Radar performance testing device and testing system

Abstract

The present application discloses a radar performance test device and a test system, and relates to the field of radar technology. The radar data acquisition device in the present application can remotely control the radar performance test device to move to the target position based on the actual experimental situation. The problem of large workload, low efficiency and low accuracy of test results caused by the need to manually adjust the relative position of the test device during conventional radar performance testing can be solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of radar technology, and in particular to a radar performance testing device and a testing system. Background Art

[0002] At present, radars (such as millimeter wave radars) are increasingly used in target identification and positioning processes. Specifically, a radar data acquisition device can emit radar waves and determine the position of a target object based on the reflected waves received from the target object. Usually, before a radar data acquisition device is officially put into production, it is necessary to use a radar performance test device to test the performance indicators of the radar data acquisition device, such as the measurement range, measurement accuracy, and resolution, to ensure good radar performance.

[0003] Conventionally, radar data acquisition devices can be based on Figure 1 The radar reflected wave of the angle reflection device shown in the figure tests the performance index of the radar data acquisition device. Figure 1 As shown, the corner reflector device includes a bracket 120 mounted on a base 110 and a corner reflector (corner reflector for short) 130 mounted on the bracket 120. The corner reflector is a radar cross section (RCS) that can simulate an object for reflecting radar waves to reflect radar waves from a radar data acquisition device, so that the radar data acquisition device can test the performance indicators such as the measurement range, measurement accuracy and resolution of the radar according to the radar reflected waves.

[0004] However, when using Figure 1 In the process of testing the radar performance by the angle reflection device shown, in order to test the radar performance from various angles, the tester needs to manually adjust the relative position of the angle reflection device and the radar data acquisition device. The tester manually adjusts the relative position of the angle reflection device and the radar data acquisition device. The workload is large and the test efficiency is low. In addition, the accuracy of manual adjustment is low, which affects the accuracy of the test. Summary of the invention

[0005] The present application provides a radar performance radar test device, a radar data acquisition device and a system, which can solve the problems of large workload, low efficiency and low accuracy of test results caused by manual adjustment of the relative position of the test device during conventional radar performance testing.

[0006] In order to achieve the above purpose, the embodiment of the present application adopts the following technical solution:

[0007] In a first aspect, a radar performance testing method is provided, which is applied to a radar performance testing device and a radar data acquisition device that have established a communication connection; the method comprises: the radar data acquisition device sends a control signal to the radar performance testing device to instruct the radar performance testing device to move to a target position according to the control signal; and the radar performance testing device moves to the target position according to the control signal.

[0008] In the technical solution provided in the first aspect, the radar data acquisition device can remotely control the radar performance test device to move to the target position based on the actual experimental situation. For example, the radar data acquisition device can accept the target position, movement speed or movement route that the radar performance test device needs to move to input by the tester through the input device based on the actual experimental requirements, and remotely control the radar performance test device to move according to the instructions. In order to provide an automated, efficient and high-precision radar performance test method.

[0009] In a possible implementation, the method further includes: the radar data acquisition device transmits radar waves; at least one corner reflector of the radar performance test device receives and reflects the radar waves transmitted by the radar data acquisition device; the radar data acquisition device receives the radar waves reflected by at least one corner reflector; the radar data acquisition device obtains true value data; the true value data is used to characterize at least one of the following: the installation position of at least one corner reflector in the radar performance test device, the relative distance, relative speed, relative angle between the radar performance test device and the radar data acquisition device, or the radar cross section of at least one corner reflector; the radar data acquisition device analyzes the received radar waves reflected by at least one corner reflector, and obtains the radar performance index in combination with the true value data. Based on the automated test device of the present application, the radar data acquisition device can obtain relatively accurate knitted data such as relative distance, relative speed, relative angle or radar cross section, so that the performance index of the radar can be accurately calculated based on the above true value data.

[0010] In a possible implementation, the above radar performance indicators include at least one or more of: distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution, or target tracking continuity. Compared with the radar performance indicator measurement capability of conventional test equipment, the radar performance test method provided in the present application can flexibly adjust the test equipment according to specific test requirements, so as to test the performance of the radar in an all-round way, including distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution, or target tracking continuity.

[0011] In a possible implementation, the radar performance test device includes a base and a first vertical rod fixedly connected to the center of the base, on which a first corner reflector is installed; the true value data is used to characterize the installation position of the first corner reflector on the first vertical rod and the relative distance between the radar performance test device and the radar data acquisition device; at least one corner reflector of the radar performance test device receives and reflects radar waves, including: the first corner reflector receives and reflects the received radar waves; the radar data acquisition device analyzes the received radar waves reflected by the at least one corner reflector, and obtains radar performance indicators in combination with the true value data, including: the radar data acquisition device analyzes the received radar waves reflected by the first corner reflector, and obtains one or more of the radar's distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, speed measurement accuracy, azimuth detection accuracy, elevation detection accuracy, and target tracking continuity in combination with the installation position of the first corner reflector on the first vertical rod, and the relative distance, relative speed, and relative angle between the radar performance test device and the radar data acquisition device. The test device in the present application can use only one corner reflector (i.e., the first corner reflector) on the first vertical pole to complete the performance tests of the radar such as the distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, speed measurement accuracy, azimuth detection accuracy, elevation detection accuracy, and target tracking continuity, etc., and the test efficiency and accuracy are high.

[0012] In a possible implementation, the method further includes: the radar performance test device obtains the position information of the radar performance test device; the radar performance test device sends the position information of the radar performance test device to the radar data acquisition device; the position information is used by the radar data acquisition device to determine one or more of the relative distance, relative speed or relative angle between the radar performance test device and the radar data acquisition device. The radar performance test device automatically measures its position and reports it to the radar data acquisition device so that the radar data acquisition device can accurately calculate the relative distance, relative speed or relative angle between the radar performance test device and the radar data acquisition device. The automation, efficiency and accuracy of the radar performance test can be ensured.

[0013] In a possible implementation, the position information of the radar performance test device includes first position information, which is obtained by a first positioning module disposed on a base and close to the center of the base; wherein the relative distance between the radar performance test device and the radar data acquisition device is determined by the radar data acquisition device according to the first position information and the position information of the radar data acquisition device. By obtaining the position information of the radar performance test device by the first positioning module (such as positioning device 1) disposed on the radar performance test device, it is convenient to quickly provide accurate position information to the radar data acquisition device, so that the radar data acquisition device can accurately calculate the relative distance, relative speed or relative angle between the radar performance test device and the radar data acquisition device. The automation, efficiency and accuracy of the radar performance test can be ensured.

[0014] In a possible implementation, the position information of the radar performance test device also includes second position information, which is obtained by a second positioning module disposed on the base and away from the center of the base; wherein the relative angle between the radar performance test device and the radar data acquisition device is determined by the radar data acquisition device based on the first position information, the second position information and the position information of the radar data acquisition device. By obtaining the position information of the radar performance test device by the first positioning module (such as positioning device 1) and the second positioning module (such as positioning device 2) disposed on the radar performance test device, it is convenient to quickly provide the radar data acquisition device with true value data for calculating the radar performance index. The automation, efficiency and accuracy of the radar performance test can be ensured.

[0015] In a possible implementation, the radar performance test device further includes a first cross bar, which is fixedly connected to the first vertical bar and is perpendicular to the first vertical bar; the extension direction of the first cross bar is parallel to the opening direction of the first corner reflector; a second corner reflector is installed on the first cross bar; the opening direction of the second corner reflector is consistent with that of the first corner reflector; the true value data is also used to characterize the installation position of the second corner reflector on the first cross bar; at least one corner reflector of the radar performance test device receives and reflects the radar wave, and further includes: the second corner reflector receives and reflects the radar wave emitted by the radar data acquisition device; the radar data acquisition device analyzes the received radar wave reflected by the at least one corner reflector, and obtains the radar performance index in combination with the true value data, and further includes: the radar data acquisition device analyzes the received radar wave reflected by the first corner reflector and the second corner reflector, and obtains the distance resolution of the radar in combination with the installation position of the first corner reflector and the second corner reflector on the first vertical bar, and the relative distance between the radar performance test device and the radar data acquisition device. The testing device in the present application can complete the test of radar range resolution based on a corner reflector on the first vertical rod (ie, the first corner reflector) and a corner reflector on the first horizontal rod (ie, the second corner reflector), and the test efficiency and accuracy are high.

[0016] In a possible implementation, a third corner reflector is also installed on the first vertical rod; the opening direction of the third corner reflector is consistent with that of the first corner reflector; the true value data is also used to characterize the installation position of the third corner reflector on the first vertical rod; at least one corner reflector of the radar performance test device receives and reflects radar waves, and also includes: the third corner reflector receives and reflects radar waves; the radar data acquisition device analyzes the received radar waves reflected by the at least one corner reflector, and obtains the radar performance index in combination with the true value data, and also includes: the radar data acquisition device analyzes the received radar waves reflected by the first corner reflector and the third corner reflector, and obtains the elevation resolution of the radar in combination with the installation positions of the first corner reflector and the third corner reflector on the first vertical rod, and the relative distance between the radar performance test device and the radar data acquisition device. The test device in the present application can complete the test of the radar elevation resolution based on the two corner reflectors (i.e., the first corner reflector and the third corner reflector) on the first vertical rod, and the test efficiency and accuracy are high.

[0017] In a possible implementation, the radar performance test device includes a base and a first vertical rod fixedly connected to the center of the base, and a second cross bar fixedly connected to the first vertical rod and perpendicular to the first vertical rod; a fourth corner reflector and a fifth corner reflector are installed on the second cross bar; the opening directions of the fourth corner reflector and the fifth corner reflector are consistent; the true value data is used to characterize the installation positions of the fourth corner reflector and the fifth corner reflector on the first cross bar and the relative distance between the radar performance test device and the radar data acquisition device; at least one corner reflector of the radar performance test device receives and reflects radar waves, including: the fourth corner reflector and the fifth corner reflector receive and reflect radar waves; the radar data acquisition device analyzes the radar waves reflected by the at least one corner reflector, and obtains the radar performance index in combination with the true value data, and also includes: the radar data acquisition device analyzes the radar waves reflected by the fourth corner reflector and the fifth corner reflector, and obtains the azimuth resolution of the radar in combination with the installation positions of the fourth corner reflector and the fifth corner reflector on the first vertical rod and the relative distance between the radar performance test device and the radar data acquisition device. The testing device in the present application can complete the test of the radar azimuth angle resolution based on the two corner reflectors (ie, the fourth corner reflector and the fifth corner reflector) on the second crossbar, and the test efficiency and accuracy are high.

[0018] In a possible implementation, an indicator light is provided on the base near the center of the base, and the indicator light is provided on the first side of the first vertical rod; wherein the opening of the at least one corner reflector faces the second side of the first vertical rod, and the second side is opposite to the first side; the method further comprises: if the intensity of light emitted by the indicator light received by the radar data acquisition device is less than a preset threshold, the radar data acquisition device determines that the opening of the at least one corner reflector faces the radar data acquisition device. By setting the indicator light at a unique position on the radar performance test device, the radar data acquisition device can control the angular anti-alignment radar of the radar performance test device, thereby improving the test efficiency and measurement accuracy.

[0019] In a possible implementation, the method further includes: the radar data acquisition device receives the installation position of the at least one corner reflector in the radar performance test device input by the user, and saves the installation position information of the at least one corner reflector in the radar performance test device. By pre-configuring the specific installation position of each corner reflector in the radar data acquisition device, the radar data acquisition device can directly use the saved true value data when performing calculations, thereby improving test efficiency and measurement accuracy.

