Test system for radar target detection

Abstract

The utility model provides a test system for radar target detection. The test system for radar target detection comprises a base which is provided with a guide rail in the length direction; the target simulation device is arranged on the guide rail in a sliding mode, the target simulation device comprises a plurality of moving tables arranged in the height direction of the target simulation device, and the moving tables are configured to translate in the height position of the moving tables in the direction perpendicular to the guide rail; one or more test radio frequency front ends selectively arranged on the mobile station; and the tested radar device is also slidably arranged on the guide rail, is spaced from the target simulation device along the guide rail, and is used for arranging the tested target radar, so that the test distance is adjusted through the movement of the target simulation device and the tested radar device on the guide rail. The scheme of the utility model can neglect the size of the radio frequency front end, is suitable for 3D millimeter wave radar and 4D millimeter wave radar detection, and can reduce radar detection cost and space requirements.

Description

TECHNICAL FIELD

[0001] The utility model relates to millimeter wave radar test technical field, especially radar target detection's test system. BACKGROUND

[0002] 4D (four dimension) millimeter wave radar refers to the radar that can measure the distance, speed, horizontal angle and pitch angle of the target. Compared with the traditional 3D millimeter wave radar, the 4D millimeter wave radar has improved performance in many aspects due to the upgrade design of the antenna and other aspects. The most important two changes are that the 4D millimeter wave radar can achieve at least 1° azimuth resolution capability to better distinguish adjacent objects in the horizontal angle resolution, while the traditional 3D millimeter wave radar basically cannot achieve target recognition below 5°. The second is that it can also achieve target recognition of a certain pitch angle in the vertical height, such as distinguishing high bridge and ground objects. The 3D millimeter wave radar generally has no antenna arrangement in the longitudinal direction, so it cannot recognize the pitch angle target, and it is difficult to distinguish high objects and ground vehicles. Due to the accurate target recognition capability of the 4D millimeter wave radar, a more accurate test system is needed to realize the recognition of the simulated target.

[0003] However, due to the size of the radio frequency front end itself, the radio frequency front end needs to have a very long distance between the measured radar and the radio frequency front end even if it is completely close, which greatly increases the space requirement and cost of the test. UTILITARY MODEL CONTENT

[0004] One object of the utility model is to reduce the test distance and cost required for radar test.

[0005] A further object of the utility model is to realize flexible switching of various tests.

[0006] In particular, the utility model provides a radar target detection test system, comprising:

[0007] A base is provided with a guide rail in the length direction thereof;

[0008] A target simulation device is slidably arranged on the guide rail, and the target simulation device comprises a plurality of moving stages arranged in the height direction of the target simulation device, and the moving stages are configured to translate in the vertical direction of the guide rail at the height position thereof;

[0009] One or more test radio frequency front ends are selectively arranged on the moving stages and are configured to transmit and receive test signals;

[0010] The measured radar device is also slidably arranged on the guide rail, is spaced apart from the target simulation device along the guide rail, and is used to arrange the measured target radar, so that the test distance is adjusted through the movement of the target simulation device and the measured radar device on the guide rail.

[0011] Optionally, the target simulation device further comprises:

[0012] The shell defines a space inside the shell for arranging the mobile station and the test radio frequency front end, and the shell is provided with an opening on the side opposite to the measured radar device.

[0013] Optionally, the target simulation device further comprises:

[0014] The support plate extends upward from the bottom of the shell to a certain height;

[0015] The range finder is arranged on the support plate and is used to measure the horizontal distance between the antenna of the test radio frequency front end and the measured target radar;

[0016] The target simulator is connected to the test radio frequency front end and is used to generate and process test signals and transmit and receive through the test radio frequency front end.

[0017] Optionally, the mobile station comprises a top mobile station and a bottom mobile station;

[0018] The target simulation device further comprises:

[0019] The bottom moving device is arranged inside the bottom wall of the shell and is used to arrange the bottom mobile station, so as to drive the bottom mobile station to translate;

[0020] The top moving device is arranged inside the top wall of the shell and is used to arrange the top mobile station, so as to drive the top mobile station to translate.

[0021] Optionally, the target simulation device further comprises:

[0022] The translation control device is connected to the bottom moving device and the top moving device respectively, and is configured to control the bottom moving device or the top moving device to translate, so as to adjust the position of the mobile station.

[0023] Optionally, the two test radio frequency front ends are arranged on the placement planes corresponding to the different mobile stations respectively;

[0024] The measured target radar is arranged at the same height position as the center of the test radio frequency front end placed on the bottom mobile station, and the measured target radar is configured to calculate the horizontal angle and the pitch angle formed by the center points of the two test radio frequency front ends and the measured target radar.

[0025] Optionally, the two test radio frequency front ends are arranged in a horizontal direction on the placement plane of the same mobile station.

[0026] The measured target radar is arranged at the same height as the center of the test radio frequency front end, and the measured target radar is configured to calculate the horizontal angle between the center points of the two test radio frequency front ends and the measured target radar.

[0027] Optionally, the one or more test radio frequency front ends are arranged on different placement planes corresponding to different mobile stations, respectively.

