Millimeter wave radar performance testing device and testing method

Abstract

The present invention discloses a millimeter wave radar performance test device, comprising: a test platform, a millimeter wave radar and a rangefinder arranged on the test platform; and a test machine, which can communicate with the millimeter wave radar and the rangefinder and receive the measurement data of the millimeter wave radar and the rangefinder; wherein the millimeter wave radar and the rangefinder measure a movable target to be measured, and the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured. The above test device can be used to test the maximum working distance, target distance accuracy, maximum detection angle, target azimuth angle measurement accuracy, target speed accuracy, obstacle detection accuracy and missed detection rate of the millimeter wave radar.

Description

Technical Field

[0001] The present invention relates to the technical field of radar performance testing, and in particular to a millimeter wave radar performance testing device and a method for testing the performance of a millimeter wave radar using the device. Background Art

[0002] In recent years, with the third wave of artificial intelligence technology, driverless technology has gradually become a mainstream research field with the help of machine learning. The configuration of sensors has become a key part of driverless technology. It is necessary to consider the landing cost after the technology matures and to ensure the safety of driverless vehicles. Although lidar can meet most of the needs, it is expensive and has a short service life, requiring frequent maintenance. Correspondingly, millimeter-wave radar has become an optional alternative. It is not only unaffected by visible light, but also has strong penetration ability, and its performance can be guaranteed in rainy and foggy weather. At the same time, automotive millimeter-wave radar can also detect target information in front of and around the vehicle, helping the driver to judge dangerous information in advance, and has a series of advantages such as wide coverage, small size, light weight, high positioning accuracy, and low cost. In order to ensure the performance of automotive millimeter-wave radar in actual use, its function needs to be tested during the stage of automotive millimeter-wave radar installation and offline, and evaluation indicators need to be selected for the corresponding tests. Summary of the invention

[0003] The present invention is made to solve the above technical problems, and its purpose is to provide a millimeter wave radar performance test device, and to provide a method for testing various performances of the millimeter wave radar using the device. The above test device and test method can reasonably and effectively evaluate various performances of the millimeter wave radar.

[0004] In order to achieve the above-mentioned purpose, the millimeter-wave radar performance testing device of the present invention comprises: a testing platform, a millimeter-wave radar and a rangefinder arranged on the testing platform; and a testing machine, which can communicate with the millimeter-wave radar and the rangefinder and receive the measurement data of the millimeter-wave radar and the rangefinder; wherein the millimeter-wave radar and the rangefinder measure a movable target to be measured, and the vertical center lines of the millimeter-wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter-wave radar and the target to be measured.

[0005] In addition, preferably, the target to be measured is placed at a specified standard distance in front of the millimeter-wave radar, and the position of the rangefinder is adjusted along the direction of the line connecting the millimeter-wave radar and the target to be measured, so that the distances of the target to be measured by the rangefinder and the millimeter-wave radar are the same; the target to be measured moves at a uniform speed along the direction of the line connecting the millimeter-wave radar and the target to be measured until the target to be measured is lost in the detection data of the millimeter-wave radar, and the distance d of the target to be measured measured by the rangefinder at this time is recorded. las Repeat the above measurement process n times, and the final maximum test distance of the millimeter wave radar is d max =∑d las / n, where d max is the maximum test distance of the millimeter wave radar, d las It is the detection distance of the millimeter wave radar to the target each time the above measurement process is performed.

[0006] In addition, preferably, the target to be measured is placed at a specified standard distance in front of the millimeter-wave radar, and the position of the rangefinder is adjusted along the direction of the line connecting the millimeter-wave radar and the target to be measured, so that the distances of the target to be measured by the rangefinder and the millimeter-wave radar are the same; the target to be measured is randomly moved n times along the direction of the line connecting the millimeter-wave radar and the target to be measured, and the distance measured by the rangefinder each time is recorded as d las_i , record the distance measured by the millimeter wave radar each time as d rad_i The test machine calculates the target distance accuracy dis_acc of the millimeter wave radar according to the following formula:

[0007] d i =d las_i -d rad_i ,

[0008]

[0009]

[0010] Where i = (1, 2, 3, ..., n), d i is the difference between the detection distances of the rangefinder and the millimeter-wave radar to the target each time the above measurement process is performed, E(d) is the d value of n measurements i The average value of and dis_acc are the target distance accuracy of the millimeter wave radar.

