CN115061101A - Millimeter wave radar test-based method and system - Google Patents
Millimeter wave radar test-based method and system Download PDFInfo
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- CN115061101A CN115061101A CN202210593356.5A CN202210593356A CN115061101A CN 115061101 A CN115061101 A CN 115061101A CN 202210593356 A CN202210593356 A CN 202210593356A CN 115061101 A CN115061101 A CN 115061101A
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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
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Abstract
The invention discloses a millimeter wave radar-based test method, belongs to the technical field of radar detection methods, and at least solves the technical problem that the radar testing efficiency is low in the prior art. Determining initial installation positions of a camera and a millimeter wave radar in a world coordinate system on a display screen, and meeting the condition that the respective initial positions are in the same world coordinate system; when the vehicle is in a driving process or is still, the camera takes pictures of an environment within a preset range, identifies obstacles in the pictures, marks the obstacles in the pictures by colors, and sends marked image data to an upper computer; the millimeter wave radar detects the barrier in the preset range and transmits the detection information to the upper computer, wherein: the upper computer marks different colors of the obstacles; after the upper computer receives the image data transmitted by the camera, a video stream is generated and displayed in a world coordinate system of the display, whether the detection of the millimeter wave radar is qualified or not is determined, and the testing efficiency of the radar is improved.
Description
Technical Field
The invention belongs to the technical field of radar detection methods, and particularly relates to a millimeter wave radar test-based method and system.
Background
The advanced Driving assistance system is an advanced Driving assistance system, and a configured sensing system mainly comprises 3 modes of fusing a camera/millimeter wave radar/camera and a radar, mainly detects vehicles and pedestrians running on a road, and generates early warning information to prompt a driver when a front target is dangerous. At present, the radar road test mainly only can output all the information of target points to be detected, and can not accurately judge which type of target is subjected to reliability detection, and whether the phenomenon of false detection or missed detection exists or not.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a millimeter wave radar test-based method, which at least solves the technical problem of low radar detection efficiency in the prior art. The technical scheme of the scheme has a plurality of technical beneficial effects, which are described as follows:
the utility model provides a method based on millimeter wave radar test, is applicable to the test of installing the radar on the automatic driving vehicle, its characterized in that, installs the host computer on the vehicle, host computer communication connection has camera and millimeter wave radar, and runs senior driving assistance system, and the host computer is connected with the display screen, the method includes:
determining initial installation positions of a camera and a millimeter wave radar in a world coordinate system on a display screen, and meeting the condition that the respective initial positions are in the same world coordinate system;
when the vehicle is in a driving process or is still, the camera takes pictures of an environment within a preset range, identifies obstacles in the pictures, marks the obstacles in the pictures by colors, and sends marked image data to an upper computer; the millimeter wave radar detects the barrier in the preset range and transmits the detection information to the upper computer, wherein: the upper computer marks different colors of the obstacles;
and after receiving the image data transmitted by the camera, the upper computer generates a video stream, displays the video stream in a world coordinate system of the display and determines whether the detection of the millimeter wave radar is qualified.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
the multi-path screening of the invention comprises the steps of screening the optimal path in the secondary strong path, extracting the optimal path to combine the optimal path under the condition of meeting mutual independence among fingers, obtaining the diversity gain of the multi-path to the maximum extent and improving the service performance of the rake receiver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the process of the present invention;
FIG. 2 is a schematic diagram of the system of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. 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. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. 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.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that aspects may be practiced without these specific details. In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The millimeter wave radar test-based method shown in fig. 1 is suitable for testing radar mounted on an automatic driving vehicle, an upper computer is mounted on the vehicle, the upper computer is in communication connection with a camera and a millimeter wave radar and runs an advanced driving assistance system, the upper computer is connected with a display screen, and the method comprises the following steps:
s101, determining initial installation positions of a camera and a millimeter wave radar in a world coordinate system on a display screen, and meeting the condition that the respective initial positions are in the same world coordinate system, specifically: adjusting according to a world coordinate system to meet the initial positions of a camera and a radar (the feedback information of the same object is displayed consistently);
s102, in the driving process or in the static state of the vehicle, a camera takes pictures of the environment in a preset range, identifies obstacles in the pictures, marks the obstacles in the pictures by colors, and sends the marked image data to an upper computer; the millimeter wave radar detects the barrier in the preset range and transmits the detection information to the upper computer, wherein: the host computer marks the different colours of barrier, and is specific:
the obstacles are generally vehicles and pedestrians, and also comprise high objects, such as signboards or small objects, such as well covers and cone barrels, and the millimeter wave radar performance test is realized through the identification and validation of the obstacles.
The camera is provided with a camera detection system in the prior art, the camera detection system can mark vehicles in images shot by the camera with a first color through the camera detection system, pedestrians with a second color are marked, the vehicles are transmitted to the upper computer and displayed in a world coordinate system of the display screen, and the first color and the second color are red and yellow for example;
and when the obstacle detected by the millimeter wave radar is a vehicle, transmitting the data to the upper computer. The upper computer marks the pedestrian with a third color, marks the pedestrian with a fourth color and displays the pedestrian in a world coordinate system of the display screen, wherein the third color and the fourth color are two colors of blue and green, for example.
