CN115015858A - Millimeter wave radar simulation test method, device, equipment and readable storage medium - Google Patents
Millimeter wave radar simulation test method, device, equipment and readable storage medium Download PDFInfo
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- CN115015858A CN115015858A CN202210615817.4A CN202210615817A CN115015858A CN 115015858 A CN115015858 A CN 115015858A CN 202210615817 A CN202210615817 A CN 202210615817A CN 115015858 A CN115015858 A CN 115015858A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
- G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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Abstract
The invention provides a millimeter wave radar simulation test method, a device, equipment and a readable storage medium, wherein the millimeter wave radar simulation test method comprises the following steps: obtaining simulation data of a target object to be detected through a virtual millimeter wave radar; obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle; transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator; the millimeter wave radar to be tested obtains test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section; and comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested. By the aid of the method and the device, dynamic simulation test of the millimeter wave radar on the radar scattering cross section of the target object in real time is realized, and reliability of the millimeter wave radar simulation test is improved.
Description
Technical Field
The invention relates to the field of millimeter wave radar simulation test, in particular to a millimeter wave radar simulation test method, a millimeter wave radar simulation test device, millimeter wave radar simulation test equipment and a readable storage medium.
Background
In Radar signal processing, a Radar Cross Section (RCS) is a measure of the ability of a target to reflect a Radar signal in a Radar receiving direction, and the RCS of a target is equal to the ratio of the power reflected by the target in a unit solid angle in the direction of a Radar receiving antenna to the power density incident on the target. The RCS is an index for describing the essential characteristics of the target, and is mainly related to the shape, material, signal incidence angle and radiation signal frequency of the target, under the condition that the external shape, material, incidence frequency and the like of the target are not changed, the change of the motion state of the target can cause the change of the incidence angle of electromagnetic waves, and further cause the change of the RCS value of the target, otherwise, the motion state characteristics of the target can be calculated according to the dynamic change of the RCS value of the target, and therefore, the real-time accurate acquisition of the RCS value of the target is very important.
However, in the current simulation test performed on the millimeter wave radar, the RCS value of the target cannot be obtained, or an RCS fixed value simulation method is directly adopted, where the RCS fixed value simulation is that different RCS values are directly given to the target according to different types of targets, for example, the RCS of each type of target is respectively assigned as: 20dBsm of a commercial vehicle, 15dBsm of a trailer, 10dBsm of a passenger vehicle, 8dBsm of a tricycle, 7dBsm of an old scooter, 4dBsm of a battery car and pedestrian-6 dBsm, and the change of the RCS in the target motion process cannot be simulated by adopting the RCS constant value simulation mode, so that the test of the detection performance of the millimeter wave radar is influenced by adopting the RCS constant value simulation, and the simulation test result deviates from the real vehicle test.
Disclosure of Invention
The invention mainly aims to provide a millimeter wave radar simulation test method, a millimeter wave radar simulation test device, millimeter wave radar simulation test equipment and a readable storage medium, and aims to solve the technical problem that a simulation test result deviates from a real-vehicle test because a radar scattering cross section of a target cannot be dynamically obtained in real time in the millimeter wave radar simulation test at present.
In a first aspect, the present invention provides a millimeter wave radar simulation test method, including:
in a simulation test environment, obtaining simulation data of a target object to be detected through a virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle;
obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;
transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator;
the millimeter wave radar target simulator simulates a target object to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends a echo signal to the millimeter wave radar to be detected;
receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;
and comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.
Optionally, in the simulation test environment, the simulation data of the target object to be detected is obtained through the virtual millimeter wave radar, and the simulation data includes a first distance and a first angle:
in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;
and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
Optionally, the obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle includes:
if the corresponding radar scattering cross section is inquired in the radar scattering cross section library based on the first distance and the first angle, the inquired radar scattering cross section is used as a first radar scattering cross section;
and if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, obtaining a first radar scattering cross section of the target object to be detected through a function method based on the first distance and the first angle.
Optionally, the obtaining, by a function method based on the first distance and the first angle, a first radar scattering cross section of the target object to be detected includes:
determining a fitting function by performing curve fitting on a data set based on the data set of the target object to be detected, wherein the data set records the corresponding relation among the distance, the angle and the radar scattering cross section of the target object to be detected;
and obtaining a first radar scattering cross section of the target object to be detected through the determined fitting function based on the first distance and the first angle.