[0011] In addition, preferably, in front of the millimeter-wave radar, a 180° arc is set with a specified radius and the millimeter-wave radar as the center, as the moving trajectory of the corner reflector; the corner reflector is placed with one end of the arc as the starting point, and the corner reflector is moved along the arc-shaped moving trajectory to the other end with a specified angle as a step length until the millimeter-wave radar detects the corner reflector, and the angle value θ1 of the position of the corner reflector at this time is recorded, wherein the angle value of the initial position of the corner reflector is 0°; the corner reflector is placed at a position on the arc-shaped moving trajectory with an angle value of θ1-prescribed angle, and then moved along the arc-shaped moving trajectory to the other end with a step length of 1° until the millimeter-wave radar detects the corner reflector, and the angle value θ2 of the position of the corner reflector at this time is recorded; the testing machine calculates the maximum detection angle θ of the millimeter-wave radar max , the calculation formula is: max =180°-2θ2.

[0012] In addition, preferably, the target to be measured is randomly placed within the detectable range of the millimeter wave radar, and the distance d of the target to be measured is measured using the rangefinder. las_i , and measure the distance d between the target and the center line of the millimeter wave radar detection range t_i , then the real azimuth angle ang of the target 3 is T_i =arcsin(d t_i / d las_i ), the azimuth angle of the target measured by the millimeter wave radar is recorded as ang C_i Repeat the above measurement process n times, and the test machine calculates the target azimuth measurement accuracy ang_acc according to the following formula:

[0013] ang i =ang T_i -ang C_i ,

[0014]

[0015]

[0016] Where i = (1, 2, 3, ..., n), ang i is the difference in azimuth of the target measured by the rangefinder and the millimeter-wave radar each time the above measurement process is performed, E(ang) is the ang measured n times i The average value of ang_acc is the target azimuth angle measurement accuracy of the millimeter wave radar.

[0017] In addition, the present invention also provides a millimeter wave radar performance test device, which includes: a test platform; a millimeter wave radar, a first satellite positioning device and a test machine arranged on the test platform, wherein the first satellite positioning device is arranged on the front side of the test platform; and a second satellite positioning device arranged on the target to be measured; when the target to be measured moves on the road in front of the test platform, the moving time is t, and the longitude and latitude coordinates of the target to be measured by the millimeter wave radar are marked as The latitude and longitude coordinates of the target measured by the second satellite positioning device are marked as The latitude and longitude coordinates of the test platform measured by the first satellite positioning device are in The calculation formula is:

[0018]

[0019] Where r is the distance of the target measured by the millimeter wave radar, θ is the current heading obtained by the first satellite positioning device, DR = π / 180; the test machine calculates the error δ between the positions of the target measured by the second satellite positioning device and the millimeter wave radar at any time within the moving time t i , and statistics within the moving time tδ i ≤δ TH The number of TP and δ i >δ TH The number of times FN, where δ TH is the specified error judgment threshold; the accuracy P and the false detection rate FA of the millimeter wave radar when measuring the measured target are calculated according to the following formula:

[0020] P=TP / (TP+FP)

[0021] FA=1-P.

[0022] In addition, the present invention also provides a millimeter wave radar performance test method, which includes: arranging a millimeter wave radar and a rangefinder on a test platform so that the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; the target to be measured is placed at a specified standard distance in front of the millimeter wave radar, and the position of the rangefinder is adjusted along the direction of the line between the millimeter wave radar and the target to be measured so that the distances of the rangefinder and the target to be measured are the same; the target to be measured moves at a uniform speed along the direction of the line between the millimeter wave radar and the target to be measured until the target to be measured is lost in the detection data of the millimeter wave radar, and the distance d of the target to be measured measured by the rangefinder at this time is recorded. lasRepeat the above measurement process n times, and the final maximum test distance of the millimeter wave radar is d max =∑d las / n, where d max is the maximum test distance of the millimeter wave radar, d las It is the detection distance of the millimeter wave radar to the target each time the above measurement process is performed.

[0023] In addition, the present invention also provides a millimeter wave radar performance test method, which includes: arranging a millimeter wave radar and a rangefinder on a test platform so that the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; the target to be measured is placed at a specified standard distance in front of the millimeter wave radar, and the position of the rangefinder is adjusted along the direction of the line between the millimeter wave radar and the target to be measured so that the distance between the rangefinder and the target to be measured is the same; the target to be measured is randomly moved n times along the direction of the line between the millimeter wave radar and the target to be measured, and the distance measured by the rangefinder each time is recorded as d las_i , record the distance measured by the millimeter wave radar each time as d rad_i The test machine calculates the target distance accuracy dis_acc of the millimeter wave radar according to the following formula:

[0024] d i =d las_i -d rad_i

[0025]

[0026]

[0027] Where i = (1, 2, 3, ..., n), d i is the difference between the detection distances of the rangefinder and the millimeter-wave radar to the target each time the above measurement process is performed, E(d) is the d value of n measurements i The average value of and dis_acc are the target distance accuracy of the millimeter wave radar.