[0028] The test system further comprises:

[0029] An interference radio frequency front end is arranged on the placement plane where one of the test radio frequency front ends is arranged, and is connected to the signal generator, the signal generator is configured to set the frequency of the test signal to the frequency of the interference signal, and the interference radio frequency front end is configured to emit the interference signal.

[0030] An alternative antenna is arranged at the position of the measured target radar, and is used to replace the measured target radar and is connected to the spectrum analyzer through a mixer, the center of the alternative antenna corresponds to the main lobe of the antenna of the interference radio frequency front end, and the spectrum analyzer is configured to calculate the path loss of the interference signal.

[0031] Optionally, the measured radar device further comprises:

[0032] A clamp is arranged on the guide rail, and the clamp is used to clamp the measured target radar and is configured to adjust the measured target radar in multiple dimensions, including the vertical direction, the pitch angle and the horizontal rotation.

[0033] Optionally, the base further comprises:

[0034] A wave-absorbing material is arranged on both sides of the guide rail in the base to reduce the reflection of radar waves.

[0035] The utility model discloses a radar target detection's test system includes base, is provided with the guide rail in its length direction, target simulation device is slidably arranged on the guide rail, and target simulation device includes the multiple mobile station of arranging and arranging along the height direction of target simulation device, and mobile station is configured to be in the height position on it along the direction perpendicular to the guide rail translation, one or more test radio frequency front -ends, optionally arrange on the mobile station, and be configured to receive test signal, the measured radar device, also slidably arranged on the guide rail, with target simulation device along the guide rail interval, and be used for arranging the measured target radar, to adjust the test distance through target simulation device and the movement of measured radar device on the guide rail.

[0036] The above and other objects, advantages and features of the present utility model will become more apparent from the following detailed description of some embodiments thereof, when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0037] Some embodiments of the present utility model will now be described in detail in conjunction with the accompanying drawings, in which:

[0038] Figure 1 is the radar multi -target angle detection system schematic diagram in the prior art;

[0039] Figure 2 is the 4D millimeter wave radar target detection's test system schematic diagram according to one embodiment of the utility model;

[0040] Figure 3 is the 4D millimeter wave radar target detection's test system position schematic diagram according to one embodiment of the utility model;

[0041] Figure 4 is the 3D millimeter wave radar target detection's test system schematic diagram according to one embodiment of the utility model;

[0042] Figure 5 is the radar target detection's test system schematic diagram according to another embodiment of the utility model;And

[0043] Figure 6 is the radio frequency front -end structure schematic diagram according to one embodiment of the utility model. DETAILED DESCRIPTION

[0044] Those skilled in the art should understand that the embodiments described below are only a part of the embodiments of the present application, rather than all the embodiments of the present application, and the part of the embodiments are intended to explain the technical principles of the present application, rather than limit the protection scope of the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should fall within the protection scope of the present application.

[0045] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0046] Further, it should be further pointed out that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] 4D (four dimension) millimeter wave radar refers to a radar capable of measuring the distance, speed, horizontal angle and pitch angle of a target. The upgrade design of 4D millimeter wave radar in the antenna and the like has improved the performance in many aspects compared with the traditional 3D millimeter wave radar. The two most important changes are that, first, in terms of horizontal angle resolution, 4D millimeter wave radar can achieve at least 1° azimuth angle resolution, which can better distinguish adjacent objects. While the traditional 3D millimeter wave radar basically cannot achieve target recognition below 5°. Second, in the vertical height, it can also achieve target recognition of a certain pitch angle, such as the recognition and distinction of viaducts and ground objects. While 3D millimeter wave radar generally has no antenna arrangement in the longitudinal direction, so it cannot recognize the pitch angle target, and high objects and ground vehicles are difficult to distinguish. Due to the accurate target recognition capability of 4D millimeter wave radar, a more accurate test system is needed to realize the simulation of target recognition.

[0048] According to the angle accuracy test requirement in the multi-target resolution test in the current Chinese automotive industry standard "Vehicle Millimeter Wave Radar Performance Requirements and Test Methods", two radio frequency front end modules with transmit and receive antennas need to be placed at a certain angle in front of the millimeter wave radar to be tested. However, since the 4D millimeter wave radar can recognize a horizontal angle of less than 1°, the distance between the two radio frequency front end modules needs to be very close. According to the size of the existing millimeter wave radar radio frequency front end module, even if it is completely close, there needs to be a very long distance between the module and the tested radar. This results in a darkroom length of at least 15 meters, increasing the test space and cost, and the problem of poor test accuracy due to the long distance.

[0049] Figure 1 is a schematic diagram of a radar multi-target angle detection system in the prior art. As shown in Figure 1 , one end of the darkroom in the prior art places a radar target simulator, and the host of the radar target simulator can be configured with multiple channels, here taken as an example of two channels, respectively connecting two sets of radio frequency front end modules 1 and 2 to simulate two targets A and B. Among them, each radio frequency front end module has a pair of Tx ANT (Transmit Antenna) and Rx ANT (Receive Antenna) transmit and receive antennas. The other end of the darkroom is the radar to be tested and its host computer software. In the radar target simulator setting interface, set two stationary targets with radar cross-section (Radar Cross-Section, abbreviated as RCS) of 10 dBsm, located at the same distance, and symmetrically relative to the normal OR of the measured radar. Fix target A, and move target B closer to target A (the distance between the two targets relative to the measured radar remains unchanged), until the number of frames in which the measured radar can stably distinguish between the two targets in 100-500 consecutive frames is less than 90%, record the angle value φ1 between the two targets and the measured radar at this time; then move target B away from target A (the distance between the two targets relative to the measured radar remains unchanged), until the number of frames in which the measured radar can stably distinguish between the two targets in 100-500 consecutive frames reaches 90% and above, record the angle φ2 between the two targets and the measured radar; calculate the angle resolution as (φ1+φ2) / 2.