Optionally, the simulation data of the target object to be detected includes an ID of the target object to be detected, and after the first distance, the first angle, and the first radar scattering cross section are transmitted to the millimeter wave radar target simulator, the method includes:
if the target object to be detected enters the field angle of the millimeter wave radar to be detected, locking the target object to be detected based on the ID of the target object to be detected, and matching a channel of the millimeter wave radar target simulator for the target object to be detected;
and if the target object to be detected is detected to leave the field angle of the millimeter wave radar to be detected, unlocking the target object to be detected based on the ID of the target object to be detected, and releasing a channel of the millimeter wave radar target simulator occupied by the target object to be detected for the next new target object to be detected.
In a second aspect, the present invention further provides a millimeter wave radar simulation test apparatus, including:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring simulation data of a target object to be detected in a simulation test environment through a virtual millimeter wave radar, and the simulation data comprises a first distance and a first angle;
the second acquisition module is used for acquiring a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;
the transmission module is used for transmitting the first distance, the first angle and the first radar scattering cross section to the millimeter wave radar target simulator;
the simulation module is used for the millimeter wave radar target simulator to simulate a target object to be detected according to the first distance, the first angle and the first radar scattering cross section and send a return signal to the millimeter wave radar to be detected;
the test module is used for receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;
and the comparison module is used for comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.
Optionally, the first obtaining module is configured to:
in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;
and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
Optionally, the second obtaining module is configured to:
if the corresponding radar scattering cross section is inquired in the radar scattering cross section library based on the first distance and the first angle, the inquired radar scattering cross section is used as a first radar scattering cross section;
and if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, obtaining a first radar scattering cross section of the target object to be detected through a function method based on the first distance and the first angle.
In a third aspect, the present invention further provides a millimeter wave radar simulation test device, where the millimeter wave radar simulation test device includes a processor, a memory, and a millimeter wave radar simulation test program stored in the memory and executable by the processor, where the millimeter wave radar simulation test program, when executed by the processor, implements the steps of the millimeter wave radar simulation test method as described above.
In a fourth aspect, the present invention further provides a readable storage medium, where the readable storage medium stores a millimeter wave radar simulation test program, where the millimeter wave radar simulation test program, when executed by a processor, implements the steps of the millimeter wave radar simulation test method as described above.
In the invention, in a simulation test environment, simulation data of a target object to be detected is obtained through a virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle; obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle; transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator; the millimeter wave radar target simulator simulates a target object to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends a echo signal to the millimeter wave radar to be detected; receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section; and comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested. The invention obtains the simulation data of the target object to be detected, which is generally called as 'true value' through the virtual millimeter wave radar in the simulation test environment, then obtains the first radar scattering cross section through the first distance and the first angle in the simulation data, transmits the first distance, the first angle and the first radar scattering cross section to the millimeter wave radar target simulator, the millimeter wave radar target simulator simulates the target object to be detected according to the first distance and the first angle, then sends an echo signal to the millimeter wave radar to be detected, the millimeter wave radar to be detected can obtain the test data of the target object to be detected, which is generally called as 'test value' after receiving the echo signal, compares the simulation data with the test data, namely compares the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section, the simulation test result of the millimeter wave radar to be tested can be obtained, and the dynamic simulation test of the millimeter wave radar on the real-time radar scattering cross section of the target object is realized through the method and the device, so that the reliability of the simulation test of the millimeter wave radar is improved.
Drawings
FIG. 1 is a schematic diagram of a hardware structure of an embodiment of a millimeter wave radar simulation test apparatus according to the present invention;
FIG. 2 is a schematic flow chart of an embodiment of a millimeter wave radar simulation test method according to the present invention;
FIG. 3 is a detailed flowchart of step S10 in FIG. 2;
FIG. 4 is a detailed flowchart of step S20 in FIG. 2;
fig. 5 is a schematic functional block diagram of a millimeter wave radar simulation test apparatus according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a first aspect, an embodiment of the present invention provides millimeter wave radar simulation test equipment.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of an embodiment of the millimeter wave radar simulation test device of the present invention. In this embodiment of the present invention, the millimeter wave radar simulation test device may include a processor 1001 (for example, a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used for realizing connection communication among the components; the user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WI-FI interface, WI-FI interface); the memory 1005 may be a Random Access Memory (RAM) or a non-volatile memory (non-volatile memory), such as a magnetic disk memory, and the memory 1005 may optionally be a storage device independent of the processor 1001. Those skilled in the art will appreciate that the hardware configuration depicted in FIG. 1 is not intended to be limiting of the present invention, and may include more or less components than those shown, or some components in combination, or a different arrangement of components.