[0028] In addition, the present invention also provides a millimeter wave radar performance test method, which includes: arranging a millimeter wave radar and a rangefinder on a test platform so that the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; in front of the millimeter wave radar, with the millimeter wave radar as the center and a 180° arc with a specified radius as the moving trajectory of the corner reflector; placing the corner reflector with one end of the arc as the starting point, and making the corner reflector move with a specified angle as the step length Move toward the other end along the circular arc moving track until the millimeter wave radar detects the corner reflector, and record the angle value θ1 of the position of the corner reflector at this time, wherein the angle value of the initial position of the corner reflector is 0°; place the corner reflector at a position with an angle value of θ1-prescribed angle on the circular arc moving track, and then move toward the other end along the circular arc moving track with a step length of 1° until the millimeter wave radar detects the corner reflector, and record the angle value θ2 of the position of the corner reflector at this time; the test machine calculates the maximum detection angle θ of the millimeter wave radar max , the calculation formula is: max =180°-2θ2.

[0029] In addition, the present invention also provides a millimeter wave radar performance test method, which comprises: arranging a millimeter wave radar and a rangefinder on a test platform, so that the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; randomly placing the target to be measured within the detectable range of the millimeter wave radar, and using the rangefinder to measure the distance d of the target to be measured. las_i , and measure the distance d between the target and the center line of the millimeter wave radar detection range t_i , then the true azimuth angle ang of the target being measured T_i =arcsin(d t_i / d las_i ), the azimuth angle of the target measured by the millimeter wave radar is recorded as ang Ci Repeat the above measurement process n times, and the test machine calculates the target azimuth measurement accuracy ang_acc according to the following formula:

[0030] ang i =ang T_i -ang C_i ,

[0031]

[0032]

[0033] Where i = (1, 2, 3, ..., n), ang i is the difference in azimuth of the target measured by the rangefinder and the millimeter-wave radar each time the above measurement process is performed, E(ang) is the ang measured n times i The average value of ang_acc is the target azimuth angle measurement accuracy of the millimeter wave radar.

[0034] According to the present invention as described above, the maximum working distance, target distance accuracy, maximum detection angle, target azimuth angle measurement accuracy, target speed accuracy, and obstacle detection accuracy, missed detection rate and other performance parameters of the millimeter-wave radar can be tested, which is beneficial to promoting the development of the millimeter-wave radar industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of the millimeter wave radar performance testing device involved in Example 1 of the present invention.

[0036] Figure 2 It is a schematic diagram of the millimeter wave radar performance testing device of the present invention when measuring the maximum detection angle.

[0037] Figure 3 It is a schematic diagram of the millimeter wave radar performance testing device of the present invention when measuring the target azimuth angle measurement accuracy.

[0038] Figure 4 This is a schematic diagram of the structure of the millimeter wave radar performance testing device involved in Example 2 of the present invention.

[0039] Reference numerals:

[0040] Test platform 1, test machine 2, target to be tested 3, first satellite positioning device 4, millimeter wave radar 5, rangefinder 6, second satellite positioning device 7. DETAILED DESCRIPTION

[0041] In the following description, for the purpose of illustration, in order to provide a comprehensive understanding of one or more embodiments, many specific details are set forth. However, it is apparent that these embodiments may also be implemented without these specific details. In other examples, for ease of describing one or more embodiments, known structures and devices are shown in the form of block diagrams.

[0042] Example 1

[0043] Figure 1 1 is a schematic diagram of the structure of the millimeter wave radar performance test device involved in Example 1 of the present invention. The target to be measured is set to be a moving car, but it is not limited thereto. The target to be measured may also be a person or other movable object.

[0044] like Figure 1As shown, the millimeter wave radar performance test device in this embodiment includes: a test platform 1, a test machine 2, a target 3, a corner reflector (not shown in the figure), a millimeter wave radar 5 and a rangefinder 6. Here, the rangefinder 6 can be a laser rangefinder or a distance measuring device of other types, and its distance measurement accuracy is preferably at the centimeter level or higher.

[0045] A millimeter-wave radar 5 and a rangefinder 6 are set on the test platform 1. The rangefinder 6 is connected to the test machine 2 for communication. The ranging data is used for initializing the millimeter-wave radar 5 and can also be used as reference data for related parameters of the millimeter-wave radar 5, such as the maximum working distance of the millimeter-wave radar 5, target distance accuracy, target speed accuracy, etc.