S103, after receiving the image data transmitted by the camera, the upper computer generates a video stream, displays the video stream in a world coordinate system of a display and determines whether the detection of the millimeter wave radar is qualified, specifically:
the first method for determining whether the detection of the millimeter wave radar is qualified is applicable to a system with high precision, and the detection must be completely overlapped, for example, whether a point with a first color, which is displayed in a world coordinate system by a camera at the same time, is overlapped with a point with a third color or whether a point with a second color is overlapped with a point with a fourth color is judged, if so, the performance of the millimeter wave radar is judged to be up to standard, and if not, the performance of the millimeter wave radar is judged to be failed and information is fed back.
And if the coincidence degree is greater than the second threshold value, judging that the performance of the millimeter-wave radar reaches the standard, if so, judging that the performance of the millimeter-wave radar reaches the standard, and if not, judging that the performance of the millimeter-wave radar fails and feeding back information.
According to the method for testing the target object detection by the millimeter wave radar, the millimeter wave radar can detect vehicles and pedestrians, and can also identify high-altitude objects (signboards) and small objects (well covers and cone barrels), and point cloud information is output, so that accuracy and stability of the millimeter wave radar in detection of different types of targets can be accurately judged. The camera outputs video information, target detection information and radar output point cloud information to be synchronously output and displayed on the upper computer, so that the corresponding relation between the radar and the target type detection and the actual target can be visually tested. The output is point cloud information, so that the accuracy and stability of the millimeter wave radar in detecting different types of targets can be accurately judged, the camera outputs video information, target detection information and radar output point cloud information to be synchronously output and displayed on the upper computer, and the corresponding relation between the radar in detecting the types of the targets and the actual targets can be visually tested.
As shown in fig. 2, secondly provide a system based on millimeter wave radar test, be applicable to the test of installing the radar on the automatic driving vehicle, install the host computer on the vehicle, the host computer passes through USB interface and camera communication to through CAN bus and millimeter wave radar communication, and operate senior driving assistance system, the host computer is connected with the display screen, and the system includes:
the acquisition module is used for acquiring images shot by the camera on the environment in the preset range and data detected by the millimeter wave radar on obstacles in the preset range during the running process or when the vehicle is static;
and the marking module is used for carrying out obstacle identification on the image shot by the camera and the data detected by the millimeter wave radar and marking in different colors, for example, a vehicle in the image shot by the camera is marked in a first color, and a pedestrian is marked in a second color. When the obstacle detected by the millimeter wave radar is a vehicle, the obstacle is marked in a third color, and the pedestrian is marked in a fourth color.
The judging module is used for generating a video stream from the image transmitted by the camera and displaying the video stream in a world coordinate system on the display;
coordinates of the obstacles shot by the camera and the obstacles detected by the millimeter wave radar are converted in world coordinates, whether mark points of the obstacles detected by the millimeter wave radar appear at the same time and in the color mark points of the obstacles displayed by the camera in the world coordinate system is judged, if yes, the performance of the millimeter wave radar is judged to reach the standard, if not, the performance of the millimeter wave radar is judged to be failed and information is fed back, for example,
and judging whether the point of the first color displayed in the world coordinate system by the camera at the same moment is a coincident point of a third color or whether the point of the second color is a coincident point of a fourth color, if so, judging that the performance of the millimeter-wave radar reaches the standard, and if not, judging that the performance of the millimeter-wave radar fails and feeding back information.
Or whether the points of the first color displayed in the world coordinate system by the camera at the same moment are coincident with the points of the third color or not and whether the coincidence degree is greater than a first threshold value or whether the points of the second color are coincident with the points of the fourth color or not and whether the coincidence degree is greater than a second threshold value or not is judged, if yes, the millimeter wave radar performance reaches the standard, and if not, the millimeter wave radar performance is judged to be failed and information is fed back.
And finally, providing a vehicle, adjusting initial coordinates, installing a camera at the center of a front windshield of the vehicle, installing a camera detection system on the camera, installing a millimeter wave radar at the center of a front bumper, and installing an advanced driving assistance system. Whether the performance of the radar reaches the standard is verified by taking the shot obstacles of the camera as a basis in a world coordinate system, namely, when the camera is synchronously added to output video information and detection information, the scene information in the video and the camera detection information can be compared through the upper computer, and the detection effect of the radar on the target object can be accurately and quickly judged.
And the display interface is used for receiving data transmitted by the camera and converting the data into a video stream to display a real-time picture, the picture is displayed under a world coordinate system, and the detection display of each obstacle is compared with the performance of the radar, for example, the camera shoots the obstacle, but the radar does not detect the obstacle, so that the radar is unqualified in performance.
The products provided by the present invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the core concepts of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the invention without departing from the inventive concept, and those improvements and modifications also fall within the scope of the claims of the invention.