With continued reference to FIG. 1, a memory 1005, which is one type of computer storage medium in FIG. 1, may include an operating system, a network communication module, a user interface module, and a millimeter wave radar simulation test program. The processor 1001 may call a millimeter wave radar simulation test program stored in the memory 1005, and execute the millimeter wave radar simulation test method provided by the embodiment of the present invention.
In a second aspect, an embodiment of the present invention provides a millimeter wave radar simulation test method.
In order to show the millimeter wave radar simulation test method provided by the embodiment of the present application more clearly, an application scenario of the millimeter wave radar simulation test method provided by the embodiment of the present application is introduced first.
The millimeter wave radar simulation test method provided by the embodiment of the application is applied to the simulation test of the performance of the millimeter wave radar through the millimeter wave radar test bench, and the millimeter wave radar test bench generally comprises a millimeter wave radar target simulator, a graphic workstation carrying virtual simulation software, an upper computer, a lower computer and the like.
In an embodiment, referring to fig. 2, fig. 2 is a schematic flowchart of an embodiment of a millimeter wave radar simulation test method according to the present invention, and as shown in fig. 2, the millimeter wave radar simulation test method includes:
step S10, in the simulation test environment, obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
In this embodiment, in a simulation test environment, simulation data of a target object to be detected, which is generally called as "true value", is obtained through a virtual millimeter wave radar in simulation software, and the obtained simulation data may include data of distance, angle, speed, type of the target object, and the like according to functions of different millimeter wave radars and specific test requirements.
And step S20, obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle.
In this embodiment, the first radar scattering cross section of the target object to be detected is obtained through the first distance and the first angle, and a change in the motion state of the target (i.e., the distance and the angle) may cause a change in an incident angle of electromagnetic waves, thereby causing a change in an RCS value of the target.
And step S30, transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator.
In this embodiment, with first distance, first angle and first radar cross section through emulation software transmission to millimeter wave radar target simulator, through real-time transmission radar cross section, solved and lacked real-time target radar cross section among the prior art, can't carry out real-time dynamic simulation's problem to the radar cross section of target.
And step S40, the millimeter wave radar target simulator simulates the target object to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends a echo signal to the millimeter wave radar to be detected.
In this embodiment, based on the simulation function of the millimeter wave radar target simulator, the real-time posture of the target object to be detected is simulated according to the received first distance, the received first angle and the received first radar scattering cross section, and the corresponding echo signal is sent to the millimeter wave radar to be detected.
And step S50, the millimeter wave radar to be tested receives the echo signal to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section.
In this embodiment, the millimeter wave radar that awaits measuring can obtain the test data of waiting to detect the target after receiving echo signal, and the test data includes distance, angle and radar cross section, and in addition, according to the function and the specific test demand of the millimeter wave radar that awaits measuring of difference, the test data can also include speed, target type etc to carry out more comprehensive simulation test to the millimeter wave radar that awaits measuring.
And step S60, comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.
In this embodiment, the first distance and the first angle are obtained by the virtual millimeter wave radar in the simulation test environment, the first radar cross section is obtained by the first distance and the first angle measured in real time, which are generally called as "true values" in the simulation test, the second distance, the second angle and the second radar cross section are all "test values" of the millimeter wave radar to be tested, and the two are compared to obtain a simulation test result of the millimeter wave radar to be tested, that is, the identification accuracy of the millimeter wave radar to be tested on the distance, the angle and the radar cross section of the target object to be tested is obtained.