[0046] In addition, the test machine 2 can also be set on the test platform 1, and communicate with the rangefinder 6 and the millimeter wave radar 5. Here, the communication connection can be connected by a data line or by wireless communication. Of course, the test machine 2 can also be placed in other locations that are convenient for testing, such as offices, etc. At this time, the test machine and the laser rangefinder 6 and the millimeter wave radar 5 are connected by remote communication. The test machine 2 processes the detection data from the millimeter wave radar 5 and the rangefinder 6, and adjusts the initialization of the millimeter wave radar 5 according to the data of the rangefinder 6, and then calculates the relevant performance parameters of the millimeter wave radar 5.

[0047] The specification of the corner reflector is preferably an equilateral triangle, which is used to test the detection angle range of the millimeter wave radar, wherein the placement position of the corner reflector is based on the center position of the equilateral triangle.

[0048] [Maximum working distance test]

[0049] Next, combine Figure 1 The following describes a technical solution for testing the maximum operating distance of a millimeter-wave radar using the millimeter-wave radar performance testing device involved in this embodiment.

[0050] First, the millimeter wave radar 5 as the test object is set on the test platform 1, and the laser rangefinder 6 is placed above the millimeter wave radar, so that the vertical center lines of the two are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target.

[0051] Then, the target 3 is placed at a specified standard distance (e.g., 1 meter) in front of the millimeter wave radar 5, and the position of the rangefinder 6 is adjusted along the line connecting the millimeter wave radar 5 and the target 3 to make the distance between the rangefinder 6 and the target 3 measured by the millimeter wave radar 5 the same. The purpose is to calibrate the initial measurement value of the millimeter wave radar 5.

[0052] Secondly, the target 3 is moved forward at a uniform speed along the line connecting the millimeter wave radar 5 and the target 3 (i.e., away from the millimeter wave radar 5) until the target 3 is lost in the detection data of the millimeter wave radar 5, and the distance d of the target 3 measured by the rangefinder 6 at this time is recorded. las .

[0053] For example, when a simulated tool man is used as the target 3 to be measured, the simulated tool man is moved forward (away from the millimeter-wave radar to be measured) at a speed of 1.5 m / s, and the real-time detection data of the millimeter-wave radar 5 is observed. When the position of the simulated tool man is not displayed in the detection data of the millimeter-wave radar 5, the distance of the simulated tool man measured by the rangefinder 6 at this time is used as the maximum detection distance of the millimeter-wave radar 5 to the simulated tool man.

[0054] For example, when the target 3 to be measured is a car, the car is moved forward (away from the millimeter-wave radar to be measured) at a speed of 20 km / h, and the real-time detection data of the millimeter-wave radar 5 is observed. When the position of the car is no longer displayed in the detection data of the millimeter-wave radar 5, the distance of the car measured by the rangefinder 6 at this time is used as the maximum detection distance of the millimeter-wave radar 5 to the car.

[0055] Then, the above measurement process is repeated n times, and the final maximum test distance of the millimeter wave radar 5 is d max =∑d las / n. Where d max is the maximum test distance of the millimeter wave radar 5, d las It is the maximum detection distance of the millimeter wave radar 5 to the measured target each time the above measurement process is performed.

[0056] In this embodiment, the test machine 2 can calculate the final maximum test distance d of the millimeter wave radar 5. max =∑d las / n.

[0057] [Target distance accuracy test]

[0058] Below, refer to Figure 1 Describe the technical solution for testing the target distance accuracy of millimeter wave radar.

[0059] First, the millimeter-wave radar 5 as the test object is set on the test platform 1, and the rangefinder 6 is placed above the millimeter-wave radar 5, so that the vertical center lines of the two are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter-wave radar and the target.

[0060] Then, the target 3 is placed at a specified standard distance (for example, 1 meter) in front of the millimeter-wave radar 5, and the position of the rangefinder 6 is adjusted along the direction of the line connecting the millimeter-wave radar 5 and the target 3, so that the distance between the rangefinder 6 and the target 3 measured by the millimeter-wave radar 5 is the same, the purpose of which is to calibrate the initial measurement value of the millimeter-wave radar 5.

[0061] Afterwards, the target 3 is randomly moved n times along the line connecting the millimeter wave radar 5 and the target 3, and the distance measured by the rangefinder 6 each time is recorded as d las_i , record the distance measured by millimeter wave radar 5 each time as d rad_i , d las_i is the distance between the target 3 and the rangefinder 6 measured by the rangefinder 6, d rad_i is the distance between the target 3 and the millimeter wave radar 5 measured by the millimeter wave radar 5. Then, the target distance accuracy dis_acc of the millimeter wave radar is calculated according to the following formula:

[0062] d i =d las_i -d rad_i ,

[0063]

[0064]

[0065] Where i = (1, 2, 3, ..., n), d i is the difference between the detection distances of the rangefinder and the millimeter-wave radar to the target each time the above measurement process is performed, E(d) is the d value of n measurements i The average value of and dis_acc are the target distance accuracy of the millimeter wave radar.