[0050] The problem with the above measurement system method is that when the angle between the two required targets is very small, for example 1°, it is not possible to construct a test environment that meets the angle condition within the limited length of the darkroom space. For example, when Figure 1When the included angle φ = 1°, the distance between the measured radar and the center point O of the radio frequency front end is D, then OA is the radio frequency front end center distance from point O to target A, denoted as D1; OB is the radio frequency front end center distance from point O to target B, denoted as D2. Since the distances of the two targets from the center point R of the measured radar antenna need to be the same, AR = BR, then D1 = D2 = D x tan (φ / 2) = 3 x tan (0.5°) ≈ 0.026 m = 26 mm. The geometric size of the radio frequency front end of a general radar simulator is about 162.50 mm (L) x 76 mm (H) x 131.50 mm (W), which is also the size of the radio frequency front end of a general automotive millimeter wave radar target simulator. Then even if Figure 1 The radio frequency front ends 1 and 2 are placed next to each other, then the distance D1 + D2 from A to B needs to be at least 131.5 mm, then D1 = D2 = 65.75 mm, at this time if the target angle measurement of 1° is to be met, then D = 65.75 mm / tan (0.5°) ≈ 7.5 m; if the target angle measurement of less than 1°, for example 0.5°, then D = 65.75 mm / tan (0.25°) ≈ 15 m. Obviously, the multi-target angle test of the 4D radar expands the size requirement of the darkroom by several times compared with the traditional 3D radar. Since the angle of the traditional 3D radar only needs 5°, according to the above calculation, only 1.5 meters of darkroom site is needed, and 4D needs to be expanded to more than 8-15 meters. This greatly increases the test verification cost of the laboratory, and such a huge site is not convenient for construction and arrangement, increases the test difficulty, and reduces the accuracy.

[0051] In order to be able to realize the test of the 4D millimeter wave radar in a limited site, the utility model provides a test system as Figure 2 Figure 2 is a test system schematic diagram of 4D millimeter wave radar target detection according to an embodiment of the utility model, which comprises a base 210, a target simulation device, two test radio frequency front ends and a measured radar device.

[0052] The base 210 is provided with a guide rail 211 in the length direction thereof. The guide rail 211 is an important physical support structure of the whole test system, which provides a track for the movement of the target simulation device and the measured radar device, and ensures the stability and straightness thereof during the movement. The precision of the guide rail 211 directly affects the accuracy of the test distance adjustment and the reliability of the whole test system. The presence of the guide rail 211 enables the target simulation device and the measured radar device to be accurately adjusted in the horizontal direction, so as to realize the setting of different test distances and simulate the relative position relationship between the radar and the target under different scenes. By moving on the guide rail 211, the approaching and moving away dynamic process between the radar and the target and the static detection scene under different distances can be simulated.

[0053] ​The base 210 is also provided with wave-absorbing material 212 arranged on both sides of the guide rail 211 in the base 210 to reduce the reflection of radar waves. When the radar is working, the transmitted radar waves propagate to the surrounding space. In the test environment, if there is no appropriate wave-absorbing measure, the radar waves will easily reflect off objects such as metals and walls. These reflected waves will be reflected and superimposed multiple times in the test space, forming complex interference signals. When the measured radar receives signals, in addition to the true simulation signals from the target simulation device, it will also receive these reflected waves. This will cause a large amount of noise and false information to be mixed into the signals obtained by the radar, making it difficult for the radar to accurately distinguish the echo signals of the true target, thereby affecting the accurate measurement of the parameters such as distance, speed, and angle of the target, and reducing the accuracy and reliability of the test results. In the present test system, the wave-absorbing material 212 arranged on both sides of the guide rail 211 can effectively absorb the energy of the radar waves, and the presence of the wave-absorbing material 212 can create a relatively quiet electromagnetic environment, reduce the clutter signals caused by the reflection of radar waves, and enable the test system to more realistically simulate the signal interaction process between the radar and the target in the actual application scenario. This not only helps to improve the test accuracy, but also enables the test results to more accurately reflect the performance of the measured radar in actual use, providing more reliable data support for the research, improvement, and performance evaluation of the radar.