In this embodiment, the first distance, the first angle and the first radar cross section represent a real value of a simulation test performed on a target object to be detected by a millimeter wave radar to be tested, the first radar cross section is obtained according to the real-time first distance and the first angle and represents a real-time radar cross section of the target object to be detected, the millimeter wave radar target simulator simulates the target object to be detected according to the real value in real time, then sends an echo signal to the millimeter wave radar to be tested, the millimeter wave radar to be tested can obtain a test value of the target object to be detected after receiving the echo signal, the identification performance of the target object to be detected by the millimeter wave radar to be tested can be obtained by comparing the real value with the test value, and the problem that the real-time radar cross section is lacked in the simulation test performed on the millimeter wave radar at present is solved by the present embodiment, the real-time dynamic simulation test of the millimeter wave radar on the radar scattering cross section of the target object is realized, and the reliability of the millimeter wave radar simulation test is improved.
Further, in an embodiment, referring to fig. 3, fig. 3 is a detailed flowchart of step S10 in fig. 2, and as shown in fig. 3, step S10 includes:
s101, in a simulation test environment, configuring the installation pose of a virtual millimeter wave radar on a virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;
step S102, obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
In this embodiment, the installation pose of the virtual millimeter wave radar on the virtual vehicle is configured according to the installation pose of the actual millimeter wave radar on the actual vehicle, the consistency between the simulation scene and the real scene is maintained, the first distance and the first angle are the relative distance and the relative angle between the target object to be detected and the virtual millimeter wave radar, and the first distance and the first angle also represent the relative distance and the relative angle between the target object to be detected and the virtual vehicle because the millimeter wave radar is installed at the middle position of the front bumper of the vehicle under normal conditions.
Further, in an embodiment, referring to fig. 4, fig. 4 is a detailed flowchart of step S20 in fig. 2, and as shown in fig. 4, step S20 includes:
step S201, if a corresponding radar scattering cross section is inquired in a radar scattering cross section library based on the first distance and the first angle, the inquired radar scattering cross section is used as a first radar scattering cross section;
step S202, if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, the first radar scattering cross section of the target object to be detected is obtained through a function method based on the first distance and the first angle.
In this embodiment, the radar cross section library is a database obtained based on public data and through test collection, and may also be referred to as a database here, where each of the databases records a corresponding distance, an angle, and a corresponding relationship between radar cross sections, and if the radar cross section library stores radar cross sections corresponding to a first distance and a first angle, a first radar cross section may be obtained directly through query, otherwise, the first radar cross section of the target object to be detected may be obtained through a function method.
Further, in an embodiment, the step S202 includes:
determining a fitting function by performing curve fitting on a data set based on the data set of the target object to be detected, wherein the data set records the corresponding relation among the distance, the angle and the radar scattering cross section of the target object to be detected;
and obtaining a first radar scattering cross section of the target object to be detected through the determined fitting function based on the first distance and the first angle.
In this embodiment, the data set is similar to the radar scattering cross section library, and is obtained based on public data and through test collection, each record in the data set records the corresponding distance, angle and corresponding relationship between radar scattering cross sections, and curve fitting refers to approximately depicting or comparing the functional relationship between coordinates represented by discrete points on a plane by using a continuous curve. Because the radar scattering cross section corresponding to the current first distance and the first angle is not inquired, curve fitting needs to be performed on the radar scattering cross section based on existing data, a fitting function is determined according to different shapes of curves, and then the first radar scattering cross section of the target object to be detected is obtained through the determined fitting function.
Further, in an embodiment, the simulation data of the object to be detected includes an ID of the object to be detected, and after step S30, the method includes:
if the target object to be detected enters the field angle of the millimeter wave radar to be detected, locking the target object to be detected based on the ID of the target object to be detected, and matching a channel of the millimeter wave radar target simulator for the target object to be detected;
and if the target object to be detected is detected to leave the field angle of the millimeter wave radar to be detected, unlocking the target object to be detected based on the ID of the target object to be detected, and releasing a channel of the millimeter wave radar target simulator occupied by the target object to be detected for the next new target object to be detected.