[0066] In this embodiment, the target distance accuracy dis_acc of the millimeter wave radar may be calculated by the test machine 2 .

[0067] [Maximum detection angle test]

[0068] Next, combine Figure 2 Describe the technical solution for testing the maximum detection angle of millimeter-wave radar.

[0069] First, the millimeter-wave radar 5 as the object to be tested is set on the test platform 1. In front of the millimeter-wave radar 5, a 180° arc is set with a specified radius (for example, 5m) with the millimeter-wave radar 5 as the center, which is used as the moving trajectory of the corner reflector.

[0070] Then, the corner reflector is placed with one end of the arc as the starting point, and moves along the arc-shaped moving track toward the other end at a specified angle (e.g., 10°) as a step length until the millimeter-wave radar 5 detects the corner reflector, and the angle value θ1 of the position of the corner reflector is recorded, wherein the angle value of the initial position of the corner reflector is 0°. When the corner reflector moves toward the other end along the above-mentioned arc-shaped moving track, the angle of its position also increases accordingly.

[0071] Afterwards, the corner reflector is placed at a position on the circular arc moving trajectory with an angle value of θ1-a specified angle (for example, 10°), and then moved toward the other end along the circular arc moving trajectory in steps of 1° until the millimeter wave radar detects the corner reflector, and the angle value θ2 of the corner reflector at this time is recorded.

[0072] Then calculate the maximum detection angle θ of the millimeter wave radar max , the calculation formula is: max =180°-2θ2.

[0073] The maximum detection angle θ can be performed by the test machine 2 max Calculation.

[0074] [Test of target azimuth measurement accuracy]

[0075] Next, combine Figure 3 Describe the technical solution for testing the target azimuth angle measurement accuracy of millimeter wave radar.

[0076] First, the millimeter wave radar 5 as the object to be tested is set on the test platform 1, and the rangefinder 6 is placed above the millimeter wave radar 5 so that the vertical center lines of the two coincide with each other.

[0077] Then, the target 3 is randomly placed within the detectable range of the millimeter wave radar 5, and then the distance d of the target 3 is measured using the rangefinder 6. las_i , and measure the distance d between the target 3 and the center line of the detection range of the millimeter wave radar 5 t_i , then the real azimuth angle ang of the target 3 is T_i =arcsin(d t_i / d las_i ), the azimuth angle of the target measured by the millimeter wave radar 5 is recorded as ang C_i Wherein, the distance d between the measured target 3 and the center line of the detection range of the millimeter wave radar 5 is t_i The measurement can also be performed by a rangefinder, and the specific measurement process will not be described in detail.

[0078] In addition, if the target to be measured is a car, then when measuring d las_iand d t_i The center of the rear of the car is used as the measuring point, that is, the distance d between the center of the rear of the car and the distance meter 6 is measured. las_i The distance d between the center of the rear of the car and the center line of the detection range of the millimeter wave radar 5 t_i .

[0079] After that, repeat the above measurement process n times to calculate the target azimuth measurement accuracy ang_acc. The calculation formula is:

[0080] ang i =ang T_i -ang C_i ,

[0081]

[0082]

[0083] Where i = (1, 2, 3, ..., n), ang i is the difference in azimuth of the target measured by the rangefinder and the millimeter-wave radar each time the above measurement process is performed, E(ang) is the ang measured n times i The average value of ang_acc is the target azimuth angle measurement accuracy of the millimeter wave radar.

[0084] In this embodiment, the test machine 2 may calculate the target azimuth angle measurement accuracy ang_acc of the millimeter wave radar.

[0085] [Test of target speed accuracy]

[0086] Next, the technical solution for testing the target velocity accuracy of millimeter wave radar is described.

[0087] First, the millimeter wave radar 5 as the object to be measured is set on the test platform 1, and the target to be measured 3 is placed within the detectable range of the millimeter wave radar 5, so that the target to be measured 3 moves linearly at a specified speed V0.

[0088] In this embodiment, the measured target 3 may be a car, and its speed V0 is set to, for example, 20 km / h, 60 km / h, 90 km / h, etc. during the test.

[0089] Then, the average speed of the target 3 measured by the millimeter wave radar 5 within a specified time (for example, 5 seconds) is taken as the speed measurement value V of the millimeter wave radar. C_i .