[0054] The target simulation device is slidably arranged on the guide rail 211, and the target simulation device includes a plurality of moving platforms arranged in the height direction of the target simulation device, the moving platforms being configured to translate in the direction perpendicular to the guide rail 211 at the height position thereof; and the two test radio frequency front ends are selectively arranged on the moving platforms and are configured to transmit and receive test signals. The target simulation device being slidably arranged on the guide rail 211 means that it can freely move along the guide rail 211, thereby conveniently changing the distance from the measured radar device. This slidable connection makes it easy for the test system to adapt to the detection distance requirements of different radars and flexibly adjust the test parameters during the test. The plurality of moving platforms arranged in the height direction of the target simulation device provide a carrier for the installation of the test radio frequency front ends, and each moving platform is configured to translate in the direction perpendicular to the guide rail 211 at the height position thereof. This design greatly increases the flexibility of position adjustment of the test radio frequency front ends, not only can the position be changed in the horizontal direction by sliding the target simulation device on the guide rail 211, but also can be fine-tuned in the direction perpendicular to the guide rail 211, so that more different positions, angles, and distributions of target scenarios can be simulated. Through the cooperative work of the plurality of moving platforms, the spatial positions of the two test radio frequency front ends can be accurately adjusted to simulate various complex target distribution situations.

[0055] The target simulation device further comprises a target simulator connected to the test radio frequency front end, for generating and processing test signals and transmitting and receiving through the test radio frequency front end. The target simulator generates and processes the test signals, which are transmitted through the line connected to the test radio frequency front end. After receiving these signals, the test radio frequency front end converts them from baseband signals to radio frequency signals suitable for propagation in space. This conversion process is crucial because only radio frequency signals can be transmitted by the antenna, thereby simulating the reflection of real targets on radar signals. At the receiving end, the test radio frequency front end converts the received radar reflection radio frequency signals back to baseband signals, which are transmitted to the target simulator for subsequent analysis and processing. For example, in the test of automotive millimeter wave radar, the baseband signals output by the target simulator are converted by the test radio frequency front end into millimeter wave frequency band radio frequency signals, which are transmitted and received by the tested radar, and the reflected radio frequency signals are converted back to baseband signals by the test radio frequency front end for further processing by the target simulator.

[0056] The two test radio frequency front ends are optionally arranged on the moving platform. This means that the operator can choose to install the test radio frequency front end on different moving platforms according to specific test requirements, in order to realize different target simulation scenarios. This optional installation method increases the flexibility and adaptability of the test system, and can meet the test requirements of various types of radars.

[0057] In some optional embodiments, the target simulation device can generally further comprise a housing 223, which defines a space inside for setting the moving platform and the test radio frequency front end, and the housing 223 is provided with an opening on the side opposite to the tested radar device. This space design can provide a stable installation environment for the moving platform and the test radio frequency front end. The moving platform needs to be accurately moved in a specific space to simulate the position change of different targets. As a key component for simulating target signal transmission and reception, the test radio frequency front end also needs to work in a relatively stable and protected space to ensure that its performance is not affected by the external environment.

[0058] The shell 223 is provided with an opening on the side opposite to the measured radar device. When the measured radar emits radar waves, the radar waves need to pass through the opening to reach the test radio frequency front end inside the target simulation device. After the test radio frequency front end receives the radar waves, it processes and modulates them according to the preset target parameters, and then transmits the simulated target echo signal through the opening to be received by the measured radar. The presence of the opening ensures that the radar waves can smoothly enter and exit the target simulation device, ensuring effective signal transmission. In addition, the opening also provides convenience for the adjustment and maintenance of the internal components of the target simulation device. The technician can conveniently install, disassemble, debug and repair the moving table and the test radio frequency front end through the opening. For example, when it is necessary to replace a component of the test radio frequency front end or to check the transmission device of the moving table, the technician does not need to open the entire shell 223, but can operate through the opening, saving time and effort and improving work efficiency. At the same time, the presence of the opening also facilitates the observation and monitoring of the working state of the internal components during the test, so that problems can be found and handled in a timely manner.

[0059] As shown in Figure 2 , the moving table includes a top moving table 222 and a bottom moving table 221. The target simulation device generally also includes a bottom moving device, a top moving device, and a translation control device 224. The bottom moving device is arranged inside the bottom wall of the shell 223 and is used to set the bottom moving table 221 to drive the bottom moving table 221 to translate; the top moving device is arranged inside the top wall of the shell 223 and is used to set the top moving table 222 to drive the top moving table 222 to translate; the translation control device 224 is connected to the bottom moving device and the top moving device respectively and is configured to control the bottom moving device or the top moving device to translate, thereby adjusting the position of the moving table. The bottom moving device and the top moving device are generally composed of a motor, a transmission mechanism, a guide rail 211, etc. The translation control device 224 can be a control knob as shown in Figure 2 , or an electric adjustment device, and can be connected one-to-one with the moving device or can be centrally controlled. The specific type and connection relationship of the translation control device 224 can be determined by the person skilled in the art according to the actual situation.

[0060] In other optional embodiments, the target simulation device generally also includes a support plate 225 extending upward from the bottom of the shell 223 to a specified height. A range finder 225 is arranged on the support plate 225 and is used to measure the horizontal distance between the antenna of the test radio frequency front end and the measured target radar. Since the function of the support plate 225 is to install the range finder 225 to ensure that the range finder 225 can be aligned and measured with the measured target radar, the support plate 225 is not necessarily arranged on the shell 223, but can also be arranged on other parts of the target simulation device, such as the moving table, as long as it can ensure the function of the range finder 225. Figure 2In the shown test scenario, the height at which the support plate 225 extends can generally be the center height position of both the radio frequency front end 230 and the radio frequency front end 240 in the horizontal direction, which can facilitate the alignment and measurement work of the range finder 225. The range finder 225 can generally be a laser range finder, and the specific value of the set height and the specific type of the range finder can be determined by the person skilled in the art according to the actual situation.