In this embodiment, in a simulation test scenario, there are five targets (e.g., a, b, c, d, e) in the detection range of the field angle of the millimeter wave radar to be tested, and our millimeter wave radar target simulator has only four channels (e.g., 1, 2, 3, 4), and each channel can simulate only one target. At this moment, the target object to be detected needs to be locked when entering according to the ID of the target object to be detected, a millimeter wave radar target simulator channel is matched for the target object to be detected and bound, the target object is unlocked when leaving, and the millimeter wave radar target simulator channel occupied by the target object to be detected is released, so that the target is prevented from being switched back and forth among four channels of the millimeter wave radar target simulator, the simulation test efficiency of the millimeter wave radar to be detected is influenced by the change of the channel of the same target among the millimeter wave radar target simulators, and the precision of a simulation test result is further influenced.
In a third aspect, an embodiment of the present invention further provides a millimeter wave radar simulation test apparatus.
Referring to fig. 5, fig. 5 is a functional block diagram of an embodiment of the millimeter wave radar simulation testing device of the present invention.
In this embodiment, the millimeter wave radar simulation test device includes:
the first obtaining module 10 is configured to obtain, in a simulation test environment, simulation data of a target object to be detected through a virtual millimeter wave radar, where the simulation data includes a first distance and a first angle;
the second obtaining module 20 is configured to obtain a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;
the transmission module 30 is used for transmitting the first distance, the first angle and the first radar scattering cross section to the millimeter wave radar target simulator;
the simulation module 40 is used for the millimeter wave radar target simulator to simulate a target object to be detected according to the first distance, the first angle and the first radar scattering cross section, and send a echo signal to the millimeter wave radar to be detected;
the test module 50 is used for receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;
and the comparison module 60 is configured to compare the first distance, the first angle and the first radar cross section with the second distance, the second angle and the second radar cross section, so as to obtain a simulation test result of the millimeter wave radar to be tested.
Further, in an embodiment, the first obtaining module 10 is configured to:
in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;
and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
Further, in an embodiment, the second obtaining module 20 includes:
the query unit 201 is configured to query a corresponding radar scattering cross section in a radar scattering cross section library based on the first distance and the first angle, and use the queried radar scattering cross section as a first radar scattering cross section;
and a function unit 202, configured to, if a corresponding radar scattering cross section is not queried in the radar scattering cross section library based on the first distance and the first angle, obtain a first radar scattering cross section of the target object to be detected by a function method based on the first distance and the first angle.
Further, in an embodiment, the function unit 202 is configured to:
determining a fitting function by performing curve fitting on a data set based on the data set of the target object to be detected, wherein the data set records the corresponding relation among the distance, the angle and the radar scattering cross section of the target object to be detected;
and obtaining a first radar scattering cross section of the target object to be detected through the determined fitting function based on the first distance and the first angle.
Further, in an embodiment, the millimeter wave radar simulation testing apparatus further includes a channel matching module 70, configured to:
if the target object to be detected enters the field angle of the millimeter wave radar to be detected, locking the target object to be detected based on the ID of the target object to be detected, and matching a channel of the millimeter wave radar target simulator for the target object to be detected;
and if the target object to be detected is detected to leave the field angle of the millimeter wave radar to be detected, unlocking the target object to be detected based on the ID of the target object to be detected, and releasing a channel of the millimeter wave radar target simulator occupied by the target object to be detected for the next new target object to be detected.
The function implementation of each module in the millimeter wave radar simulation test device corresponds to each step in the millimeter wave radar simulation test method embodiment, and the function and implementation process are not described in detail here.
In a fourth aspect, the embodiment of the present invention further provides a readable storage medium.
The readable storage medium of the invention stores a millimeter wave radar simulation test program, wherein when the millimeter wave radar simulation test program is executed by a processor, the steps of the millimeter wave radar simulation test method are realized.
The method for implementing the millimeter wave radar simulation test program when executed may refer to each embodiment of the millimeter wave radar simulation test method of the present invention, and details thereof are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for causing a terminal device to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A millimeter wave radar simulation test method is characterized by comprising the following steps:
in a simulation test environment, obtaining simulation data of a target object to be detected through a virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle;
obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;
transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator;
the millimeter wave radar target simulator simulates a target object to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends a echo signal to the millimeter wave radar to be detected;
receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;
and comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.