[0090] After that, repeat the above measurement process n times, and then calculate the accuracy V_acc of the target speed. The calculation formula is:

[0091] Vi =V0-V C_i ,

[0092]

[0093]

[0094] Where i=(1,2,3,...,n), V i is the moving speed V0 of the target 3 and the speed measurement value V of each measurement C_i The difference between the two, E(V) is the V measured n times i The average value of .

[0095] In this embodiment, the target speed accuracy V_acc may be calculated by the testing machine 2 .

[0096] Example 2

[0097] Figure 4 FIG. 2 is a schematic diagram of the structure of a millimeter wave radar performance test device according to Embodiment 2 of the present invention. Figure 4 As shown, the millimeter wave radar performance testing device includes: a testing platform 1, a testing machine 2, a target to be tested 3, a millimeter wave radar 5, and a first satellite positioning device 4 and a second satellite positioning device 6.

[0098] In this embodiment, a car is used as the test platform 1 , but the present invention is not limited thereto and other movable devices may be used as the test platform 1 .

[0099] The test platform 1 is provided with a millimeter wave radar 5 and a first satellite positioning device 4, the millimeter wave radar 5 is provided at the front side of the test platform 1, the first satellite positioning device 4 is installed on the upper part of the test platform 1, and a test machine 2 is also provided on the test platform 1, and the test machine 2 can communicate with the first satellite positioning device 4 and the millimeter wave radar 5 on the test platform 1. The test machine 2 can use a computer to process the detection data from the millimeter wave radar 5 and the first satellite positioning device 4, and then calculate the relevant performance parameters of the millimeter wave radar 5.

[0100] In this embodiment, a car is used as the target 3 to be measured. A second satellite positioning device 7 is installed on the upper part of the car, and the second satellite positioning device 7 can communicate with the test machine 2 .

[0101] In this embodiment, the second satellite positioning device 7 on the measured target 3 can communicate with the test machine 2 in a wireless manner. The first satellite positioning device 4 on the test platform 1 and the millimeter wave radar 5 and the test machine 2 can communicate in the form of a data line or wireless communication. When wireless communication is used, the communication delay should be less than 50ms.

[0102] In this embodiment, the positioning accuracy of the first satellite positioning device 4 and the low-temperature satellite positioning device 7 is preferably at the centimeter level, which can provide accurate longitude and latitude information and send the information to the test machine 2. At the same time, timestamp data is also sent to synchronize the position and speed information of the test platform 1 and the target 3 under test.

[0103] [Test of obstacle detection accuracy and missed detection rate of millimeter wave radar]

[0104] Next, a technical solution for testing the obstacle detection accuracy and missed detection rate of a millimeter-wave radar using the millimeter-wave radar performance testing device involved in this embodiment is described.

[0105] First, the millimeter wave radar 5 as the object to be measured is set at the front end of the test platform 1, and the object to be measured 3 is placed in front of the test platform 1, and then moves on the road at the same time. The moving time is set to t, and the longitude and latitude coordinates of the object to be measured by the second satellite positioning device 7 are marked as The longitude and latitude coordinates of the test platform 1 measured by the first satellite positioning device 4 are The longitude and latitude coordinates of the target 3 measured by the millimeter wave radar 5 are marked as in The calculation formula is:

[0106]

[0107] Wherein, r is the distance of the target 3 measured by the millimeter wave radar 5, θ is the current heading (in degrees) obtained by the test platform 1 using the first satellite positioning device 4, and DR=π / 180.

[0108] Then, the error δ between the position of the target 3 measured by the second satellite positioning device 7 and the millimeter wave radar 5 at any time within the travel time t is calculated. i , the calculation formula is:

[0109]

[0110] Where i = (0, 1, 2, 3, ..., t), R = 6371004m, DR = π / 180.

[0111] Afterwards, statistics are made within the moving time t, δ i ≤δ TH The number of times TP, statistics δ i >δ TH The number of times FN, where δ TH is the error judgment threshold. In this embodiment, TH The value is 0.5m.

[0112] Secondly, the accuracy P and the false detection rate FA of the millimeter wave radar 5 when measuring the measured target are calculated, and the calculation formula is:

[0113] P=TP / (TP+FP)

[0114] FA=1-P.

[0115] In this embodiment, the above calculation process can be performed by the test machine 2. When the test machine 2 receives the latitude and longitude coordinates of the target 3 measured by the second satellite positioning device 7 at any time within the moving time t, The longitude and latitude coordinates of the test platform 1 measured by the first satellite positioning device 4 After obtaining the distance r of the target 3 measured by the millimeter-wave radar 5, the accuracy P and the false detection rate FA of the millimeter-wave radar when measuring the target are calculated according to the above formulas.