[0020] In a second aspect, a radar performance test device is provided, comprising: a base; the base comprises a processing module, a wireless communication module and two drive modules, the wireless communication module and the two drive modules are respectively connected to the processing module by signal; two driving wheels and at least one group of driven wheels are arranged at the bottom of the base, and each group of driven wheels comprises two universal wheels; wherein the two driving wheels are symmetrically arranged relative to the center of the base, and the two universal wheels are symmetrically arranged relative to the center of the base; each drive module is connected to a driving wheel for driving the driving wheel; the radar performance test device also comprises: a bracket fixedly connected to the base; at least one corner reflector which can be mounted on the bracket; wherein the corner reflector is used to reflect radar waves from a radar data acquisition device; wherein the wireless communication module is used to receive a control signal from the radar data acquisition device, and the control signal is used to indicate a target position of the radar performance test device; the processing module is used to control the operation of the drive module to drive the driving wheel to rotate so that the base moves toward the target position.

[0021] The technical solution provided in the second aspect above is to set a wireless communication module, a processing module and two driving modules on the radar performance test device so that the radar data acquisition device can remotely control the radar performance test device to move to the target position based on the actual experimental situation. For example, the radar data acquisition device can accept the target position to which the radar performance test device needs to move input by the tester through the input device based on the actual experimental requirements, and remotely control the radar performance test device to move according to the instructions. Thus, an automated, efficient and high-precision radar performance test method is provided.

[0022] In a possible implementation, the control signal is also used to indicate the motion parameters of the radar performance test device; wherein the motion parameters include at least: the motion speed and / or motion route of the radar performance test device moving toward the target position; the processing module is specifically used to: control the operation of the drive module to drive the active wheel to rotate so that the base moves toward the target position according to the motion parameters. Based on the radar performance test device provided by the present application, it is also possible to realize that the radar data acquisition device remotely controls the radar performance test device to move according to the motion speed or motion route based on actual experimental conditions, thereby providing an automated, efficient, and high-precision radar performance test method.

[0023] In a possible implementation, the base further includes a first positioning module, which is arranged near the center of the base; the wireless communication module is also used to send first position information to the radar data acquisition device; the first position information is acquired by the first positioning module. The position information of the radar performance test device is acquired by the first positioning module (such as positioning device 1) arranged on the radar performance test device, so as to quickly provide accurate position information to the radar data acquisition device, so that the radar data acquisition device can accurately calculate the relative distance, relative speed or relative angle between the radar performance test device and the radar data acquisition device. The automation, efficiency and accuracy of the radar performance test can be ensured.

[0024] In a possible implementation, the base further includes a second positioning module, which is arranged at a position away from the center of the base; the wireless communication module is also used to: send second position information to the radar data acquisition device; the second position information is acquired by the second positioning module. The position information of the radar performance test device is acquired by the first positioning module (such as positioning device 1) and the second positioning module (such as positioning device 2) arranged on the radar performance test device, so as to quickly provide the radar data acquisition device with true value data for calculating the radar performance index. The automation, efficiency and accuracy of the radar performance test can be ensured.

[0025] In a possible implementation, the bracket includes a first vertical rod, the lower end of which is fixedly connected to the center of the base; wherein the first vertical rod is used to install a corner reflector; and the position of the corner reflector on the first vertical rod is set by the user. By adjusting the position of the corner reflector on the first vertical rod, the performance of the radar can be tested according to actual test requirements.

[0026] In a possible implementation, a first corner reflector is installed on the first vertical pole. The present application can use only one corner reflector (i.e., the first corner reflector) on the first vertical pole to complete the radar's performance tests such as distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, speed measurement accuracy, azimuth detection accuracy, elevation detection accuracy, and target tracking continuity. And the test efficiency and accuracy are high.

[0027] In a possible implementation, the bracket further includes a first crossbar, which is fixedly connected to the first vertical bar and is perpendicular to the first vertical bar; the extension direction of the first crossbar is parallel to the opening direction of the first corner reflector; a second corner reflector is mounted on the first crossbar; the opening direction of the second corner reflector is consistent with that of the first corner reflector. The present application can complete the test of radar range resolution based on a corner reflector on the first vertical bar (i.e., the first corner reflector) and a corner reflector on the first crossbar (i.e., the second corner reflector), and the test efficiency and accuracy are high.

[0028] In a possible implementation, a third corner reflector is further mounted on the first vertical rod; the third corner reflector has an opening in the same direction as the first corner reflector. In the present application, the radar elevation angle resolution test can be completed based on the two corner reflectors (i.e., the first corner reflector and the third corner reflector) on the first vertical rod, and the test efficiency and accuracy are high.

[0029] In a possible implementation, the bracket further includes a second crossbar, on which a fourth corner reflector and a fifth corner reflector are mounted; the fourth corner reflector and the fifth corner reflector have the same opening orientation. In the present application, the radar azimuth resolution test can be completed based on the two corner reflectors (i.e., the fourth corner reflector and the fifth corner reflector) on the second crossbar, and the test efficiency and accuracy are high.

[0030] In a possible implementation, an indicator light is provided on the base near the center of the base, and the indicator light is provided on the first side of the first vertical rod; wherein the opening of the at least one corner reflector faces the second side of the first vertical rod, and the second side is opposite to the first side. By setting the indicator light at a unique position on the radar performance test device, the radar data acquisition device can control the angular anti-alignment radar of the radar performance test device, thereby improving the test efficiency and measurement accuracy.

[0031] In a possible implementation, the bracket is provided with scales for indicating the size. By providing the bracket with scales for indicating the size, it is convenient to obtain the installation position of each corner.

[0032] In a possible implementation, the at least one corner reflector is installed on the first vertical rod, the first cross rod and / or the second cross rod through a connecting member; the connecting member includes a hollow window, and when the at least one corner reflector is installed on the bracket through the connecting member, the position of the hollow window corresponds to the position of the scale, so that the scale on the bracket is visible to the user. By providing the hollow window on the connecting member, it is convenient for the tester to read the accurate installation position of the corner reflector.

[0033] In a possible implementation, the base is a cross-shaped base, which includes four beams, which form a cross shape; a group of driven wheels are arranged at the bottom of the cross-shaped base; wherein, a driving wheel and a driving module are respectively arranged at the bottom of the ends of two opposite beams of the cross-shaped base, and a driven wheel and a driving module are respectively arranged at the bottom of the ends of the other two opposite beams. By designing the base as a cross-shaped base and symmetrically distributing the various hardware modules on the four beams of the cross-shaped base, the overall center of mass of the cross-shaped base can be made the collective center of the cross-shaped base, thereby improving the stability of the radar performance test device during movement.

[0034] In a possible implementation, the second positioning module is disposed in a beam of the cross-shaped base.

[0035] In a possible implementation, the base is a disc-shaped base. By designing the base as a disc-shaped base, the stability of the radar performance test device can be improved.

[0036] In a possible implementation, the outer surface of the base except the bottom is covered with a coating, and the coating is used to prevent the base from reflecting the received radar waves. By covering the base with a coating, the base can be prevented from reflecting the received radar waves and interfering with the radar performance test results.

[0037] According to a third aspect, a radar data acquisition device is provided, comprising: a radar, a wireless communication module, a memory and a processing module; wherein the radar, the memory and the wireless communication module are all connected to the processing module by signal; the memory stores computer execution instructions; the radar is used to: transmit and receive radar waves; the processing module is used to: execute the instructions stored in the memory, and send a control signal for instructing the radar performance test device to move to a target position to a radar performance test device through the wireless communication module; the processing module is also used to: analyze the radar waves received by the radar and obtain radar performance indicators.

[0038] The technical solution provided in the third aspect can remotely control the radar performance test device to move to the target position based on the actual experimental situation. For example, the radar data acquisition device can accept the target position, movement speed or movement route that the radar performance test device needs to move to input by the tester through the input device based on the actual experimental requirements, and remotely control the radar performance test device to move according to the instructions. In order to provide an automated, efficient and high-precision radar performance test method.

[0039] In a possible implementation, the radar data acquisition device further includes: a display screen and an input module; the display screen and the input module are both connected to the processing module signal; the display screen is used to: display a first interface for setting a target position; the input module is used to: receive a target position input by a user on the first interface. Through the display screen and the input module, it is convenient for the tester to input the target position to which the radar performance test device is to move from the input module based on the prompt of the display screen. It is convenient to automatically control the movement of the radar performance test device according to actual test requirements.

[0040] In a possible implementation, the first interface is also used to set the motion parameters of the radar performance test device; wherein the motion parameters at least include: the motion speed and / or motion route of the radar performance test device moving toward the target position; the input module is also used to: receive the motion parameters input by the user on the first interface; wherein the control signal is also used to instruct the radar performance test device to move toward the target position according to the motion parameters. Through the display screen and the input module, it is convenient for the tester to input the target position and / or motion parameters to which the radar performance test device is to move from the input module based on the prompts of the first interface displayed on the display screen. It is convenient to automatically control the movement of the radar performance test device according to actual test requirements.

[0041] In a possible implementation, the wireless communication module is further used to: receive first position information of the radar performance test device from the radar performance test device; wherein the first position information is used to determine the position of the radar performance test device. The radar data acquisition device can receive the first position information used to determine the position of the radar performance test device from the radar performance test device, so as to automatically, quickly and accurately obtain the accurate position of the radar performance test device when measuring radar performance.

[0042] In a possible implementation, the wireless communication module is further used to: receive second position information of the radar performance test device from the radar performance test device; wherein the second position information is used to determine the deflection angle of the radar performance test device. The radar data acquisition device can receive the second position information used to determine the deflection angle of the radar performance test device from the radar performance test device, so as to automatically, quickly and accurately obtain the accurate azimuth angle of the radar performance test device relative to the radar data acquisition device when measuring radar performance.

[0043] In a possible implementation, the radar data acquisition device further includes: a third positioning module, which is used to obtain position information of the radar data acquisition device. The radar data acquisition device can obtain position information for determining the position of the radar data acquisition device through the third positioning module, so as to automatically, quickly and accurately obtain the accurate position of the radar data acquisition device when measuring radar performance.

[0044] In a possible implementation, the radar data acquisition device further includes: a fourth positioning module, which is used to cooperate with the third positioning module to obtain the deflection angle of the radar data acquisition device. The radar data acquisition device can obtain position information for determining the deflection angle of the radar data acquisition device (i.e., the relative azimuth angle of the radar data acquisition device and the radar performance test device) through the fourth positioning module, so as to automatically, quickly and accurately obtain the relative azimuth angle of the radar data acquisition device and the radar performance test device when measuring radar performance.

[0045] In a possible implementation, the above radar performance indicators include at least one or more of: distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution, or target tracking continuity. Compared with the radar performance indicator measurement capability of conventional test devices, the test device provided in the present application can flexibly adjust the test equipment according to specific test requirements, so as to comprehensively test the performance of the radar, including distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution, or target tracking continuity.

[0046] In a fourth aspect, a radar performance testing device is provided, which includes a receiving unit, a motion unit, an angular reflection unit, a sending unit and a positioning unit. The above-mentioned receiving unit, motion unit, angular reflection unit, sending unit and positioning unit are used to work together so that the radar performance testing device implements the radar performance testing method in any possible implementation method of the first aspect.

[0047] In a fifth aspect, a radar data acquisition device is provided, which includes a sending unit, a receiving unit, a storage unit, a processing unit and a positioning unit. The sending unit, the receiving unit, the storage unit, the processing unit and the positioning unit are configured to work together so that the radar performance testing device implements the radar performance testing method in any possible implementation manner in the first aspect.

[0048] In a sixth aspect, a radar performance test device is provided, which includes a memory, a radio frequency circuit and a processor that are interconnected; wherein the memory is used to store computer program code, and the computer program code includes instructions; the radio frequency circuit is used to send and receive wireless signals; the processor is used to execute the above instructions, so that the radar performance test device interacts with the radar data acquisition device in any possible implementation of the third aspect or the fifth aspect, and implements the radar performance test method in any possible implementation of the first aspect.

[0049] In a seventh aspect, a radar data acquisition device is provided, which includes a memory, a radio frequency circuit and a processor that are interconnected; wherein the memory is used to store computer program code, and the computer program code includes instructions; the radio frequency circuit is used to send and receive wireless signals; the processor is used to execute the above instructions, so that the radar data acquisition device interacts with the radar performance test device in any possible implementation of the second aspect, the fourth aspect or the sixth aspect, and implements the radar performance test method in any possible implementation of the first aspect.