[0061] The measured radar device can also be slidably arranged on the guide rail 211, spaced apart from the target simulation device along the guide rail 211, and used to arrange the measured target radar 251, so as to adjust the test distance through the movement of the target simulation device and the measured radar device on the guide rail 211. This mounting method enables the measured radar device to move relative to the target simulation device on the guide rail 211, thereby conveniently adjusting the test distance between the two. At the same time, a certain interval is maintained with the target simulation device, which ensures that the radar signal can accurately reach the target simulation device during the test, and the signal reflected back from the target simulation device is received, avoiding the influence of signal interference and attenuation on the test result.

[0062] The measured radar device further includes a clamp 252 arranged on the guide rail 211, which is used to clamp the measured target radar 251 and is configured to adjust the measured target radar 251 in multiple dimensions, including the vertical direction, the pitch angle, and the horizontal rotation.

[0063] In some optional embodiments, the specific implementation process of the scheme for 4D radar testing includes that two test radio frequency front ends are arranged on the placement planes corresponding to different mobile stations, i.e., the test radio frequency front end 230 is arranged on the placement plane corresponding to the bottom mobile station 221, and the test radio frequency front end 240 is arranged on the placement plane corresponding to the top mobile station 222; the measured target radar is arranged at the same height position as the center of the test radio frequency front end 230 placed on the bottom mobile station 221, and is configured to calculate the horizontal included angle and the pitch included angle formed by the center points of the two test radio frequency front ends and the measured target radar.

[0064] During the test, the top mobile device and the bottom mobile device are adjusted by the translation control device 224, and correspondingly, the top mobile station 222 and the bottom mobile station 221 also move, thereby driving the test radio frequency front end 240 on the placement plane to move, so that the center points of the test radio frequency front end 230 and the test radio frequency front end 240 reach the required distance in the horizontal direction, so that the horizontal included angle between the two target simulators reaches the required angle. An optional test method includes:

[0065] Step S101: Emitting a to-be-tested signal through the two test radio frequency front ends.

[0066] Step S102, according to the measured target radar receives the to-be-tested signal, and distinguishes two test radio frequency front ends according to the to-be-tested signal.

[0067] Step S103, records the frame number ratio of the measured target radar distinguishing the two test radio frequency front ends.

[0068] Step S104, translates the test radio frequency front end on the height position of the test radio frequency front end itself along the direction perpendicular to the guide rail to make it close to the other test radio frequency front end until the frame number ratio of the measured target radar distinguishing the two test radio frequency front ends is lower than a preset threshold, and records a first angle value corresponding to the horizontal included angle between the two test radio frequency front ends and the measured target radar in the horizontal direction.

[0069] Step S105, translates the test radio frequency front end away from the other test radio frequency front end on the height position of the test radio frequency front end itself along the direction perpendicular to the guide rail until the frame number ratio of the measured target radar distinguishing the two test radio frequency front ends reaches the preset threshold, and records a second angle value corresponding to the horizontal included angle between the two test radio frequency front ends and the measured target radar in the horizontal direction.

[0070] Step S106, substitutes the first angle value and the second angle value into a preset formula to obtain the angle resolution of the measured target radar, wherein one optional example of the preset formula is (φ1+φ2) / 2, and those skilled in the art can select a corresponding calculation method to obtain the angle resolution according to actual conditions.

[0071] By this method, the angle resolution of the measured target radar can be tested by means of the test system of the utility model, and the size of the radio frequency front end itself can be ignored, so that the distance between the measured target radar and the target simulation device is not too large due to the size of the radio frequency front end itself, and the method is suitable for 3D millimeter wave radar and 4D millimeter wave radar detection at the same time, thereby reducing the radar detection cost and space requirement.

[0072] And since the test radio frequency front end 240 is moved to the top moving table 222, the vertical projection point O formed by the center point of the test radio frequency front end 240 at the same height position of the test radio frequency front end 230 and the horizontal included angle φ formed by the center point of the test radio frequency front end 230 and the measured target radar 251 will be reduced, thereby obtaining the required horizontal included angle. Since the test radio frequency front end 230 and the test radio frequency front end 240 have a height difference in the vertical direction, this structure can also measure the resolution capability of the 4D radar in the pitch direction.

[0073] In other optional embodiments, the test method for the measured target radar in the pitch angle generally can include:

[0074] Step S201, obtaining a to-be-tested pitch angle.

[0075] Step S202, calculating a target distance between the to-be-tested radar and the test RF front end on the guide rail according to the height difference and the to-be-tested pitch angle.

[0076] Step S203, moving the adjustment target simulation device and the to-be-tested radar device on the guide rail until the distance between the to-be-tested radar and the test RF front end reaches the target distance.

[0077] Step S204, emitting a to-be-tested signal through the two test RF front ends.

[0078] Step S205, processing the to-be-tested signal received by the to-be-tested radar, and judging whether a frame number ratio of the to-be-tested radar in a stable state for distinguishing the two test RF front ends reaches a preset threshold according to a processing result.

[0079] Step S206, determining that the to-be-tested radar meets the test requirement in a case where the judgment in step S205 is yes.