[0116] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

Claims

1. A millimeter wave radar performance test device, characterized in that: include: A test platform, a millimeter-wave radar and a rangefinder arranged on the test platform; as well as A testing machine, capable of communicating with the millimeter-wave radar and the rangefinder, and receiving measurement data of the millimeter-wave radar and the rangefinder; The millimeter wave radar and the rangefinder measure a movable target to be measured, and the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; The target to be measured is placed at a specified standard distance in front of the millimeter-wave radar, and the position of the rangefinder is adjusted along the direction of the line connecting the millimeter-wave radar and the target to be measured so that the distance between the rangefinder and the target to be measured is the same; The target moves at a constant speed along the line connecting the millimeter-wave radar and the target until the target is lost in the detection data of the millimeter-wave radar, and the distance d of the target measured by the rangefinder at this time is recorded. las ; Repeat the above measurement process n times, and the final maximum test distance of the millimeter wave radar is d max =∑d las / n, where d max is the maximum test distance of the millimeter wave radar, d las It is the detection distance of the millimeter wave radar to the target each time the above measurement process is performed.

2. A millimeter wave radar performance test device, characterized in that: include: A test platform, a millimeter-wave radar and a rangefinder arranged on the test platform; as well as A testing machine, capable of communicating with the millimeter-wave radar and the rangefinder, and receiving measurement data of the millimeter-wave radar and the rangefinder; The millimeter wave radar and the rangefinder measure a movable target to be measured, and the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; The target to be measured is placed at a specified standard distance in front of the millimeter-wave radar, and the position of the rangefinder is adjusted along the direction of the line connecting the millimeter-wave radar and the target to be measured so that the distance between the rangefinder and the target to be measured is the same; The measured target moves randomly n times along the line connecting the millimeter wave radar and the measured target, and the distance measured by the rangefinder each time is recorded as d lasi , record the distance measured by the millimeter wave radar each time as d radi The test machine calculates the target distance accuracy dis_acc of the millimeter wave radar according to the following formula: d i =d lasi -d radi Where i = 1, 2, 3, ..., n, d i is the difference between the detection distances of the rangefinder and the millimeter-wave radar to the target each time the above measurement process is performed, E(d) is the d value of n measurements i The average value of and dis_acc are the target distance accuracy of the millimeter wave radar.

3. A millimeter wave radar performance test device, characterized in that: include: A test platform, a millimeter-wave radar and a rangefinder arranged on the test platform; as well as A testing machine, capable of communicating with the millimeter-wave radar and the rangefinder, and receiving measurement data of the millimeter-wave radar and the rangefinder; The millimeter wave radar and the rangefinder measure a movable target to be measured, and the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; In front of the millimeter-wave radar, a 180° arc is set with a specified radius with the millimeter-wave radar as the center, as a moving track of the corner reflector; A corner reflector is placed with one end of the arc as the starting point, and the corner reflector is moved along the arc-shaped moving trajectory toward the other end with a specified angle as a step length until the millimeter-wave radar detects the corner reflector, and an angle value θ1 of the position of the corner reflector at this time is recorded, wherein the angle value of the initial position of the corner reflector is 0°; The corner reflector is placed at a position on the circular arc moving track with an angle value of θ1-prescribed angle, and then moves along the circular arc moving track toward the other end with a step length of 1° until the millimeter wave radar detects the corner reflector, and the angle value θ2 of the position of the corner reflector at this time is recorded; The testing machine calculates the maximum detection angle θ of the millimeter wave radar max , the calculation formula is: max =180°-2θ2.

4. A millimeter wave radar performance test device, characterized in that: include: A test platform, a millimeter-wave radar and a rangefinder arranged on the test platform; as well as A testing machine, capable of communicating with the millimeter-wave radar and the rangefinder, and receiving measurement data of the millimeter-wave radar and the rangefinder; The millimeter wave radar and the rangefinder measure a movable target to be measured, and the vertical center lines of the millimeter wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to the line between the millimeter wave radar and the target to be measured; Moving the rangefinder so that the rangefinder coincides with a vertical center line of the millimeter-wave radar; The target to be measured is randomly placed within the detectable range of the millimeter wave radar, and the distance d of the target to be measured is measured using the rangefinder las_i , and measure the distance d between the target and the center line of the millimeter wave radar detection range t_i , then the true azimuth angle ang of the target being measured Ti =arcsin(d t_i / d las_i ), the azimuth angle of the target measured by the millimeter wave radar is recorded as ang C_i ; Repeat the above measurement process n times, and the test machine calculates the target azimuth measurement accuracy ang_acc according to the following formula: The i =the T_i -The C_i , Where i = 1, 2, 3, ..., n, ang i is the difference in azimuth of the target measured by the rangefinder and the millimeter-wave radar each time the above measurement process is performed, E(ang) is the ang measured n times i The average value of ang_acc is the target azimuth angle measurement accuracy of the millimeter wave radar.

