation module based on the received echo signal, and feeds the detection data back to the controller, and then the controller compares the detection data with a first preset parameter, thereby determining whether the radar to be detected is abnormal in operation.
In one embodiment, the radar testing method further comprises:
setting a second preset parameter and a third preset parameter;
simulating and transmitting the noise interference signal with the second preset parameter and/or simulating and transmitting the radar interference signal with the third preset parameter transmitted by other radars under the preset application scene by the radar to be detected while simulating and transmitting the echo signal;
the received detection data are detection data of the radar to be detected, which are obtained under the condition that a noise interference signal and/or a radar interference signal exist, aiming at the simulated target.
In this embodiment, the controller sets a second preset parameter of the discrete interference submodule and a third preset parameter of the radar interference submodule, the discrete interference submodule simulates and transmits a noise interference signal and/or the radar interference submodule simulates and transmits a radar interference signal while the target simulation module simulates and transmits an echo signal, the detection data received by the controller is detection data for a simulated target obtained by the radar to be detected in the presence of the noise interference signal and/or the radar interference signal, specifically, the controller may control the discrete interference submodule and the radar interference submodule to simultaneously operate or may control one of them to operate, at this time, the interference signal and the echo signal sent by the interference simulation module are synthesized into a synthesized signal in the air, the radar to be detected obtains detection data for the target simulated by the target simulation module based on the received synthesized signal after receiving the synthesized signal, and feeding back the detection data to the controller, so that the detection data is the detection data which is obtained by the radar to be detected under the condition that a noise interference signal and/or a radar interference signal exists and is aimed at the simulated target, then the controller compares the detection data with a first preset parameter so as to judge whether the radar to be detected works abnormally or not, specifically, under the first condition, the controller sets a second preset parameter of the discrete interference submodule and controls the discrete interference submodule to send out the noise interference signal with the second preset parameter, the noise interference signal and an echo signal sent by the target simulation module are spatially synthesized into a first synthesis signal, after receiving the first synthesis signal, the radar to be detected generates first detection data of the simulated target corresponding to the first synthesis signal according to the first synthesis signal and feeds back the first detection data to the controller, the controller compares the first detection data with a first preset parameter so as to determine whether the radar to be detected works abnormally; under a second condition, the controller sets a third preset parameter of the radar interference submodule and controls the radar interference submodule to send a radar interference signal with the third preset parameter, the radar interference signal and an echo signal sent by the target simulation module are synthesized into a second synthesized signal in space, after receiving the second synthesized signal, the radar to be detected generates second detection data of a simulated target corresponding to the second synthesized signal according to the second synthesized signal, the second detection data are fed back to the controller, and the controller compares the second detection data with the first preset parameter so as to determine whether the radar to be detected works abnormally; under the third condition, the controller respectively sets a second preset parameter of the noise interference submodule and a third preset parameter of the radar interference submodule, controls the noise interference submodule and the radar interference submodule to send noise interference signals and radar interference signals, spatially synthesizes the noise interference signals and the radar interference signals with echo signals sent by the target simulation module into a third synthesis signal, generates third detection data of a simulated target corresponding to the third synthesis signal according to the third synthesis signal after the radar to be detected receives the third synthesis signal, feeds the third detection data back to the controller, and compares the third detection data with the first preset parameter by the controller, so that whether the radar to be detected works abnormally is determined.
In one embodiment, the controller determines that the radar to be detected works normally when the detection data is consistent with the first preset parameter, and determines that the radar to be detected works abnormally when the detection data is inconsistent with the first preset parameter.
In this embodiment, if the detection data is consistent with the first preset parameter, the controller determines that the radar to be detected works normally, and if the detection data is inconsistent with the first preset parameter, the controller determines that the radar to be detected works abnormally.
In one embodiment, the radar testing method further comprises:
receiving a radar signal transmitted by a radar to be detected and analyzing the quality and the waveform of the radar signal;
and generating an analysis result according to the quality and the waveform of the radar signal and determining whether the output of the radar to be detected is normal or not according to the analysis result.
In this embodiment, the frequency spectrum analysis module receives and analyzes the radar signal of the radar transmission that awaits measuring in order to confirm the quality and the wave form of the radar signal of the radar transmission that awaits measuring and feed back the result to the controller, and whether the controller is exported normally according to the quality and the wave form determination radar that awaits measuring of radar signal, if the radar output that awaits measuring is normal, then can test the radar that awaits measuring, if the radar output that awaits measuring is unusual, then test again after the radar that awaits measuring needs to debug at present.
In one embodiment, the radar testing method further comprises:
and controlling the rotary table to rotate in a preset mode so as to change the relative azimuth angle and/or the pitch angle of the radar to be measured.
In this embodiment, the controller is further configured to control the turntable to rotate in a predetermined manner, so as to change the relative azimuth angle and/or the pitch angle of the radar to be detected, simulate the working states of the radar to be detected at different azimuth angles and pitch angles, and further evaluate the anti-interference capability of the radar to be detected at this angle.
The radar test method in the invention can realize the beneficial effects described in the radar test system, and is not described herein again.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.