[0050] In an eighth aspect, a radar performance test system is provided, the radar performance test system comprising the radar performance test device in any possible implementation of the second aspect, the fourth aspect, or the sixth aspect, and the radar performance test system further comprising the radar data acquisition device in any possible implementation of the third aspect, the fifth aspect, or the seventh aspect. The radar performance test system is used to implement the radar performance test method in any possible implementation of the first aspect.

[0051] In a ninth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the radar performance testing method in any possible implementation manner in the first aspect is implemented.

[0052] In a tenth aspect, a chip system is provided, the chip system comprising a processor and a memory, wherein instructions are stored in the memory; when the instructions are executed by the processor, a radar performance test method in any possible implementation manner in the first aspect is implemented. The chip system may be composed of a chip, or may include a chip and other discrete devices.

[0053] In an eleventh aspect, a computer program product is provided, which, when executed on a computer, enables implementation of a radar performance testing method as in any possible implementation manner in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of a conventional angle reflection device;

[0055] Figure 2 Schematic diagram of several possible radar application scenarios provided in the embodiments of the present application;

[0056] Figure 3 A schematic diagram of a structure example of a radar performance test system provided in an embodiment of the present application;

[0057] Figure 4 A schematic diagram of the hardware structure of a radar performance test device provided in an embodiment of the present application;

[0058] Figure 5 Four hardware structure diagrams of radar performance test devices in different test scenarios provided in embodiments of the present application;

[0059] Figure 6 A schematic diagram of the hardware structure of a radar performance test device in another test scenario provided in an embodiment of the present application;

[0060] Figure 7 An interactive diagram of a radar performance testing method provided in an embodiment of the present application;

[0061] Figure 8 A schematic diagram of a method for obtaining a relative angle and a relative distance between a radar performance testing device and a radar data acquisition device provided in an embodiment of the present application;

[0062] Fig. 9 A schematic diagram of a method for obtaining the ranging resolution of a radar for target objects at different distances provided in an embodiment of the present application;

[0063] Fig.10 A schematic diagram of a method for obtaining the elevation angle resolution of a radar provided in an embodiment of the present application;

[0064] Fig.11 A schematic diagram of a method for obtaining the azimuth resolution of a radar provided in an embodiment of the present application;

[0065] Fig.12 A schematic diagram of the structure of a radar data acquisition device provided in an embodiment of the present application;

[0066] Fig.13 A schematic diagram of the structure of a radar performance testing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0068] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings.

[0069] In the following, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0070] In addition, in the present application, directional terms such as "upper" and "lower" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they can change accordingly according to the changes in the orientation of the components in the drawings.

[0071] For ease of understanding, the terms that may appear in the embodiments of the present application are explained below.

[0072] Radar: It can also be called a detector, a detection device or a radio signal transmitting device. Its working principle is to detect the corresponding target object by transmitting radar signals (or detection signals or radar waves) and receiving the reflected waves reflected by the target object.

[0073] like Figure 2 As shown in the figure, there are several possible radar application scenarios. Figure 2 As shown, the radar can be installed on motor vehicles, drones, rail cars, bicycles, signal lights, speed measuring devices or network equipment (such as base stations and terminal equipment in various systems), etc. The radar is applicable to radar systems between vehicles, radar systems between vehicles and other devices such as drones, or radar systems between other devices. This application does not limit the location and function of the radar installation.

[0074] Corner reflector: also known as radar reflector, or corner reflector for short. Corner reflector is a standard instrument for radar performance testing that can simulate the RCS of different objects. Usually, a corner reflector is composed of one or more corner cones. The corner reflector can fully reflect the incident signal, that is, the incident signal and the reflected signal are 180 degrees apart. Corner reflectors can be divided into metal-type corner reflectors and coated-type corner reflectors based on different materials. They can be divided into quadrangular corner reflectors, octagonal corner reflectors, hexagonal corner reflectors, etc. Based on different shapes, they can be divided into fixed-type corner reflectors and hanging-type corner reflectors, etc. Based on different placement methods.

[0075] Initial frequency: At the beginning of a transmission cycle, the radar will transmit radar waves at an initial frequency, and the transmission frequency changes within the transmission cycle based on the initial frequency.

[0076] Available frequency band (also known as available bandwidth): The frequency domain range in which radar waves are allowed to be emitted. Generally, it is necessary to comply with the provisions of laws and regulations. The frequency band division may be different in different countries. Most radars work in the ultra-short wave and microwave bands, with a frequency range of 30MHz-300GHz and a corresponding wavelength of 10 meters to 1mm, including four bands: very high frequency (VHF), ultra-high frequency (UHF), ultra-high frequency (SHF) and extremely high frequency (EHF). For example, according to China's frequency band division regulations, the available frequency band of very high frequency (VHF) is 30MHz-300MHz; the available frequency band of ultra-high frequency (UHF) is 300MHz-3GHz; the available frequency band of ultra-high frequency (SHF) is 3GHz-30GHz; the available frequency band of extremely high frequency (EHF) is 30GHz-300GHz. Among them, the available frequency band of very high frequency (VHF) is also called meter wave band; the available frequency band of ultra high frequency (UHF) is also called decimeter wave band; the available frequency band of ultra high frequency (SHF) is also called centimeter wave band; the available frequency band of extremely high frequency (EHF) is also called millimeter wave band.

[0077] Sweep bandwidth: The bandwidth occupied by the radar waveform. It should be noted here that "sweep bandwidth" is defined for the convenience of explanation. Technically, it is the bandwidth occupied by the radar waveform. Furthermore, the frequency band occupied by the radar waveform can be called the sweep frequency band. The transmission period of the radar wave is also called the sweep time, that is, the time to transmit a complete waveform.

[0078] Frequency modulated continuous wave: an electromagnetic wave whose frequency varies with time.

[0079] Maximum ranging distance: or maximum detection distance, is a parameter related to the radar's own configuration (factory setting parameters or related to factory setting parameters). For example, the maximum ranging distance of the long-range adaptive cruise control (ACC) radar is 250m, and the maximum ranging distance of the medium-range radar is 70-100m. If the maximum ranging distance is 250m, the specific application scenario does not require high range resolution of the radar. Optionally, the range resolution is related to the sweep bandwidth.

[0080] Vehicle-mounted radar: used in unmanned driving architecture (such as advanced driving assistance system (ADAS)), used to sense the surrounding environment and collect data while the car is driving; identify, detect and track static and moving objects, and combine with navigation map data to perform systematic calculations and analysis, so that the driver can be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. Vehicle-mounted radars can include but are not limited to vehicle-mounted millimeter-wave radars, vehicle-mounted laser radars and vehicle-mounted ultrasonic radars.

[0081] ADAS: Currently, ADAS can be used for adaptive cruise control (ACC), autonomous emergency braking (AEB), lane change assist (LCA) or blind spot monitoring (BSD).

[0082] Millimeter wave: Millimeter wave refers to electromagnetic waves with a wavelength between 1mm-10mm and a corresponding frequency range of 30GHz-300GHz.

[0083] Millimeter wave radar: In the millimeter wave operating frequency band (such as 30GHz-300GHz), the millimeter wave-related characteristics are very suitable for application in the automotive field. For example, the bandwidth is large, the frequency domain resources are rich, and the antenna sidelobe is low, which is conducive to imaging or quasi-imaging. The wavelength is short, and the volume and antenna diameter of the radar data acquisition device can be reduced, and the weight is reduced. The beam is narrow. At the same antenna size, the beam of the millimeter wave is much narrower than that of the microwave, and the radar resolution is high. Strong penetration. Compared with lidar and ultrasonic radar, it has the ability to penetrate smoke, dust, fog, etc., and can work all day long.

[0084] It should be noted that Figure 2 What are shown are examples of application scenarios of several radars, and the radar data acquisition device provided in the embodiment of the present application is used to cooperate with the radar performance test device to complete the test of one or more performance indicators such as radar detection range, detection accuracy, resolution or target tracking continuity. Among them, the detection range includes the distance detection range and the field of view (FOV). The detection accuracy includes the distance detection accuracy and the angle detection accuracy. The resolution includes the distance resolution and the angle resolution.

[0085] Among them, the distance detection range is used to measure the distance range of the radar to detect the target (such as 0mˉ260m). The distance detection range of the radar is mainly related to the radar performance and the cross-sectional area of ​​the target object. Generally, the greater the radar's transmission power, the higher the radar's antenna gain and receiver sensitivity, and the larger the cross-sectional area of ​​the target, the longer the radar detection distance.

[0086] The field of view FOV is used to measure the angular range of the radar's detection of targets. Specifically, FOV is the angle formed by the two edges of the maximum range of the target object that can be detected by the radar, with the radar as the vertex. Among them, FOV includes horizontal FOV and vertical FOV. Horizontal FOV refers to the field of view angle in the horizontal dimension (such as 98.4°), also known as the azimuth detection range. Vertical FOV refers to the field of view angle in the vertical dimension (such as 38.4°), also known as the pitch detection range.

[0087] Detection accuracy is used to measure the accuracy of radar measurement results. Specifically, distance detection accuracy is used to characterize the error of the distance between the target object and the radar measured by the radar relative to the true value of the distance between the target object and the radar. Angle detection accuracy is used to characterize the error of the relative angle between the target object and the radar measured by the radar relative to the true value of the relative angle between the target object and the radar. Angle detection accuracy includes azimuth detection accuracy and elevation detection accuracy. Exemplarily, distance detection accuracy <2cm means that the error of the distance between the target object and the radar detected by the radar is less than 2cm. Azimuth detection accuracy <0.1° means that the error of the relative angle between the target object and the radar in the horizontal dimension detected by the radar is less than 0.1°.

[0088] Resolution is used to measure the radar's ability to distinguish between adjacent target objects. Resolution includes distance resolution and angle resolution. Among them, distance resolution refers to the minimum distinguishable distance between two target objects in the same direction for the radar. Usually, distance resolution is determined by the pulse width of the echo signal output by the radar receiving system. Specifically, the narrower the pulse width, the higher the distance resolution. Angle resolution refers to the minimum distinguishable angle between two target objects in different directions at the same distance for the radar. Angle resolution includes azimuth resolution and elevation resolution. Usually, angle resolution can be determined by the antenna beam width. Specifically, the narrower the beam, the higher the angle resolution.

[0089] Target tracking continuity is used to measure the radar's ability to continuously detect target objects and determine their direction and position.

[0090] Specifically, an embodiment of the present application provides a radar performance test method, which can be implemented by a radar performance test system. Specifically, the radar performance test system includes a radar data acquisition device and a radar performance test device that have established a communication connection. Among them, the radar data acquisition device can remotely control the radar performance test device to move to a specified position according to the user's instructions, and maintain a specified relative angle with the radar data acquisition device. The radar data acquisition device evaluates one or more performance indicators of the radar, such as the detection range, detection accuracy, resolution or target tracking continuity, by emitting radar waves (or detection waves) and receiving reflected waves reflected by the radar performance test device.

[0091] Please refer to Figure 3 , Figure 3 FIG. 1 shows a schematic diagram of a structure example of a radar performance test system. Figure 3 As shown, the radar performance test system 300 includes a radar performance test device 310 and a radar data acquisition device 320 .

[0092] Among them, the radar performance test device 310 includes a control module, a power module, a support module and an angle reflection module. The control module is composed of a processor 3102, a remote control radio frequency module 3107, an antenna 3108, a positioning device (including positioning device 1 3109 and positioning device 2 3110) and an indicator light 3111. The power module is composed of a power supply 3101 (including power supply 1 and power supply 2), a speed regulating board 1 3103, a speed regulating board 2 3104, a motor 1 3105, a motor 2 3106, a driving wheel 3112, a driving wheel 3113, a driven wheel 3116 and a driven wheel 3117. The support module is composed of a bracket 3114. Among them, the bracket 3114 includes one or more vertical rods. Further, in some embodiments, the bracket 3114 may also include one or more cross bars. The angle reflection module includes at least one corner reflector (such as Figure 3 The angle reverse 3115 is shown in FIG. 31. The angle reverse 3115 is installed on the bracket 3114. The specific installation position of the angle reverse 3115 on the bracket 3114 can be adjusted according to the test requirements.