Claims (10)
1. The utility model provides a method based on millimeter wave radar test, is applicable to the test of installing the radar on the autopilot vehicle, its characterized in that, installs the host computer on the vehicle, host computer communication connection has camera and millimeter wave radar, and runs senior driving assistance system, and the host computer is connected with the display screen, the method includes:
determining initial installation positions of a camera and a millimeter wave radar in a world coordinate system on a display screen, and meeting the condition that the respective initial positions are in the same world coordinate system;
when the vehicle is in a driving process or is still, the camera takes pictures of an environment within a preset range, identifies obstacles in the pictures, marks the obstacles in the pictures by colors, and sends marked image data to an upper computer; the millimeter wave radar detects the barrier in the preset range and transmits the detection information to the upper computer, wherein: the upper computer marks different colors of the obstacles;
and after receiving the image data transmitted by the camera, the upper computer generates a video stream, displays the video stream in a world coordinate system of the display and determines whether the detection of the millimeter wave radar is qualified.
2. The method of claim 1, wherein the obstacles comprise pedestrians and vehicles, and wherein the camera is equipped with a camera detection system, and wherein the method of identifying the obstacles in the image captured by the camera comprises:
the vehicle in the image shot by the camera is marked with a first color through the camera detection system, and the pedestrian is marked with a second color and displayed in the world coordinate system of the display screen.
3. The method of claim 2, wherein the millimeter wave radar detecting the obstacle for marking comprises:
when the obstacle detected by the millimeter wave radar is a vehicle, the upper computer marks the obstacle in a third color, and the pedestrian marks the obstacle in a fourth color and displays the obstacle in the world coordinate system of the display screen.
4. The method of claim 3, wherein the method of determining whether the detection by the millimeter wave radar is acceptable comprises:
and judging whether the point of the first color displayed in the world coordinate system by the camera at the same moment is coincident with the point of the third color or not, or judging whether the point of the second color is coincident with the point of the fourth color or not, if so, judging that the performance of the millimeter-wave radar reaches the standard, and if not, judging that the performance of the millimeter-wave radar fails and feeding back information.
5. The method of claim 3, wherein the method of determining whether the detection by the millimeter wave radar is acceptable comprises:
and if the coincidence degree is greater than the first threshold value, or if the coincidence degree is greater than the second threshold value, judging that the performance of the millimeter-wave radar reaches the standard, and if the coincidence degree is not greater than the second threshold value, judging that the performance of the millimeter-wave radar fails and feeding back information.
6. The utility model provides a system based on millimeter wave radar test is applicable to the test of installing the radar on the autopilot vehicle, and its characterized in that installs the host computer on the vehicle, and the host computer passes through USB interface and camera communication to through CAN bus and millimeter wave radar communication, and operate senior driving assistance system, the host computer is connected with the display screen, the system includes:
the acquisition module is used for acquiring images shot by the camera on the environment in the preset range and data detected by the millimeter wave radar on obstacles in the preset range during the running process or when the vehicle is static;
the marking module is used for carrying out obstacle identification on the image shot by the camera and the data detected by the millimeter wave radar and marking the image with different colors;
the judging module is used for generating a video stream from the image transmitted by the camera and displaying the video stream in a world coordinate system on the display;
and converting coordinates of the obstacles shot by the camera and the obstacles detected by the millimeter wave radar in world coordinates, and judging whether the color mark points of the obstacles displayed by the camera in the world coordinate system at the same moment appear mark points of the obstacles detected by the millimeter wave radar, if so, judging that the performance of the millimeter wave radar reaches the standard, otherwise, judging that the performance of the millimeter wave radar fails and feeding back information.
7. The system of claim 6, the obstacles comprising vehicles and pedestrians, the camera mounted camera detection system, wherein the marking module is further configured to:
the method comprises the steps that a vehicle in an image shot by a camera is marked in a first color, and a pedestrian is marked in a second color;
when the obstacle detected by the millimeter wave radar is a vehicle, the obstacle is marked in a third color, and the pedestrian is marked in a fourth color.
8. The system of claim 7, wherein the determining module is further configured to:
and judging whether the point of the first color displayed in the world coordinate system by the camera at the same moment is a coincident point of a third color or whether the point of the second color is a coincident point of a fourth color, if so, judging that the performance of the millimeter-wave radar reaches the standard, and if not, judging that the performance of the millimeter-wave radar fails and feeding back information.
9. The method of claim 7, wherein the determining module is further configured to:
and if yes, judging that the millimeter-wave radar performance reaches the standard, and if not, judging that the millimeter-wave radar performance fails and feeding back information.
10. A vehicle having a camera mounted at the center of a front windshield, said camera being equipped with a camera detection system, and a millimeter wave radar mounted at the center of a front bumper, and an advanced driving assistance system mounted, characterized in that said advanced driving assistance system is embedded with a plug-in system, said plug-in system being as claimed in any one of claims 6 to 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115421113A (en) * | 2022-09-29 | 2022-12-02 | 成都环泰睿诚科技有限公司 | A testing arrangement for millimeter wave radar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115421113A (en) * | 2022-09-29 | 2022-12-02 | 成都环泰睿诚科技有限公司 | A testing arrangement for millimeter wave radar |
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