Claims (14)
1. A radar testing system, characterized in that the system comprises:
the target simulation module is used for simulating and transmitting an echo signal generated after a target under a first preset parameter receives a signal transmitted by a radar to be detected;
the controller is electrically connected with the radar to be detected and the target simulation module, and is used for setting the first preset parameter so as to drive the target simulation module to transmit a signal based on the first preset parameter and detecting whether the radar to be detected works abnormally;
the controller receives detection data, obtained by the radar to be detected based on the received echo signal, for the simulated target, and compares the detection data with the first preset parameter to determine whether the radar to be detected works abnormally.
2. The system of claim 1, further comprising an interference modeling module electrically connected to the controller;
the interference simulation module comprises a discrete interference submodule and a radar interference submodule, the discrete interference submodule is used for simulating and transmitting a noise interference signal with second preset parameters, and the radar interference submodule is used for simulating and transmitting radar interference signals with third preset parameters, which are transmitted by other radars to be detected under a preset application scene;
the controller is further configured to set the second preset parameter and the third preset parameter to drive the discrete interference submodule to emit a signal based on the second preset parameter and drive the radar interference submodule to emit a signal based on the third preset parameter, and is further configured to control one of the discrete interference submodule and the radar interference submodule to operate or control the discrete interference submodule and the radar interference submodule to operate simultaneously, where the detection data received by the controller from the radar to be detected is detection data, which is obtained by the radar to be detected in the presence of the noise interference signal and/or the radar interference signal, for the simulated target.
3. The system of claim 2, wherein the controller determines that the radar under test is operating normally if the probe data is consistent with the first predetermined parameter, and determines that the radar under test is operating abnormally if the probe data is inconsistent with the first predetermined parameter.
4. The system of claim 3, wherein the first preset parameter comprises one or more of: the second preset parameters include one or more of the following items: presetting frequency, presetting waveform style, presetting polarization direction, presetting waveform polarity and quantity, presetting transmitting power and presetting antenna gain; the third preset parameters include one or more of the following: the method comprises the steps of presetting frequency, presetting waveform style, presetting polarization direction, presetting waveform polarity and quantity, presetting transmitting power and presetting antenna gain.
5. The system of claim 2, wherein the discretized interference sub-module comprises a noise interference source for outputting a raw noise interference signal under the control of the controller and at least one noise interference signal emitting unit operating independently of each other for converting the raw noise interference signal into the noise interference signal having the second preset parameter and emitting the noise interference signal; the radar interference submodule comprises a plurality of radar interference signal transmitting units which work independently; the target simulation module comprises a signal receiving and transmitting unit which is used for transmitting the echo signal of the target and receiving the radar signal of the radar to be detected.
6. The system of claim 5, further comprising a ball array structure, the signal transceiving units, the at least one noise jamming signal transmitting unit, and the plurality of radar jamming signal transmitting units are located on the ball array structure, wherein a first set of the plurality of radar jamming signal transmitting units are symmetrically arranged in a longitudinal direction of the ball array structure and a second set of the plurality of radar jamming signal transmitting units are symmetrically arranged in a lateral direction of the ball array structure.
7. The system of claim 6, further comprising a turntable for mounting the radar under test and positioned within the ball grid array structure, the controller further for controlling the turntable to rotate in a predetermined manner to change the relative azimuth and/or elevation angle of the radar under test.
8. The system of claim 7, wherein the interior of the spherical array structure is covered with a wave absorbing material.
9. The system of claim 7, wherein a center of rotation of the turntable coincides with a center of sphere of the spherical array structure.
10. The system of claim 6, further comprising a shielding housing for housing the ball-array structure, the shielding housing for shielding external electromagnetic interference.
11. The system of claim 2, wherein the predetermined frequency is in the range of 76-81GHz, 72-76GHz, 81-83 GHz.
12. The system of any one of claims 6 to 10, further comprising a spectrum analysis module electrically connected to the controller, the spectrum analysis module comprising at least one radar signal receiving unit for receiving radar signals emitted by the radar under test, and a spectrum analyzer for analyzing the quality and waveform of the radar signals and feeding back the analysis results to the controller; the at least one radar signal receiving unit is also located on the ball array structure.
13. A method of radar testing, the method comprising:
setting a first preset parameter to simulate and transmit an echo signal generated after a target under the first preset parameter receives a signal transmitted by a radar to be detected;
and receiving detection data, which are obtained by the radar to be detected based on the received echo signals and aim at the simulated target, and comparing the detection data with the first preset parameter to determine whether the radar to be detected works abnormally.
14. The method of claim 13, wherein the method further comprises:
setting a second preset parameter and a third preset parameter;
simulating and transmitting the noise interference signal with the second preset parameter and/or simulating and transmitting the radar interference signal with the third preset parameter transmitted by other radars under the preset application scene by the radar to be detected while simulating and transmitting the echo signal;
wherein the received detection data is detection data of the radar to be detected, which is obtained by the radar to be detected under the condition that the noise interference signal and/or the radar interference signal exist, aiming at the simulated target.
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