[0093] Understandably, Figure 3 The illustrated structure does not constitute a specific limitation on the radar performance test device 310. In other embodiments of the present application, the radar performance test device 310 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0094] The processor 3102 may include one or more processing units, for example, the processor 3102 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0095] The controller can generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions. In the present application, the controller can generate a corresponding operation control signal according to the control signal from the radar data acquisition device 320, and control the radar performance test device 310 to move to the target position according to the operation control signal. Further, in some cases, the above-mentioned operation control signal can also be used to control the radar performance test device 310 to move to the target position according to the specified movement speed and / or movement route according to the operation control signal.

[0096] The processor 3102 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 3102 is a cache memory. The memory may store instructions or data that the processor 3102 has just used or cyclically used. If the processor 3102 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 3102, and thus improves the efficiency of the system.

[0097] In some embodiments, the processor 3102 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0098] The power supply 3101 is used to supply power to various components of the radar performance test device 310. The power supply 3101 may include a power management module, a charging management module and a battery.

[0099] The charging management module is used to receive charging input from a charger. The charger can be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module can receive charging input from the wired charger through a USB interface. In some wireless charging embodiments, the charging management module can receive wireless charging input through a wireless charging coil of the radar performance test device 310. While the charging management module is charging the battery, it can also power the radar performance test device 310 through the power management module.

[0100] The power management module is used to connect the battery, the charging management module and the processor 3102. Exemplarily, the power supply 3101 can be logically connected to the processor 3102 through the power management module, so as to realize the functions of managing charging, discharging, and power consumption management through the power management module. The power management module receives the input of the battery and / or the charging management module, and supplies power to the processor 3102, the speed regulating board 1 3103, the speed regulating board 2 3104, the motor 1 3105, the motor 2 3106, the remote control radio frequency module 3107, the antenna 3108, the indicator light 3111, the positioning device 1 3109 and the positioning device 2 3110, etc. The power management module can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module can also be set in the processor 3102. In some other embodiments, the power management module and the charging management module can also be set in the same device.

[0101] The wireless communication function of the radar performance test device 310 can be realized by the antenna 3108 and the remote control RF module 3107. Among them, the antenna 3108 is used to transmit and receive electromagnetic wave signals. The antenna 3108 can be used to cover a single or multiple communication frequency bands. The remote control RF module 3107 can provide a solution for wireless communication including 2G / 3G / 4G / 5G applied to the radar performance test device 310. The remote control RF module 3107 can include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The remote control RF module 3107 can receive electromagnetic waves from the antenna 3108, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The remote control RF module 3107 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 3108. In some embodiments, at least some functional modules of the remote control RF module 3107 can be set in the processor 3102. In some embodiments, at least some functional modules of the remote control RF module 3107 and at least some modules of the processor 3102 can be set in the same device.

[0102] The modem processor may include a modulator and a demodulator. The modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After the low-frequency baseband signal is processed by the baseband processor, it is passed to the application processor. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 3102 and be set in the same device as the remote control RF module 3107 or other functional modules.

[0103] The remote control RF module 3107 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication technology (NFC), infrared technology (IR), etc. for application in the radar performance test device 310.

[0104] In some embodiments, the antenna 3108 of the radar performance test device 310 is signal-connected to the remote control RF module 3107, so that the radar performance test device 310 can communicate with the network and other devices through the positioning device using wireless communication technology.

[0105] In the present application, the positioning device may be a real-time kinematic GPS (RTK-GPS). The RTK-GPS positioning method collects satellite data through access network equipment (such as base stations), and transmits its observation values ​​and site coordinate information to the RTK-GPS through a data link. The RTK-GPS performs real-time carrier phase differential processing on the collected satellite data and the received data link, so that centimeter-level positioning accuracy can be achieved.

[0106] Among them, the positioning device may include a positioning device 1 3109 (i.e., a first positioning module, such as RTK-GPS 1) and a positioning device 2 3110 (i.e., a second positioning module, such as RTK-GPS 2). The positioning device 1 3109 and the positioning device 2 3110 are used to provide a geographical location for the radar performance test device 310. It is understandable that the positioning device 1 3109 and the positioning device 2 3110 can specifically be receivers of positioning systems such as the global positioning system (GPS), the Beidou satellite navigation system, the Galileo satellite navigation system, or the Russian GLONASS. After receiving the geographical location sent by the above-mentioned positioning system, the positioning device 1 3109 and the positioning device 2 3110 send the information to the processor 3102 for processing. In some other embodiments, the positioning device 1 3109 and the positioning device 2 3110 may also be receivers of an assisted global satellite positioning system (AGPS). The AGPS system assists the positioning device 1 3109 and the positioning device 2 3110 to complete distance measurement and positioning services by acting as an auxiliary server. In this case, the auxiliary positioning server may communicate with the positioning device 1 3109 and / or the positioning device 2 3110 (i.e., a GPS receiver) through a wireless communication network to provide positioning assistance. In some other embodiments, the positioning device 1 3109 and the positioning device 2 3110 may also be a positioning technology based on a Wi-Fi access point. Since each Wi-Fi access point has a globally unique MAC address, the radar performance test device 310 can scan and collect the broadcast signals of the surrounding Wi-Fi access points when Wi-Fi is turned on, so the MAC address broadcast by the Wi-Fi access point can be obtained; the radar performance test device 310 sends these data that can identify the Wi-Fi access point (such as the MAC address) to the location server through the wireless communication network, and the location server retrieves the geographical location of each Wi-Fi access point, and calculates the geographical location of the radar performance test device 310 based on the strength of the Wi-Fi broadcast signal and sends it to the positioning device of the radar performance test device 310.

[0107] Wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include global positioning system (GPS), global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS) and / or satellite based augmentation systems (SBAS).

[0108] The indicator light 3111 can be used to indicate the charging status and the change of the power. Exemplarily, the radar performance test device 310 can indicate different information by making the indicator light 3111 emit lights of different colors. For example, the indicator light 3111 is always on to indicate that the power is low, and the indicator light 3111 flashes to indicate that the power is sufficient. In the present application, the indicator light 3111 can also be used by the radar data acquisition device 320 to determine whether the corner opening of the radar performance test device 310 is facing the radar data acquisition device 320, so as to successfully complete the radar performance test. The specific method for the radar data acquisition device 320 to determine whether the corner opening of the radar performance test device 310 is facing the radar data acquisition device 320 based on the light emitted by the indicator light 3111 will be described in detail below.

[0109] Speed ​​regulating plate 1 3103 is used to control motor 1 3105, so that motor 1 3105 controls driving wheel 3112 to accelerate or decelerate. Speed ​​regulating plate 2 3104 is used to control motor 2 3106, so that motor 2 3106 controls driving wheel 3113 to accelerate or decelerate. In some embodiments, speed regulating plate 1 3103 and speed regulating plate 2 3104 can also be connected to a reducer and / or accelerator to control the corresponding operation of the motor through the reducer and / or accelerator. Regarding the working principle of the speed regulating plate, motor, reducer and accelerator, reference can also be made to the introduction and description in the conventional technology, which will not be repeated here.

[0110] like Figure 3 As shown, the radar data acquisition device 320 includes a power supply 3201, an industrial computer 3202, a radar (including radar one 3203 and radar two 3204), a data collector 3205, a remote control radio frequency module 3206, an antenna 3207, a base station 3208, a positioning device (including positioning device three 3209 and positioning device four 3210), a rotating motor 3211, a display 3212 and an input device 3213 (i.e., an input module).

[0111] Understandably, Figure 3 The illustrated structure does not constitute a specific limitation on the radar data acquisition device 320. In other embodiments of the present application, the radar data acquisition device 320 may include more or fewer components than those shown in the figure, or combine some components, or split some components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0112] The industrial computer 3202 may include one or more processing units, for example, the industrial computer 3202 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0113] The industrial computer 3202 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the industrial computer 3202 is a high-speed cache memory. The memory may store instructions or data that the industrial computer 3202 has just used or cyclically used. If the industrial computer 3202 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the industrial computer 3202, and thus improves the efficiency of the system.

[0114] In some embodiments, the industrial computer 3202 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0115] The power supply 3201 is used to supply power to various components of the radar data acquisition device 320. The power supply 3201 may include a power management module, a charging management module, and a battery. For the functions, working principles, and connection methods between the power management module, the charging management module, and the battery, please refer to the above introduction and description of the power supply 3101 of the radar performance test device 310, which will not be repeated here.

[0116] The wireless communication function of the radar data acquisition device 320 can be realized by the antenna 3207 and the remote control radio frequency module 3206. Among them, the antenna 3207 is used to transmit and receive electromagnetic wave signals. The antenna 3207 can be used to cover a single or multiple communication frequency bands. The remote control radio frequency module 3206 can provide a solution for wireless communication including 2G / 3G / 4G / 5G applied to the radar data acquisition device 320. The remote control radio frequency module 3206 can include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The remote control radio frequency module 3206 can receive electromagnetic waves through the antenna 3207, and filter, amplify and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The remote control radio frequency module 3206 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 3207. In some embodiments, at least some functional modules of the remote control radio frequency module 3206 can be set in the industrial computer 3202. In some embodiments, at least some functional modules of the remote control RF module 3206 and at least some modules of the industrial computer 3202 can be set in the same device.

[0117] The remote control RF module 3206 can provide wireless communication solutions for application in the radar data acquisition device 320, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication technology (NFC), infrared technology (IR), etc.

[0118] In some embodiments, the antenna 3207 of the radar data collection device 320 is signal-connected to the remote control RF module 3206, so that the radar data collection device 320 can communicate with the network and other devices through the positioning device using wireless communication technology.

[0119] Among them, the positioning device can be RTK-GPS. The positioning device can include positioning device three 3209 (such as RTK-GPS3) and positioning device four 3210 (such as RTK-GPS 4). Positioning device three 3209 and positioning device four 3210 are used to provide the geographical location for the radar data acquisition device 320. It can be understood that positioning device three 3209 and positioning device four 3210 can specifically be receivers of positioning systems such as the Global Positioning System (GPS), Beidou Satellite Navigation System, Galileo Satellite Navigation System or Russia's GLONASS. After receiving the geographical location sent by the above positioning system, positioning device three 3209 and positioning device four 3210 send the information to the industrial computer 3202 for processing. In some other embodiments, positioning device three 3209 and positioning device four 3210 can also be receivers of an assisted global satellite positioning system (AGPS). The AGPS system assists positioning device three 3209 and positioning device four 3210 in completing ranging and positioning services by acting as an auxiliary server. In this case, the auxiliary positioning server can communicate with the industrial computer 3202 through a wireless communication network (such as Figure 3 The base station 3208 shown in the figure communicates with the positioning device three 3209 and / or the positioning device four 3210 (i.e., a GPS receiver) to provide positioning assistance. In some other embodiments, the positioning device three 3209 and the positioning device four 3210 can also be based on the positioning technology of the Wi-Fi access point. Since each Wi-Fi access point has a globally unique MAC address, the radar data acquisition device 320 can scan and collect the broadcast signals of the surrounding Wi-Fi access points when Wi-Fi is turned on, so the MAC address broadcasted by the Wi-Fi access point can be obtained; the radar data acquisition device 320 sends these data (such as MAC addresses) that can mark the Wi-Fi access point to the location server through the wireless communication network, and the location server retrieves the geographical location of each Wi-Fi access point, and combines the strength of the Wi-Fi broadcast signal to calculate the geographical location of the radar data acquisition device 320 and send it to the positioning device of the radar data acquisition device 320.

[0120] The display 3212 may be a touch screen. The touch screen includes a display panel and a touch panel. The display 3212 may be used to display information input by a user or information provided to a user and various menus. In the embodiment of the present application, when the touch panel detects a touch operation on or near it, it is transmitted to the industrial computer 3202 to determine the type of touch event (such as a single-click operation on the touch screen), and then the industrial computer 3202 determines the control instruction corresponding to the touch event according to the type of the touch event.