2. The millimeter wave radar simulation test method according to claim 1, wherein in the simulation test environment, the obtaining of the simulation data of the target object to be detected by the virtual millimeter wave radar, the simulation data including the first distance and the first angle comprises:
in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;
and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
3. The millimeter wave radar simulation test method according to claim 1, wherein the obtaining of the first radar scattering cross section of the target object to be detected based on the first distance and the first angle comprises:
if the corresponding radar scattering cross section is inquired in the radar scattering cross section library based on the first distance and the first angle, the inquired radar scattering cross section is used as a first radar scattering cross section;
and if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, obtaining a first radar scattering cross section of the target object to be detected through a function method based on the first distance and the first angle.
4. The millimeter wave radar simulation test method according to claim 3, wherein the obtaining of the first radar scattering cross section of the target object to be detected by a function method based on the first distance and the first angle comprises:
determining a fitting function by performing curve fitting on a data set based on the data set of the target object to be detected, wherein the data set records the corresponding relation among the distance, the angle and the radar scattering cross section of the target object to be detected;
and obtaining a first radar scattering cross section of the target object to be detected through the determined fitting function based on the first distance and the first angle.
5. The millimeter wave radar simulation test method according to claim 1, wherein the simulation data of the target object to be detected includes a target object ID to be detected, and after the transmitting the first distance, the first angle, and the first radar scattering cross section to the millimeter wave radar target simulator, the method includes:
if the target object to be detected enters the field angle of the millimeter wave radar to be detected, locking the target object to be detected based on the ID of the target object to be detected, and matching a channel of the millimeter wave radar target simulator for the target object to be detected;
and if the target object to be detected is detected to leave the field angle of the millimeter wave radar to be detected, unlocking the target object to be detected based on the ID of the target object to be detected, and releasing a channel of the millimeter wave radar target simulator occupied by the target object to be detected for the next new target object to be detected.
6. The millimeter wave radar simulation test device is characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring simulation data of a target object to be detected in a simulation test environment through a virtual millimeter wave radar, and the simulation data comprises a first distance and a first angle;
the second acquisition module is used for acquiring a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;
the transmission module is used for transmitting the first distance, the first angle and the first radar scattering cross section to the millimeter wave radar target simulator;
the simulation module is used for the millimeter wave radar target simulator to simulate a target object to be detected according to the first distance, the first angle and the first radar scattering cross section and send a return signal to the millimeter wave radar to be detected;
the test module is used for receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;
and the comparison module is used for comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.
7. The millimeter-wave radar simulation test device of claim 6, wherein the first obtaining module is configured to:
in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;
and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.
8. The millimeter-wave radar simulation test device of claim 6, wherein the second obtaining module is configured to:
if the corresponding radar scattering cross section is inquired in a radar scattering cross section library based on the first distance and the first angle, taking the inquired radar scattering cross section as a first radar scattering cross section;
and if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, obtaining a first radar scattering cross section of the target object to be detected through a function method based on the first distance and the first angle.
9. A millimeter wave radar simulation test device comprising a processor, a memory, and a millimeter wave radar simulation test program stored on the memory and executable by the processor, wherein the millimeter wave radar simulation test program, when executed by the processor, implements the steps of the millimeter wave radar simulation test method of any of claims 1 to 5.
10. A readable storage medium having stored thereon a millimeter wave radar simulation test program, wherein the millimeter wave radar simulation test program when executed by a processor implements the steps of the millimeter wave radar simulation test method of any of claims 1 to 5.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116299301A (en) * | 2023-05-17 | 2023-06-23 | 广东大湾区空天信息研究院 | Method and device for real-time estimating RCS of millimeter wave radar and related equipment |
| CN117890869A (en) * | 2024-03-14 | 2024-04-16 | 浙江大华技术股份有限公司 | High-precision millimeter wave radar target detection method, equipment, system and medium |
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2022
- 2022-05-31 CN CN202210615817.4A patent/CN115015858A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116299301A (en) * | 2023-05-17 | 2023-06-23 | 广东大湾区空天信息研究院 | Method and device for real-time estimating RCS of millimeter wave radar and related equipment |
| CN116299301B (en) * | 2023-05-17 | 2023-07-21 | 广东大湾区空天信息研究院 | Method and device for real-time estimating RCS of millimeter wave radar and related equipment |
| CN117890869A (en) * | 2024-03-14 | 2024-04-16 | 浙江大华技术股份有限公司 | High-precision millimeter wave radar target detection method, equipment, system and medium |
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