[0080] In some optional embodiments, the method for testing the pitch angle of the to-be-tested radar can further include:

[0081] Step S301, emitting a to-be-tested signal through the two test RF front ends.

[0082] Step S302, receiving the to-be-tested signal by the to-be-tested radar, and distinguishing the two test RF front ends according to the to-be-tested signal.

[0083] Step S303, recording a frame number ratio of the to-be-tested radar in a stable state for distinguishing the two test RF front ends in a vertical direction, wherein the vertical direction is a direction of vertical perpendicular to the guide rail.

[0084] Step S304, moving any one of the test RF front ends to approach the other test RF front end or increasing a distance between the to-be-tested radar and the target simulation device in the vertical direction, so as to reduce a pitch included angle between the two test RF front ends and the to-be-tested radar in the vertical direction, until the frame number ratio of the to-be-tested radar for distinguishing the two test RF front ends is lower than the preset threshold, and recording a first pitch angle value corresponding to the pitch included angle between the two test RF front ends and the to-be-tested radar in the vertical direction.

[0085] Step S305, moving any one test radio frequency front end away from the other test radio frequency front end in the vertical direction or reducing the distance between the target radar under test and the target simulation device, so as to increase the pitch angle between the two test radio frequency front ends and the target radar under test in the vertical direction, until the proportion of the frame number of the target radar under test distinguishing the two test radio frequency front ends reaches a preset threshold, and a second pitch angle value corresponding to the pitch angle between the two test radio frequency front ends and the target radar under test in the vertical direction is recorded.

[0086] Step S306, substituting the first pitch angle value and the second pitch angle value into a preset formula to obtain the pitch angle resolution of the target radar under test, wherein an optional example of the preset formula is (φ1+φ2) / 2, and those skilled in the art can select a corresponding calculation method to obtain the angle resolution according to actual conditions.

[0087] In order to more clearly represent Figure 2 the calculation process of the test system shown in the figure, a specific example is proposed as Figure 3 shown, Figure 3 is a position schematic view of a 4D millimeter wave radar target detection test system according to an embodiment of the present application. Figure 3 The radio frequency front end 1 in Figure 2 is the test radio frequency front end 230 in Figure 2 , and the radio frequency front end 2 is the test radio frequency front end 240 in , after the radio frequency front end 2 is moved to the placement plane of the top moving table 222, the position of the radio frequency front end 2 is moved up, at this time, if the angle between the two in the horizontal direction is calculated, only the vertical projection point O of the center point of the radio frequency front end 2 at the same height position of the radio frequency front end 1 is taken as the center point of the radio frequency front end 2, the size of the radio frequency front end 1 and the radio frequency front end 2 devices can be ignored, so as to continue to reduce the distance of BO, so as to obtain the required horizontal angle φ = ∠BRO. Since the radio frequency front end 1 and the radio frequency front end 2 have a height difference in the vertical direction, this structure can also measure the resolution of the 4D radar in the pitch direction. In some optional embodiments, the 4D millimeter wave radar can distinguish ground objects and overpasses at a distance of 150 meters. Generally, the bridge deck height is calculated as 6 meters, and tan ∠ARO should be less than 0.04, but the general test radio frequency front end height is about 76mm, that is, OA = 0.076m, if OR = 3m, tan ∠ARO = 0.025 is calculated, which meets the requirement of less than 0.04. If the resolution of the general 4D radar in the pitch angle is better than 2°, ∠ARO can be less than 1.5°. If it is necessary to increase this angle, there are two adjustment methods, the first is to adjust the position of the target radar under test 251 on the guide rail 211 to make it close to the radio frequency front end, and the second is to increase the distance of OA by adding a partition plate between the bottom moving table 221 and the top moving table 222 to increase the size of ∠ARO.

[0088] By Figure 2 The test system shown in the figure can ignore the size of the test radio frequency front-end device itself, continue to reduce the distance between the center points of the two, and test smaller angles without increasing the distance between the measured radar and the test radio frequency front-end, and on the other hand, the test of the pitch angle can be carried out, thereby meeting the test requirements of the 4D millimeter wave radar in a limited space.

[0089] In addition, the test system of the utility model can also meet the test requirements of the 3D millimeter wave radar under the condition of meeting the test requirements of the 4D millimeter wave radar. Figure 4 The figure is a schematic diagram of a test system for 3D millimeter wave radar target detection according to an embodiment of the utility model. First, since the 3D radar cannot realize the recognition of the vertical direction pitch angle, the two test radio frequency front-ends are arranged along the horizontal direction on the placement plane of the same mobile station, so as to ensure that the antennas of the two sets of test radio frequency front-ends are at the same horizontal height, and the measured target radar is arranged at the same height position as the center of the test radio frequency front-end, and the measured target radar is configured to calculate the horizontal included angle formed by the center points of the two test radio frequency front-ends and the measured target radar. The center points of the test radio frequency front-ends and the measured target radar in the test system arranged in this way are in the same horizontal plane during the test, and the positional relationship is the same as that shown in the figure, and since the distance between the two test radio frequency front-ends is fixed, the included angle φ can be calculated according to the distance D between the measured target radar 251 and the antenna surface of the test radio frequency front-end. In addition, the positions of the two test radio frequency front-ends in the horizontal direction can be adjusted to realize the adjustment of the included angle φ, so as to adapt to the multi-target test under different included angle conditions. Therefore, the test system shown in the figure can also meet the test requirements of the 3D millimeter wave radar. Figure 1 Figure 4