[0121] The input device 3213 may be a keyboard, a voice detection device, or a touch panel, etc. In the embodiment of the present application, the input device 3213 is used by a user to input a target position and / or motion parameters to which the radar performance test device 310 is to move.

[0122] The radar (including radar 1 3203 and radar 2 3204) detects the target object and determines the spatial position of the target object by transmitting radio. Specifically, the radar transmits electromagnetic waves and receives the echo (i.e., reflected waves) of the electromagnetic waves on the target object, thereby obtaining information such as the distance from the target object to the electromagnetic wave transmitting point (i.e., radar), the distance change rate (radial velocity), the azimuth or the altitude.

[0123] The data collector 3205 is used to obtain the echo (i.e., reflected wave) data from the target object received by the radar 1 3203 and / or the radar 2 3204, and feed the reflected wave data back to the industrial computer 3202, so that the industrial computer 3202 can analyze and obtain information such as the distance from the target object to the electromagnetic wave emission point (i.e., the radar), the distance change rate (radial velocity), the azimuth or the height, etc. The data collector 3205 is also used to obtain the target position and / or motion parameters to which the radar performance test device 310 is to move, which are input by the user through an input device (such as a keyboard, a voice detection device, or a touch panel), and feed the target position and / or motion parameters, etc. back to the industrial computer 3202, so that the industrial computer 3202 can instruct the remote control radio frequency module 3206 to send a control signal for indicating the above target position and / or motion parameters, etc. to the radar performance test device 310 through the antenna 3207.

[0124] The rotating motor 3211 is used to control the radar 1 3203 and / or the radar 2 3204 to rotate on the horizontal plane, thereby changing the emission direction of the radar wave. Regarding the working principle of the rotating motor, reference can be made to the introduction and description in the conventional technology, which will not be repeated here.

[0125] Please refer to Figure 4 , Figure 4 The figure shows a schematic diagram of the hardware structure of a radar performance test device. Figure 4 (a) shows a perspective view of a radar performance test device 310, Figure 4 (b) in FIG. 3 shows a schematic diagram of the base hardware structure of the radar performance test device 310. Figure 4As shown in (a), the radar performance test device 310 includes the cross-shaped base and the first vertical rod. The cross-shaped base includes four beams: a first beam 401, a second beam 402, a third beam 403 and a fourth beam 404, and the four beams form a cross. The first vertical rod 405 is detachably mounted at the center of the cross-shaped base. The cross-shaped base is equipped with a processor, a remote control radio frequency module, an antenna, two driving wheels and two driven wheels (such as universal wheels, also called omnidirectional wheels), two motors and two speed regulating plates for controlling the two driving wheels, indicator lights, two power supplies and two positioning devices.

[0126] Among them, Figure 4 As shown in (a), the indicator light 406 is arranged near the center of the upper surface of the cross-shaped base. The positioning device 3109 (i.e., the first positioning module, such as RTK-GPS 1) is installed near the center of the cross-shaped base and is symmetrically distributed on both sides of the first vertical rod 405 with the indicator light 406. The positioning device 3109 is used to locate the radar performance test device 310, and is used by the radar data acquisition device 320 to evaluate the performance indicators such as the distance detection accuracy of the radar according to the position information obtained by the positioning device 3109, combined with the position of the radar data acquisition device 320 determined by the radar data acquisition device 320 based on the reflection information. And, the radar data acquisition device 320 is used to evaluate the pitch angle detection accuracy of the radar according to the position information obtained by the positioning device 3109, combined with the position of the radar data acquisition device 320 determined by the radar data acquisition device 320 based on the reflection information and the installation position of the angle reflection on the radar performance test device 310.

[0127] Among some possible structures, such as Figure 4 As shown in (a), the first vertical rod 405 may have a scale for indicating the size. Exemplarily, in the present application, the scale on the bracket (such as the first vertical rod 405, and the first crossbar, the second vertical rod or the second crossbar, etc. hereinafter) may be accurate to the centimeter level or the millimeter level.

[0128] like Figure 4As shown in (b), the bottom of the first beam 401 is respectively installed with an antenna 3108, a remote control radio frequency module 3107, a speed regulating plate 1 3103, a motor 1 3105 and a driving wheel 1 3112 from near the center to the end, and the outer end of the first beam 401 is installed with a positioning device 2 3110 (such as RTK-GPS 2). Among them, the positioning device 2 3110 (i.e., the second positioning module) is used to cooperate with the positioning device 1 3109, and is used for the radar data acquisition device 320 to evaluate the azimuth detection accuracy of the radar according to the position information respectively obtained by the positioning device 1 3109 and the positioning device 2 3110, combined with the azimuth angle determined by the radar data acquisition device 320 based on the reflection information relative to the radar data acquisition device 320. The bottom of the second beam 402 is respectively installed with a processor 3102, a speed regulating plate 2 3104, a motor 2 3106 and a driving wheel 2 3113 from near the center to the end. Among them, the remote control radio frequency module 3107 and the antenna 3108 are symmetrically distributed with the processor 3102 relative to the center position of the cross-shaped base. The speed regulating plate 1 3103 and the speed regulating plate 2 3104 are symmetrically distributed relative to the center position of the cross-shaped base. The motor 2 3106 and the motor 2 3106 are symmetrically distributed relative to the center position of the cross-shaped base. The driving wheel 1 3112 and the driving wheel 2 3113 are symmetrically distributed relative to the center position of the cross-shaped base. The bottom of the third beam 403 is respectively installed with a power supply 1 407 and a driven wheel 1 3116 from the center position to the end. The bottom of the fourth beam 404 is respectively installed with a power supply 2 408 and a driven wheel 2 3117 from the center position to the end. Among them, the power supply 1 407 and the power supply 2 408 are symmetrically distributed relative to the center position of the cross-shaped base. The driven wheel 1 3116 and the driven wheel 2 3117 are symmetrically distributed relative to the center position of the cross-shaped base. It can be understood that by symmetrically arranging the various components on the cross-shaped base, the overall center of mass of the cross-shaped base can be made the collective center of the cross-shaped base, thereby improving the stability of the radar performance testing device 310 during movement.

[0129] Furthermore, in order to avoid the reflection of radar waves from the radar data acquisition device 320 by the base and / or bracket of the radar performance test device 310, which may interfere with the results of the radar performance test by the radar data acquisition device 320, and thus improve the reliability or accuracy of the response test results, an absorbing material may be coated on the base and / or bracket. The absorbing material may include magnetic lossy materials or electrical lossy materials, and may also include other materials with radar wave absorption capabilities. For the specific composition of the absorbing material, reference may be made to the composition of absorbing materials in conventional technology, and this application does not limit it.

[0130] It should be noted that, in the present application, one or more angle reflectors can be detachably mounted on the bracket according to the actual radar performance index measurement requirements. Specifically, one or more angle reflectors can be mounted on the bracket through detachable cross bars and / or vertical bars according to the actual radar performance index measurement requirements.

[0131] For example, when it is necessary to measure the performance indicators of the radar such as the distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, speed measurement accuracy, azimuth detection accuracy, elevation detection accuracy or target tracking continuity, the first vertical rod 405 can be connected to the first angle reflector 501, such as Figure 5 As shown in (a). Among them, the first angle reverse 501 is detachably connected to the first vertical rod 405 through the first connecting member 502. The opening of the first angle reverse 501 faces away from the indicator light 406. Specifically, the indicator light 406 is arranged on the first side of the first vertical rod 405, and the opening of the first angle reverse 501 faces the second side of the first vertical rod 405, and the second side is opposite to the first side. There is a scale for indicating the size on the first vertical rod 405. A hollow window is provided on the first connecting member 502, and the position of the hollow window corresponds to the position of the scale set on the first vertical rod 405. The hollow window makes the scale set on the first vertical rod 405 visible to the user, so that the user can read the specific installation position of the first angle reverse 501 conveniently.

[0132] Or, when it is necessary to measure the range resolution of the radar, such as Figure 5 As shown in (b), the first angle 501 can be connected to the first vertical rod 405, and the first horizontal rod 504 can be detachably connected to the first vertical rod 405 through the second connecting member 503. The second angle 507 is connected to the first horizontal rod 504. The extension direction of the first horizontal rod 504 is parallel to the opening direction of the first angle 501. In other words, the extension direction of the first horizontal rod 504 is parallel to the connection line between the indicator light 406 and the positioning device 3109 (i.e., the first positioning module). Specifically, as Figure 5 As shown in (b), the second vertical rod 506 can be detachably connected to the first horizontal rod 504 through the third connecting member 505, and the second angle reverse 508 can be detachably connected to the second vertical rod 506 through the fourth connecting member 507. Among them, the installation height of the second angle reverse 508 is lower than that of the first angle reverse 501. The opening of the first angle reverse 501 faces away from the indicator light 406, and the opening direction of the second angle reverse 508 is consistent with that of the first angle reverse 501. Among them, the first connecting member 502, the second connecting member 503, the third connecting member 505 and the fourth connecting member 507 are all provided with hollow windows, and the position of the hollow windows corresponds to the position of the scale set on the bracket. The hollow windows make the scale set on the bracket visible to the user, so that the user can read the specific installation position of each angle reverse conveniently.

[0133] Alternatively, when the pitch angle resolution of the radar needs to be measured, the first angle reflector 501 and the third angle reflector 509 can be connected to the first vertical rod 405, such as Figure 5 As shown in (c) in the figure. The first corner reverse 501 is detachably connected to the first vertical rod 405 through the first connecting member 502, and the opening of the first corner reverse 501 faces away from the indicator light 406. The third corner reverse 509 is detachably connected to the first vertical rod 405 through the fifth connecting member 510. The installation height of the third corner reverse 509 is lower than that of the first corner reverse 501. The opening direction of the third corner reverse 509 is consistent with that of the first corner reverse 501. The first connecting member 502 and the fifth connecting member 510 are both provided with hollow windows, and the position of the hollow windows corresponds to the position of the scale set on the bracket. The hollow windows make the scale set on the bracket visible to the user, so that the user can read the specific installation position of each corner reverse conveniently.

[0134] Alternatively, when the azimuth resolution of the radar needs to be measured, the second crossbar 511 can be connected to the first vertical rod 405. The fourth angle reflector 512 and the fifth angle reflector 513 are connected to the second crossbar 511, such as Figure 5 As shown in (d). Among them, the second cross bar 511 is detachably connected to the first vertical bar 405 through the sixth connecting member 514. The fourth corner reverse 512 is detachably connected to the second cross bar 511 through the seventh connecting member 515. The fifth corner reverse 513 is detachably connected to the second cross bar 511 through the eighth connecting member 516. The openings of the fourth corner reverse 512 and the fifth corner reverse 513 are in the same direction, and the openings of the fourth corner reverse 512 and the fifth corner reverse 513 are facing away from the indicator light 406. Among them, the sixth connecting member 514, the seventh connecting member 515 and the eighth connecting member 516 are all provided with hollow windows, and the position of the hollow windows corresponds to the position of the scale set on the bracket. The hollow windows make the scale set on the bracket visible to the user, so that the user can read the specific installation position of each corner reverse conveniently.

[0135] In the present application, the setting mode of the angle-reversed opening facing away from the indicator light 406 can be used by the radar data acquisition device 320 to determine whether the angle-reversed opening is facing the radar data acquisition device 320, thereby facilitating the subsequent radar performance test process. Specifically, if the light emitted by the indicator light 406 is blocked by the first vertical rod 405, resulting in the inability to see the luminous indicator light 406 from the position where the radar data acquisition device 320 is located, or the intensity of the light emitted by the indicator light 406 received by the radar data acquisition device 320 is less than a preset threshold, it means that the angle-reversed opening is facing the radar data acquisition device 320. If the luminous indicator light 406 can be seen from the position where the radar data acquisition device 320 is located, or the intensity of the light emitted by the indicator light 406 received by the radar data acquisition device 320 is greater than or equal to the preset threshold, it means that the angle-reversed opening is not facing the radar data acquisition device 320. Considering that the indicator light 406 is used by the radar data acquisition device 320 to determine whether the angle-reversed opening is facing the radar data acquisition device 320, it should be noted that in the present application, the diameter of the indicator light 406 is less than the diameter of the first vertical rod 405.