5. A millimeter wave radar performance testing method, characterized in that: include: A millimeter-wave radar and a rangefinder are arranged on a test platform so that the vertical center lines of the millimeter-wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to a line between the millimeter-wave radar and the target to be measured; The target to be measured is placed at a specified standard distance in front of the millimeter-wave radar, and the position of the rangefinder is adjusted along the direction of the line connecting the millimeter-wave radar and the target to be measured so that the distance between the rangefinder and the target to be measured is the same; The target moves at a constant speed along the line connecting the millimeter-wave radar and the target until the target is lost in the detection data of the millimeter-wave radar, and the distance d of the target measured by the rangefinder at this time is recorded. las ; Repeat the above measurement process n times, and the final maximum test distance of the millimeter wave radar is d max =∑d las / n, where d max is the maximum test distance of the millimeter wave radar, d las It is the detection distance of the millimeter wave radar to the target each time the above measurement process is performed.

6. A millimeter wave radar performance testing method, characterized in that: A millimeter-wave radar and a rangefinder are arranged on a test platform so that the vertical center lines of the millimeter-wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to a line between the millimeter-wave radar and the target to be measured; The target to be measured is placed at a specified standard distance in front of the millimeter-wave radar, and the position of the rangefinder is adjusted along the direction of the line connecting the millimeter-wave radar and the target to be measured so that the distance between the rangefinder and the target to be measured is the same; The measured target moves randomly n times along the line connecting the millimeter wave radar and the measured target, and the distance measured by the rangefinder each time is recorded as d las_i , record the distance measured by the millimeter wave radar each time as d rad_i ; The test machine calculates the target distance accuracy dis_acc of the millimeter wave radar according to the following formula: d i =d las_i -d rad_i , Where i = 1, 2, 3, ..., n, d i is the difference between the detection distances of the rangefinder and the millimeter-wave radar to the target each time the above measurement process is performed, E(d) is the d value of n measurements i The average value of and dis_acc are the target distance accuracy of the millimeter wave radar.

7. A millimeter wave radar performance testing method, characterized in that: A millimeter-wave radar and a rangefinder are arranged on a test platform so that the vertical center lines of the millimeter-wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to a line between the millimeter-wave radar and the target to be measured; In front of the millimeter-wave radar, a 180° arc is set with a specified radius with the millimeter-wave radar as the center, as a moving track of the corner reflector; The corner reflector is placed with one end of the arc as the starting point, and the corner reflector is moved along the arc-shaped moving trajectory toward the other end with a specified angle as a step length until the millimeter-wave radar detects the corner reflector, and the angle value θ1 of the position of the corner reflector at this time is recorded, wherein the angle value of the initial position of the corner reflector is 0°; The corner reflector is placed at a position on the circular arc moving track with an angle value of θ1-prescribed angle, and then moves along the circular arc moving track toward the other end with a step length of 1° until the millimeter wave radar detects the corner reflector, and the angle value θ2 of the position of the corner reflector at this time is recorded; The test machine calculates the maximum detection angle θ of the millimeter wave radar max , the calculation formula is: max =180°-2θ2.

8. A millimeter wave radar performance testing method, characterized in that: A millimeter-wave radar and a rangefinder are arranged on a test platform so that the vertical center lines of the millimeter-wave radar and the rangefinder are located in the same vertical plane, and the vertical plane is perpendicular to a line between the millimeter-wave radar and the target to be measured; The target to be measured is randomly placed within the detectable range of the millimeter wave radar, and the distance d of the target to be measured is measured using the rangefinder las_i , and measure the distance d between the target and the center line of the millimeter wave radar detection range t_i , then the true azimuth angle ang of the target being measured T_i =arcsin(d t_i / d las_i ), the azimuth angle of the target measured by the millimeter wave radar is recorded as ang C_i ; Repeat the above measurement process n times, and the test machine calculates the target azimuth measurement accuracy ang_acc according to the following formula: The i =the T_i -The C_i , Where i = 1, 2, 3, ..., n, ang i is the difference in azimuth of the target measured by the rangefinder and the millimeter-wave radar each time the above measurement process is performed, and E(ang) is the ang measured n times. i The average value of ang_acc is the target azimuth angle measurement accuracy of the millimeter wave radar.

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