[0090] Figure 5 The figure is a schematic diagram of a test system for radar target detection according to another embodiment of the utility model. As shown in the figure, the test system is different from the test system shown in the figure in that an interference radio frequency front-end 260 and a substitute antenna are added. Such a design can test the anti-interference performance of the radar receiver, such as the radar receiver blocking test. Figure 5 When the test is carried out by using the test system shown in the figure, the power of the interference signal emitted by the interference radio frequency front-end 260 needs to be calibrated in advance, so that one or more test radio frequency front-ends are arranged on the placement planes corresponding to different mobile stations; the test system of the utility model generally can also include: the interference radio frequency front-end 260 and the substitute antenna. Figure 2 Figure 4 Figure 5

[0091] ​​​​​An interfering RF front-end 260 is positioned on the same plane as one of the test RF front-ends and connected to a signal generator. The signal generator is configured to set the frequency of the test signal to the frequency of the interfering signal, and the interfering RF front-end 260 is configured to transmit the interfering signal. The primary task of the interfering RF front-end 260 is to transmit the interfering signal. In real-world radar applications, radar is often subjected to various external interferences, such as signal interference from other wireless devices. By transmitting the interfering signal, this test system can simulate a real interference environment, thereby evaluating the performance of the target radar under test under such interference conditions. The interfering RF front-end 260 is positioned on the same plane as one of the test RF front-ends. This layout design helps to simulate the simultaneous presence of interfering signals and target simulated signals on the same plane, making the test environment closer to reality. It is connected to the signal generator, which can precisely set the frequency of the test signal to the frequency of the interfering signal. In this way, the frequency of the interfering signal can be flexibly adjusted according to different test requirements to simulate interference signals emitted by various real interference sources.

[0092] A substitute antenna, positioned at the location of the target radar, serves as a replacement for the radar itself. Connected to a spectrum analyzer via a mixer, the center of the substitute antenna corresponds to the main lobe of the interfering RF front-end 260. The spectrum analyzer is configured to calculate the path loss of the interfering signal. The substitution antenna's placement at the original target radar location ensures accurate reception of the interfering signal emitted by the interfering RF front-end 260, just as the target radar would in actual operation. The mixer allows the received interfering signal to undergo frequency conversion, transforming the received RF signal into an intermediate frequency (IF) suitable for spectrum analysis. The spectrum analyzer then performs detailed analysis of the processed signal. The correspondence between the center of the substitute antenna and the main lobe of the interfering RF front-end 260 ensures the accuracy and effectiveness of the received interfering signal. Since the main lobe is where the antenna radiates or receives the strongest signal, centering them maximizes the reception of the interfering signal emitted by the interfering RF front-end 260. The spectrum analyzer is configured to calculate the path loss of the interfering signal, a crucial parameter for evaluating the effectiveness of the interference. Path loss reflects the energy loss of the jamming signal during its propagation from the transmitter (jamming RF front-end 260) to the receiver (alternate antenna). By calculating path loss, the propagation characteristics of the jamming signal in the test environment can be understood, thereby assessing the actual impact of the jamming signal on the radar under test.

[0093] Optionally, the calibration operation generally includes: 1. Fix the position and angle of the interference radio frequency front end 260. 2. Replace the current test radar with a substitute antenna at the test radar end of the guide rail 211. 3. Align the main lobe direction of the antenna of the interference radio frequency front end 260 with the center of the substitute antenna. 4. The interference radio frequency front end 260 is connected to the signal generator, and the substitute antenna is connected to the spectrum analyzer through the mixer. 5. The signal generator sets the signal frequency to the interference signal frequency point, and turns on the radio frequency output. At this time, the corresponding frequency point power reading on the spectrum analyzer is observed. After removing the influence of the gain of the two end substitute antennas, the path loss of the interference signal can be obtained. 6. Remove the substitute antenna and replace it with the test radar. After compensating the output power of the signal source with the path loss obtained above, the interference signal test is performed.

[0094] After the calibration is completed, when the interference signal is used for 3D radar test, the test radio frequency front end 240 on the top moving table 222 is removed. When the interference signal is used for 4D radar test, the test radio frequency front end 240 on the top moving table 222 can be used, and the test method is the same as that of the 3D radar. But the test radio frequency front end 240 on the top moving table 222 can also be retained. At this time, whether the 4D radar can successfully identify two targets with small included angles in the presence of an interference signal can be investigated.

[0095] The utility model greatly reduces the detection cost and space use of 4D millimeter wave radar from the angle of target detection performance. And can be upgraded on the basis of 3D millimeter wave radar detection method, which is suitable for the detection of 3D millimeter wave radar and 4D millimeter wave radar, achieves good compatibility, saves cost and space use. And realizes the compatibility of multiple test functions.

[0096] In other optional embodiments, in addition to the angle test and anti-interference test of the above-mentioned 3D and 4D radars, the test system of the utility model is also suitable for the test of the detection distance, target speed range and accuracy of 3D or 4D millimeter wave radar. Herein, the number and position of the test radio frequency front end can be adjusted according to the actual situation to carry out corresponding tests.