[0136] It should be noted that Figure 5 (a) Figure 5 (b) Figure 5 (c) and Figure 5 (d) is only an example of the hardware structure of the four radar performance test devices. When other performance indicators of the radar need to be measured, the structure of the bracket, the number of angle reflectors, and the installation position of the angle reflectors on the bracket can also be adjusted. For example, when it is necessary to test the recognition and positioning of the radar for large-scale targets (such as cars), the radar performance test device can also be used to simulate the key reflection points of the car to complete the above radar performance test, such as Figure 6 This application does not limit the use scenario of the radar performance test device and the specific structural setting of the upper corner of the bracket.

[0137] in addition, Figure 5 (a) Figure 5 (b) Figure 5 (c) Figure 5 (d) and Figure 6 The cross-shaped base is used as an example, and the present application does not limit the specific base shape of the radar performance test device. For example, the base of the radar performance test device can also be a disc-shaped base. The specific positions of the various components on the disc-shaped base (such as the driving wheel, the driven wheel, the processor, the speed control board, the motor, the remote control RF module, the antenna, the power supply, etc.) can also be set according to the principle of symmetrical distribution for the purpose of improving the stability of the radar performance test device. For example, the position setting of each component on the disc-shaped base can refer to Figure 5 and Figure 6The position settings of the various components on the cross-shaped base shown in .

[0138] Further optionally, in order to further improve the stability of the radar performance testing device 310, the size of the base of the radar performance testing device 310 (such as a cross-shaped base, a disc-shaped base, etc.) can also be set to be relatively larger.

[0139] It can be understood that based on the specific structure of the test device (including the radar performance test device 310 and the radar data acquisition device 320) introduced in this application, an automated, efficient and high-precision radar performance test can be provided. Specifically, the radar data acquisition device 320 can remotely control the radar performance test device 310 to move to the target position based on the actual experimental situation. For example, the radar data acquisition device 320 can accept the target position, movement speed or movement route that the radar performance test device 310 needs to move to, which is input by the tester through the input device 3213 based on the actual experimental requirements, and the remotely controlled radar performance test device 310 moves according to the instructions. During the movement of the radar performance test device 310, and after the radar performance test device 310 moves to the target position, the radar data acquisition device 320 will continuously emit radar waves at a preset frequency, and at the same time receive reflected waves from the radar performance test device 310 to complete the testing of radar distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution or target tracking continuity and other performance indicators.

[0140] The following combination Figure 3 , Figure 4 and Figure 5 The radar performance test device 310 shown, Figure 3 The radar data acquisition device 320 shown in the figure introduces the radar performance test method provided by the present application. A communication connection is established between the radar performance test device 310 and the radar data acquisition device 320.

[0141] like Figure 7 As shown, the radar performance test method provided in the present application may include the following steps S701-S706:

[0142] S701: The radar data acquisition device 320 sends a control signal to the radar performance test device 310. The control signal is used to instruct the radar performance test device 310 to move to a target position according to the control signal.

[0143] Exemplarily, the control signal may include the coordinates of the target position and a first instruction operation code. The first instruction operation code is used to indicate the control instruction. The first instruction operation code is used to instruct the radar performance test device 310 to move to the target position.

[0144] Specifically, the processor 3102 of the radar performance test device 310 can control the speed regulating plate 1 3103, the speed regulating plate 2 3104, the motor 2 3106 and the motor 2 3106 to cooperate in movement, so as to drive the driving wheel 1 3112 and the driving wheel 2 3113 to rotate, so as to move the base toward the target position. Exemplarily, the linear motion of the radar performance test device 310 is achieved by controlling the driving wheel 1 3112 and the driving wheel 2 3113 to move at the same speed. The turning and U-turn of the radar performance test device 310 are achieved by controlling the driving wheel 1 3112 and the driving wheel 2 3113 to move at a differential speed.

[0145] In some embodiments, the control signal may include the coordinates of the target position, the second instruction operation code and the motion parameters of the radar performance test device 310. Among them, the first instruction operation code is used to instruct the radar performance test device 310 to move to the target position according to the above-mentioned motion parameters. The motion parameters of the radar performance test device 310 at least include: the motion speed and / or motion route of the radar performance test device 310 moving to the target position. In this case, the processor 3102 of the radar performance test device 310 can control the speed regulating plate 1 3103, the speed regulating plate 2 3104, the motor 2 3106 and the motor 2 3106 to move in coordination to drive the driving wheel 1 3112 and the driving wheel 2 3113 to rotate, so that the base moves to the target position according to the motion parameters of the radar performance test device 310 included in the control signal.

[0146] S702: The radar performance testing device 310 moves toward the target position according to the received control signal.

[0147] In some embodiments, if the control signal received by the radar performance test device 310 includes the coordinates of the target position and a first instruction operation code, the radar performance test device 310 can complete instruction fetching and generate an operation control signal according to the first instruction operation code included in the control signal from the radar data acquisition device 320, thereby completing the control of the radar performance test device 310 to move toward the target position.

[0148] In some embodiments, if the control signal received by the radar performance test device 310 includes the coordinates of the target position, the second instruction operation code and the motion parameters of the radar performance test device 310, the radar performance test device 310 can complete the instruction fetching and generate the second operation control signal according to the second instruction operation code included in the control signal from the radar data acquisition device 320, and then complete the control of the radar performance test device 310 to move to the target position according to the received motion parameters.

[0149] S703: The radar data collection device 320 emits radar waves.

[0150] Among them, the radar in the radar data acquisition device 320 (such as radar one 3203 and / or radar two 3204) can emit radar waves at a preset frequency within the frequency domain range allowed for emission.

[0151] It should be noted that the radar data acquisition device 320 may execute step S703 after the radar performance test device 310 executes step S702, or may execute step S703 during the process of the radar performance test device 310 executing step S702. The specific execution time of step S703 may be determined by the specific test scenario, and this application does not limit it.

[0152] S704 . At least one corner of the radar performance testing device 310 receives and reflects the received radar wave.

[0153] It should be noted that the radar performance test device 310 executes step S704 and the radar data acquisition device 320 executes step S703 synchronously. That is, while the radar data acquisition device 320 transmits radar waves, at least one corner of the radar performance test device 310 continuously receives radar waves and reflects the received radar waves. The radar data acquisition device 320 also continuously receives radar waves (i.e., reflected waves) continuously reflected back by at least one corner of the radar performance test device 310. In this way, the radar data acquisition device 320 can measure various performance indicators of the radar in real time.

[0154] S705: The radar data collection device 320 obtains true value data. The true value data is used to represent at least one of: the installation position of at least one angle of reflected radar wave in the radar performance test device 310, the relative distance, relative speed, relative angle between the radar performance test device 310 and the radar data collection device 320, or the radar cross section of at least one angle of reflected radar wave.

[0155] The installation position of at least one angle of the reflected radar wave in the radar performance test device 310 can be received by the radar data acquisition device 320 according to the prompt of the user (such as the tester) on the interface (such as the first interface) on the display screen, and the input module (such as Figure 3 The input of the input device 3213 shown in the figure is pre-stored in the radar data acquisition device 320. Among them, the first interface is used to prompt the user to input the coordinates of the target position in the first interface. The installation position of at least one angle reflector for reflecting radar waves in the radar performance test device 310 can be obtained by the user (such as a tester) through the hollow window on the connecting piece for connecting the at least one angle reflector.

[0156] The relative distance R between the radar performance test device 310 and the radar data acquisition device 320 can be understood as the true value of the horizontal distance between the radar performance test device 310 and the radar data acquisition device 320. R can be calculated by the radar data acquisition device 320 based on the first position information measured by the positioning device 1 3109 (i.e., the first positioning module) reported by the radar performance test device 310, combined with the position information of the radar data acquisition device 320 measured by the positioning device 3 3209 (i.e., the third position information).

[0157] The relative speed between the radar performance test device 310 and the radar data acquisition device 320 can be calculated based on the relative distance R between the radar performance test device 310 and the radar data acquisition device 320 continuously calculated by the radar data acquisition device 320 .

[0158] The radar cross section of at least one angular reflection of the reflected radar wave can be calculated based on the area of ​​the at least one angular reflection illuminated by the radar and the working wavelength of the radar wave. For example, the radar cross section can be calculated based on the formula σ=4πA 2 / λ 2 The radar cross section of each angle is calculated. Among them, σ is the radar cross section of the angle, A is the area illuminated by the radar at the angle, and λ is the operating wavelength of the radar.

[0159] The relative angle (also called the relative azimuth, or the deflection angle of the radar performance test device 310) θ between the radar performance test device 310 and the radar data acquisition device 320 can be calculated based on the first position information measured by the positioning device one 3109 (i.e., the first positioning module) reported by the radar performance test device 310, the second position information measured by the positioning device two 3110 (i.e., the second positioning module), combined with the third position information measured by the positioning device three 3209 (i.e., the third positioning module) and the fourth position information measured by the positioning device four 3210 (i.e., the fourth positioning module).

[0160] For example, please refer to Figure 8 , Figure 8 FIG. 3 is a schematic diagram showing a method for obtaining the relative angle and relative distance between the radar performance test device 310 and the radar data acquisition device 320. Figure 8 As shown, the relative azimuth angle α between the radar performance test device 310 and the radar data collection device 320 is the angle between the straight line where the positioning device 1 3109 and the positioning device 2 3110 are located and the straight line where the positioning device 3 3209 and the positioning device 4 3210 are located. The relative distance between the radar performance test device 310 and the radar data collection device 320 is the horizontal distance between the positioning device 1 3109 and the positioning device 3 3209.

[0161] Among them, the positioning device three 3209 can be set at the radar one 3203 or the radar two 3204. The positioning device four 3210 can be set at the bottom center of the radar data collection device 320. Or it can be set inside the radar data collection device 320, and the line connecting it with the positioning device three 3209 is perpendicular to the ground. Or the positioning device four 3210 can also be set at other positions of the radar data collection device 320, which is not limited in the embodiment of the present application.

[0162] It should be noted that part of the true values ​​obtained by the radar data acquisition device 320 in step S705 can be obtained during the process of the radar performance test device 310 executing step S702. For example, the relative distance, relative speed, relative angle, or radar cross section of at least one angle of reflected radar waves between the radar performance test device 310 and the radar data acquisition device 320. Part of the true values ​​obtained by the radar data acquisition device 320 in step S705 can also be obtained by the radar data acquisition device 320 after obtaining other true values ​​and before the radar data acquisition device 320 executes step S706. For example, the installation position of at least one angle of reflected radar waves in the radar performance test device 310.

[0163] S706. The radar data acquisition device 320 analyzes the received reflected waves and obtains radar performance indicators in combination with the obtained true value data.

[0164] Among them, the radar performance indicators include at least: one or more of: distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution or target tracking continuity.

[0165] The following Figure 5 (a) Figure 5 (b) Figure 5 (c) or Figure 5 The radar performance test device of the structure shown in (d) and Figure 3 Taking the radar data acquisition device of the structure shown as an example, combined with several different radar performance test scenario examples, the radar performance test method under different radar performance test scenarios provided by the present application is specifically introduced.

[0166] Test scenario (I): Testing the radar’s distance detection range, azimuth detection range, and elevation detection range

[0167] When you need to test the radar's distance detection range, azimuth detection range, and elevation detection range, you can use Figure 5Specifically, the radar performance test device 310 is controlled by the radar data acquisition device 320 to gradually move away from the radar data acquisition device 320. In addition, when the radar performance test device 310 gradually moves away from the radar data acquisition device 320, the radar transmits radar waves according to a preset frequency and receives radar waves (i.e., reflected waves) reflected from the first angle reflection 501 of the radar performance test device 310.

[0168] The radar data acquisition device 320 may control the radar performance test device 310 to gradually move away from the radar data acquisition device 320 according to specified motion parameters (such as motion speed and / or motion route).