[0097] It should be noted that the test system provided in the utility model is suitable for the test radio frequency front end size of the commonly used target simulator described in the Figure 3 If the shape and size of the test radio frequency front end are as shown in Figure 6 , that is, H is greater than L, Tx and Rx antennas are distributed above and below, and L can be controlled within 52mm (assuming the distance of AR in Figure 3 is 3m), it is available for testing only the horizontal angle resolution of 4D radar. And the two test radio frequency front ends can be as shown in Figure 4The placement mode in the above formula does not require two layers of platforms. However, if the pitch angle resolution needs to be tested, the size of H needs to be considered. If H can be controlled within 105 mm (assuming the distance AR in the above formula is 3 m), the 4D radar pitch angle resolution test can be performed using the setting mode as shown in Figure 3 Figure 2 The above-mentioned sizes need to correspond to the length of the guide rail 211, so the length of the guide rail 211 and the distance between the bottom moving table 221 and the top moving table 222 can be adjusted according to the actual situation to complete the radar test on the test radio frequency front end of different shapes and sizes under the premise of the same overall system architecture design.

[0098] At this point, those skilled in the art should recognize that although the present application has been shown and described in detail in this paper, many other variants or modifications conforming to the principles of the present application can be directly determined or deduced according to the content disclosed in the present application without departing from the spirit and scope of the present application. Therefore, the scope of the present application should be understood and recognized as covering all these other variants or modifications.​

Claims

1. A test system for radar target detection, characterized in that, include: The base has guide rails along its length. A target simulation device is slidably mounted on the guide rail, and the target simulation device includes a plurality of movable stages arranged along the height direction of the target simulation device, the movable stages being configured to translate at their respective height positions along a direction perpendicular to the guide rail; One or more test RF front-ends may be selectively arranged on the mobile stage and configured to transmit and receive test signals; The radar device under test can also be slidably mounted on the guide rail, spaced apart from the target simulation device along the guide rail, and used to arrange the target radar under test, so that the test distance can be adjusted by moving the target simulation device and the radar device under test on the guide rail.

2. The radar target detection test system according to claim 1, characterized in that, The target simulation device also includes: The housing has an internal space defined for arranging the mobile stage and the test radio frequency front end, and the housing has an opening on the side opposite to the radar device under test.

3. The radar target detection test system according to claim 2, characterized in that, The target simulation device also includes: A support plate extends upward from the bottom of the housing to a predetermined height; A rangefinder, mounted on the support plate, is used to measure the horizontal distance between the antenna of the test radio frequency front end and the radar of the target under test; A target simulator, which is connected to the test RF front end, is used to generate and process the test signal and transmit and receive it through the test RF front end.

4. The radar target detection test system according to claim 2, characterized in that, The mobile platform includes a top mobile platform and a bottom mobile platform; The target simulation device also includes: A bottom moving device is disposed on the inner side of the bottom wall of the housing and is used to set the bottom moving platform, thereby driving the bottom moving platform to move horizontally; A top moving device is disposed on the inner side of the top wall of the housing and is used to set the top moving platform, thereby driving the top moving platform to translate.

5. The radar target detection test system according to claim 4, characterized in that, The target simulation device also includes: A translation control device is connected to the bottom moving device and the top moving device respectively, and is configured to control the bottom moving device or the top moving device to translate, thereby adjusting the position of the moving platform.

6. The radar target detection test system according to claim 4, characterized in that, The two test RF front ends are respectively set on the placement plane corresponding to the different mobile stations; The target radar under test is set to have its own height at the same height as the center of the test radio frequency front-end placed on the bottom moving platform. The target radar under test is configured to calculate the horizontal angle and the pitch angle formed by the center points of the two test radio frequency front-ends to the target radar under test.

7. The radar target detection test system according to claim 1, characterized in that, The two test RF front ends are arranged horizontally on the same placement plane of the mobile stage; The target radar under test is set to have its own height at the same height as the center of the test RF front end, and the target radar under test is configured to calculate the horizontal angle formed by the center points of the two test RF front ends to the target radar under test.

8. The radar target detection test system according to claim 1, characterized in that, One or more of the test RF front-ends are respectively disposed on the placement plane corresponding to different mobile stations; The testing system also includes: An interfering radio frequency front-end is disposed on the same plane as one of the test radio frequency front-ends and connected to a signal generator. The signal generator is configured to set the frequency of the test signal to the frequency of the interfering signal. The interfering radio frequency front-end is configured to transmit the interfering signal. An alternative antenna is installed at the location of the target radar under test to replace the target radar under test, and is connected to a spectrum analyzer via a mixer. The center of the alternative antenna corresponds to the main lobe of the antenna of the interfering radio frequency front end. The spectrum analyzer is configured to calculate the path loss of the interfering signal.

9. The radar target detection test system according to claim 1, characterized in that, The radar device under test also includes: A clamp is disposed on the guide rail. The clamp is used to hold the radar under test and is configured to perform multi-dimensional adjustment on the radar under test, including vertical direction, pitch angle and horizontal rotation.

10. The radar target detection test system according to claim 1, characterized in that, The base also includes: Radar-absorbing material is disposed on both sides of the guide rail in the base to reduce radar wave reflection.

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