[0169] Assuming that the intensity of the reflected wave from the first angle reflector 501 received by the radar data acquisition device 320 at time t1 is higher than the preset signal strength threshold, the intensity of the reflected wave from the first angle reflector 501 received at time t2, the next time after time t1, is lower than the preset signal strength threshold, or when the reflected wave from the first angle reflector 501 cannot be received at time t2, the radar data acquisition device 320 considers that the distance between the position of the radar performance test device 310 at time t1 and the radar data acquisition device 320 is the maximum detection distance Rmax of the radar. The maximum detection distance Rmax is the distance detection range of the radar. That is to say, when the distance between the target object and the radar exceeds Rmax, the radar cannot accurately detect the distance between the target object and the radar.

[0170] Assume that the radar data acquisition device 320 determines that the azimuth of the first angle reflector 501 relative to the radar data acquisition device 320 is α1 based on the reflected wave from the first angle reflector 501 received at time t3. The radar data acquisition device 320 determines that the azimuth of the first angle reflector 501 relative to the radar data acquisition device 320 is α2 based on the reflected wave from the first angle reflector 501 received at time t4, the next time after time t3, and α2=α1, then the radar data acquisition device 320 considers α1 (or α2) as the azimuth detection range of the radar. That is to say, when the azimuth of the target object relative to the radar is greater than α1 (or α2), the radar cannot accurately detect the azimuth of the target object relative to the radar.

[0171] Assume that the radar data acquisition device 320 determines that the pitch angle of the first angle reflector 501 relative to the radar data acquisition device 320 is β1 based on the reflected wave from the first angle reflector 501 received at time t5. The radar data acquisition device 320 determines that the pitch angle of the first angle reflector 501 relative to the radar data acquisition device 320 is β2 based on the reflected wave from the first angle reflector 501 received at time t6, the next time after time t5, and β2=β1, then the radar data acquisition device 320 considers β1 (or β2) as the pitch angle detection range of the radar. That is to say, when the pitch angle of the target object relative to the radar is greater than β1 (or β2), the radar cannot accurately detect the pitch angle of the target object relative to the radar.

[0172] Test scenario (II): Testing the radar's distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, and speed measurement accuracy

[0173] When you need to test the radar's distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, and speed measurement accuracy, you can use Figure 5 The radar data acquisition device 320 shown in (a) is used to implement the above. Specifically, the radar performance test device 310 is controlled to move toward the target position by the radar data acquisition device 320. Also, during the movement of the radar performance test device 310 toward the target position, or after the radar performance test device 310 moves to the target position, the radar transmits radar waves at a preset frequency, and receives radar waves (i.e., reflected waves) reflected from the first angle reflection 501 of the radar performance test device 310. The radar data acquisition device 320 can also control the radar performance test device 310 to move to the target position according to specified motion parameters (such as motion speed and / or motion route).

[0174] As a test scenario, when the radar performance test device 310 moves to the target position, or after the radar performance test device 310 moves to the target position, the radar data acquisition device 320 can calculate the relative distance L1 between the first angle reflector 501 and the radar according to the reflected wave reflected by the radar wave emitted by the radar on the first angle reflector 501 of the radar performance test device 310. In addition, the radar data acquisition device 320 can also obtain the horizontal distance between the radar and the first angle reflector 501 according to the position information obtained by the positioning device three 3209 and the positioning device one 3109. The height of the first angle reflector 501 is read according to the hollow window on the first connecting member 502 used to connect the first angle reflector 501, and the vertical distance between the radar and the first angle reflector 501 is obtained in combination with the setting height of the radar. So as to calculate the true value L2 of the distance between the radar and the first angle reflector 501 according to the horizontal distance and vertical distance between the radar and the first angle reflector 501. Then, the distance detection accuracy of the radar can be obtained as |L1-L2|. By moving the radar performance testing device 310 to different positions, the distance detection accuracy of the radar for target objects at different distances can be measured.

[0175] As another test scenario, when the radar performance test device 310 moves toward the target position, the radar data acquisition device 320 can continuously calculate the real-time relative distance between the first angle reflector 501 and the radar (i.e., the real-time relative distance L1 between the radar performance test device 310 and the radar data acquisition device 320) based on the reflected waves reflected from the radar waves emitted by the radar on the first angle reflector 501 of the radar performance test device 310, and calculate the real-time movement speed v1 of the first angle reflector 501 in combination with the clock timing. In addition, the radar data acquisition device 320 can also obtain the horizontal distance between the radar and the first angle reflector 501 (i.e., the real-time distance true value L2 between the radar performance test device 310 and the radar data acquisition device 320) based on the position information obtained by the positioning device three 3209 and the positioning device one 3109, and calculate the real-time movement speed true value v2 of the radar performance test device 310 in combination with the clock timing. Then, the speed measurement accuracy of the radar can be obtained as |v1-v2|. By measuring the speed measurement accuracy of the radar during the movement of the radar performance testing device 310 , the speed measurement accuracy of the radar for target objects at different distances can be obtained.

[0176] As another test scenario, when the radar performance test device 310 moves toward the target position, or after the radar performance test device 310 moves to the target position, the radar data acquisition device 320 can determine the azimuth angle α3 of the first angle reflector 501 relative to the radar based on the reflected wave of the radar wave emitted by the radar reflected on the first angle reflector 501 of the radar performance test device 310. In addition, the radar data acquisition device 320 can also obtain the azimuth angle true value α4 of the first angle reflector 501 relative to the radar based on the position information obtained by the positioning device one 3109, the positioning device two 3110, the positioning device three 3209 and the positioning device four 3210. Then the azimuth detection accuracy of the radar can be obtained as |α3-α4|. By moving the radar performance test device 310 to different positions, the azimuth detection accuracy of the radar for target objects at different distances can be measured. Among them, the azimuth angle true value α4 of the first angle reflector 501 relative to the radar can refer to the embodiment of the present application. Figure 8 The following is an introduction to the method for determining the true value of the azimuth angle.

[0177] As another test scenario, when the radar performance test device 310 moves toward the target position, or after the radar performance test device 310 moves to the target position, the radar data acquisition device 320 can determine the pitch angle β3 of the first angle reflector 501 relative to the radar based on the reflected wave reflected by the radar wave emitted by the radar on the first angle reflector 501 of the radar performance test device 310. In addition, the radar data acquisition device 320 can also calculate the true value β4 of the pitch angle of the first angle reflector 501 relative to the radar based on the position information obtained by the positioning device 1 3109 and the positioning device 3 3209, combined with the height of the first angle reflector 501 read through the hollow window on the first connecting member 502 used to connect the first angle reflector 501. Then, the pitch angle detection accuracy of the radar can be obtained as |β3-β4|. By moving the radar performance test device 310 to different positions, the pitch angle detection accuracy of the radar for target objects at different distances can be measured.

[0178] Test scenario (III): Testing the ranging resolution of the radar

[0179] When you need to test the ranging resolution of the radar, you can Figure 5The radar data acquisition device 320 shown in (b) is implemented. Specifically, the radar performance test device 310 is controlled to move to the target position by the radar data acquisition device 320. During the movement of the radar performance test device 310 to the target position, or after the radar performance test device 310 moves to the target position, the radar transmits radar waves according to a preset frequency, and receives radar waves (i.e., reflected waves) reflected back from the first angle reflection 501 of the radar performance test device 310. Among them, the radar data acquisition device 320 can also control the radar performance test device 310 to move to the target position according to specified motion parameters (such as motion speed and / or motion route).

[0180] When the radar performance test device 310 moves to position A, the radar data acquisition device 320 can calculate the relative distance L501 between the first angle reflector 501 and the radar according to the reflected wave reflected by the radar wave emitted by the radar on the first angle reflector 501 of the radar performance test device 310. And, according to the reflected wave reflected by the second angle reflector 508 of the radar performance test device 310, the relative distance L508 between the second angle reflector 508 and the radar is calculated. Then, the horizontal distance L3 between the first angle reflector 501 and the second angle reflector 508 is calculated according to L501 and L508. Regarding the specific method of calculating the horizontal distance L3 between the first angle reflector 501 and the second angle reflector 508 according to L501 and L508, reference can be made to the conventional geometric calculation method, which will not be repeated here. In addition, the radar data acquisition device 320 can be combined with the true value L4 of the horizontal distance between the first angle reflector 501 and the second angle reflector 508 read through the hollow window on the third connecting member 505. Then the radar data acquisition device 320 can obtain the radar ranging resolution for the target object at position A as |L3-L4|. Fig. 9 As shown, by moving the radar performance test device 310 to different positions, the ranging resolution of the radar for target objects at different distances can be measured.

[0181] Test scenario (IV): Testing the radar’s elevation resolution

[0182] When the radar's elevation angle resolution needs to be tested, Figure 5 The radar data acquisition device 320 shown in (c) is used to implement the above. Specifically, the height of the radar is set at the middle height of the first angle reflector 501 and the third angle reflector 509. The radar performance test device 310 is controlled to gradually move away from the radar data acquisition device 320 by the radar data acquisition device 320. In the process that the radar performance test device 310 gradually moves away from the radar data acquisition device 320, the radar transmits radar waves at a preset frequency and receives radar waves (i.e., reflected waves) reflected from the first angle reflector 501 and the third angle reflector 509 of the radar performance test device 310.

[0183] The radar data acquisition device 320 calculates the pitch angles of the first angle reflector 501 and the third angle reflector 509 relative to the radar based on the reflected waves received in real time from the first angle reflector 501 and the third angle reflector 509. As the first angle reflector 501 and the third angle reflector 509 gradually move away from the radar, when the pitch angles of the first angle reflector 501 and the third angle reflector 509 relative to the radar calculated by the radar data acquisition device 320 are less than a preset angle threshold, it can be considered that the radar data acquisition device 320 is unable to distinguish the first angle reflector 501 and the third angle reflector 509 in the pitch dimension. In this case, if Fig.10 As shown, the horizontal distance L4 between the radar and the radar performance test device 310 can be calculated based on the position information obtained by the positioning device 1 3109 and the positioning device 3 3209. Combined with the distance L5 of the first angle reflection 501 and the third angle reflection 509, the elevation angle resolution θ of the radar can be calculated. β =2*arctan(L5 / (2*L4)). The distance L5 between the first corner inversion 501 and the third corner inversion 509 can be calculated by reading the height of the first corner inversion 501 through the hollow window on the first connecting member 502 and the height of the third corner inversion 509 through the hollow window on the fifth connecting member 510.

[0184] Test scenario (V): Testing the azimuth resolution of the radar

[0185] When the azimuth resolution of the radar needs to be tested, it can be done by Figure 5 The radar data acquisition device 320 shown in (d) is used to implement the above. Specifically, the height of the radar is set to be the same as the height of the second crossbar 511. The radar performance test device 310 is adjusted so that the radar is aligned with the center position of the line connecting the fourth angle reflector 512 and the fifth angle reflector 513. The radar performance test device 310 is controlled by the radar data acquisition device 320 to gradually move away from the radar data acquisition device 320. In the process of the radar performance test device 310 gradually moving away from the radar data acquisition device 320, the radar transmits radar waves at a preset frequency and receives radar waves (i.e., reflected waves) reflected from the fourth angle reflector 512 and the fifth angle reflector 513 of the radar performance test device 310.

[0186] The radar data acquisition device 320 calculates the azimuths of the fourth angle reflector 512 and the fifth angle reflector 513 relative to the radar based on the reflected waves received in real time from the fourth angle reflector 512 and the fifth angle reflector 513. As the fourth angle reflector 512 and the fifth angle reflector 513 gradually move away from the radar, when the elevation angles of the fourth angle reflector 512 and the fifth angle reflector 513 relative to the radar calculated by the radar data acquisition device 320 are less than a preset angle threshold, it can be considered that the radar data acquisition device 320 is unable to distinguish the fourth angle reflector 512 and the fifth angle reflector 513 in the horizontal dimension. In this case, if Fig.11 As shown, the horizontal distance L6 between the radar and the radar performance test device 310 can be calculated based on the position information obtained by the positioning device 1 3109 and the positioning device 3 3209. Combined with the distance L7 between the fourth angle inverse 512 and the fifth angle inverse 513, the azimuth resolution of the radar can be calculated as θα=2*arctan(L7 / (2*L6)). Among them, the distance L7 between the fourth angle inverse 512 and the fifth angle inverse 513 is calculated by reading the height of the fourth angle inverse 512 through the hollow window on the seventh connecting member 515, and the height of the fifth angle inverse 513 through the hollow window on the eighth connecting member 516.

[0187] It should be noted that, in the embodiment of the present application, the target tracking continuity of the radar is used to measure the ability of the radar to continuously detect the target object and determine the direction and position of the target object. The target tracking continuity of the radar can be measured in any of the above test scenarios. Regarding the acquisition principle and method of the target tracking continuity of the radar, reference can be made to the introduction and description in the conventional technology, which will not be repeated here.

[0188] It is understandable that the radar data acquisition device and radar performance test device in the present application include hardware structures and / or software modules corresponding to the execution of each function in order to realize the functions of any of the above-mentioned embodiments. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0189] The embodiment of the present application can divide the radar data acquisition device and the radar performance test device into functional modules. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0190] For example, when the functional modules are divided in an integrated manner, Fig.12 , which is a schematic diagram of the structure of a radar data acquisition device provided in an embodiment of the present application. The radar data acquisition device 320 may include a sending unit 1210 , a receiving unit 1220 , a storage unit 1230 , a processing unit 1240 and a positioning unit 1250 .

[0191] Among them, the sending unit 1210 is used to support the radar data acquisition device 320 to perform the above steps S701 or S703, and / or other processes for the technology described in this article. The receiving unit 1220 is used to support the radar data acquisition device 320 to receive the radar wave reflected by the radar performance test device 310 in step S704, and / or other processes for the technology described in this article. The storage unit 1230 is used to store at least one true value data (such as the installation position of each angle reflection, etc.) for calculating the radar performance index, and / or other processes for the technology described in this article. The processing unit 1240 is used to support the radar data acquisition device 320 to perform the above steps S705 or S706, and / or other processes for the technology described in this article. The positioning unit 1250 is used to obtain the position information of the radar data acquisition device 320 (such as the third position information or the fourth position information), and / or other processes for the technology described in this article.

[0192] like Fig.13 , which is a schematic diagram of a radar performance test device provided in an embodiment of the present application. The radar performance test device 310 may include a receiving unit 1310 , a motion unit 1320 , an angle reflection unit 1330 , a sending unit 1340 and a positioning unit 1350 .

[0193] Among them, the receiving unit 1310 is used to support the radar performance test device 310 to execute the control information transmitted by the radar data acquisition device 320 in step S701, and / or other processes of the technology described in this article. The motion unit 1320 is used to support the radar performance test device 310 to execute the above step S702, and / or other processes of the technology described in this article. The angle reflection unit 1330 is used to support the radar performance test device 310 to execute the above step S704, and / or other processes of the technology described in this article. The angle reflection unit 1330 includes at least one corner reflector set on the bracket. The positioning unit 1350 is used to support the radar performance test device 310 to obtain the position information (such as the first position information or the second position information) of the radar performance test device 310, and / or other processes of the technology described in this article. The sending unit 1340 is used to support the radar performance test device 310 to send the position information (such as the first position information or the second position information) to the radar data acquisition device 320, and / or other processes of the technology described in this article.

[0194] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0195] It should be noted that the above-mentioned sending unit 1210, receiving unit 1220, receiving unit 1310 and sending unit 1340 may include a radio frequency circuit. Specifically, the radar data acquisition device 320 can receive and send wireless signals through the radio frequency circuits in the sending unit 1210 and the receiving unit 1220. The radar performance test device 310 can receive and send wireless signals through the radio frequency circuits in the receiving unit 1310 and the sending unit 1340. Generally, the radio frequency circuit includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc. In addition, the radio frequency circuit can also communicate with other devices through wireless communication. The wireless communication can use any communication standard or protocol, including but not limited to global system for mobile communications, general packet radio service, code division multiple access, wideband code division multiple access, long term evolution, email, short message service, etc.

[0196] The embodiment of the present application also provides a computer-readable storage medium on which instructions are stored. When the instructions are executed, the method of the radar data acquisition device 320 or the radar performance testing device 310 in the above method embodiment is executed.

[0197] The embodiment of the present application also provides a computer program product including instructions, which, when executed, executes the method of the radar data acquisition device 320 or the radar performance testing device 310 in the above method embodiment.

[0198] The present application also provides a radar performance test system. For example, the radar performance test system can be composed of Fig.12 The radar data acquisition device 320 and Fig.13 The radar performance test device 310 shown is composed of the radar performance test device 310. The radar performance test system is used to implement the radar performance test method in any possible implementation manner provided in the present application, and complete the test of one or more radar performance indicators.

[0199] As another form of this embodiment, a chip system is provided, which includes a processor and a memory, wherein instructions are stored in the memory; when the instructions are executed by the processor, the radar performance test method in any possible implementation provided in the present application is implemented. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0200] In an optional manner, when data transmission is implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is implemented in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0201] The steps of the method or algorithm described in conjunction with the embodiments of the present application can be implemented in a hardware manner, or can be implemented by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a detection device. Of course, the processor and the storage medium can also be present in the detection device as discrete components.

[0202] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0203] In the several embodiments provided in the present application, it should be understood that the disclosed user equipment and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0204] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0205] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0206] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0207] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A radar performance test device, characterized in that: include: A base; the base includes a processing module, a wireless communication module and two driving modules, and the wireless communication module and the two driving modules are respectively connected to the processing module by signal; two driving wheels and at least one group of driven wheels are arranged at the bottom of the base, and each group of driven wheels includes two universal wheels; wherein the two driving wheels are symmetrically arranged relative to the center of the base, and the two universal wheels are symmetrically arranged relative to the center of the base; each driving module is connected to a driving wheel for driving the driving wheel; The base also includes a first positioning module, which is arranged near the center of the base; the wireless communication module is also used to: send first position information to the radar data acquisition device; the first position information is acquired by the first positioning module; The base also includes a second positioning module, which is arranged at a position away from the center of the base; the wireless communication module is also used to: send second position information to the radar data acquisition device; the second position information is acquired by the second positioning module; A bracket fixedly connected to the base; at least one corner reflector mountable on the bracket; wherein the corner reflector is used to reflect radar waves from the radar data acquisition device; Wherein, the wireless communication module is used to: receive a control signal from the radar data acquisition device, and the control signal is used to indicate the target position of the radar performance test device; The processing module is used to control the driving module to operate so as to drive the driving wheel to rotate and move the base toward the target position.

2. The radar performance testing device according to claim 1, characterized in that: The control signal is also used to indicate the motion parameters of the radar performance test device; wherein the motion parameters at least include: the motion speed and / or motion route of the radar performance test device moving toward the target position; The processing module is specifically used to control the driving module to operate so as to drive the driving wheel to rotate, so that the base moves toward the target position according to the motion parameters.

3. The radar performance testing device according to claim 1 or 2, characterized in that: The bracket comprises a first vertical rod, the lower end of which is fixedly connected to the center position of the base; Wherein, the first vertical rod is used to install the corner reflector; the position of the corner reflector on the first vertical rod is set by the user.

4. The radar performance testing device according to claim 3, characterized in that: A first corner reflector is installed on the first vertical rod.

5. The radar performance test device according to claim 4, characterized in that: The bracket also includes a first cross bar, which is fixedly connected to the first vertical bar and perpendicular to the first vertical bar; the extension direction of the first cross bar is parallel to the opening direction of the first corner reflector; a second corner reflector is installed on the first cross bar; the opening direction of the second corner reflector is consistent with that of the first corner reflector.

6. The radar performance test device according to claim 4, characterized in that: A third corner reflector is also mounted on the first vertical rod; the opening direction of the third corner reflector is consistent with that of the first corner reflector.

7. The radar performance test device according to claim 3, characterized in that: The bracket also includes a second crossbar, on which a fourth corner reflector and a fifth corner reflector are mounted; the opening directions of the fourth corner reflector and the fifth corner reflector are consistent.

8. The radar performance testing device according to claim 3, characterized in that: An indicator light is arranged on the base, near the center of the base, and the indicator light is arranged on the first side of the first vertical rod; The opening of the at least one corner reflector faces a second side of the first vertical rod, and the second side is opposite to the first side.

9. The radar performance test device according to claim 1 or 2, characterized in that: The bracket is provided with scales for indicating the size.

10. The radar performance test device according to claim 9, characterized in that: The at least one corner reflector is mounted on the first vertical rod, the first cross rod and / or the second cross rod through a connecting member; The connecting member includes a hollow window. When the at least one corner reflector is mounted on the bracket through the connecting member, the position of the hollow window corresponds to the position of the scale, so that the scale is visible to the user.

11. The radar performance test device according to claim 1 or 2, characterized in that: The base is a cross-shaped base, and the cross-shaped base includes four beams, and the four beams form a cross shape; a group of driven wheels are arranged at the bottom of the cross-shaped base; Wherein, a driving wheel and a driving module are respectively arranged at the bottom of the ends of two opposite beams of the cross-shaped base, and a driven wheel and a driving module are respectively arranged at the bottom of the ends of the other two opposite beams.

12. The radar performance test device according to claim 1 or 2, characterized in that: The second positioning module is arranged in a beam of the cross-shaped base.

13. The radar performance test device according to claim 1 or 2, characterized in that: The outer surface of the base except the bottom is covered with a coating, and the coating is used to prevent the base from reflecting received radar waves.

14. A radar data acquisition device, characterized in that: include: A radar, a wireless communication module, a memory and a processing module; the radar, the memory and the wireless communication module are respectively connected to the processing module by signal; the memory stores computer-executable instructions; The radar is used to: transmit and receive radar waves; The processing module is used to: execute the instruction, send a control signal to the radar performance test device through the wireless communication module, and the control signal is used to instruct the radar performance test device to move to the target position; The wireless communication module is further used to: receive first location information of the radar performance test device from the radar performance test device; wherein the first location information is used to determine the location of the radar performance test device; The wireless communication module is further used to: receive second position information of the radar performance test device from the radar performance test device; wherein the second position information is used to determine the deflection angle of the radar performance test device; The processing module is also used to analyze the radar waves received by the radar and obtain radar performance indicators.

15. The radar data acquisition device according to claim 14, characterized in that: The radar data acquisition device further comprises: a display screen and an input module; the display screen and the input module are respectively connected to the processing module by signal; The display screen is used to: display a first interface, where the first interface is used to set the target position; The input module is used to receive the target position input by the user on the first interface.

16. The radar data acquisition device according to claim 15, characterized in that: The first interface is also used to set the motion parameters of the radar performance test device; wherein the motion parameters at least include: the motion speed and / or motion route of the radar performance test device moving toward the target position; The input module is also used to: receive the motion parameters input by the user on the first interface; Wherein, the control signal is also used to instruct the radar performance testing device to move toward the target position according to the motion parameters.

17. The radar data acquisition device according to any one of claims 14 to 16, characterized in that: The radar data collection device further includes: a third positioning module, and the third positioning module is used to obtain the position information of the radar data collection device.

18. The radar data acquisition device according to claim 17, characterized in that: The radar data collection device further includes: a fourth positioning module, and the fourth positioning module is used to cooperate with the third positioning module to obtain the deflection angle of the radar data collection device.

19. The radar data acquisition device according to any one of claims 14 to 16, characterized in that: The radar performance indicators include at least one or more of: distance detection range, azimuth detection range, elevation detection range, distance detection accuracy, azimuth detection accuracy, elevation detection accuracy, speed measurement accuracy, ranging resolution, azimuth resolution, elevation resolution or target tracking continuity.

20. A radar performance test system, characterized in that: The radar performance test system comprises a radar performance test device as described in any one of claims 1 to 13, and a radar data acquisition device as described in any one of claims 14 to 19.

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