A simulation test verification method and system based on millimeter wave radar database

Abstract

The present invention discloses a simulation test verification method and system based on a millimeter wave radar database, and relates to the field of simulation test. The method includes constructing a multi-target motion scene, collecting the position data of each target at each time based on the millimeter wave radar to be tested, establishing a millimeter wave radar database, and recording the RCS value of each target at each time; constructing a simulation scene based on the multi-target motion scene, and obtaining the position data of each target at the beginning of the simulation based on the 360-degree sensor detection set in the simulation scene; establishing a corresponding relationship between the target in the simulation scene and the target in the millimeter wave radar database according to the position data of each target at the beginning of the simulation; running the simulation scene to verify the correctness of the established corresponding relationship, and resetting the simulation scene to perform simulation test after the verification is passed, and obtaining the real-time RCS value of each target based on the millimeter wave radar database. The present invention can effectively improve the reliability of simulation test.

Description

Technical Field

[0001] The present invention relates to the field of simulation testing, and in particular to a simulation testing verification method and system based on a millimeter wave radar database. Background Art

[0002] Millimeter wave radar is a radar that works in the millimeter wave band. Usually millimeter waves refer to the frequency domain of 30 to 300 GHz. The wavelength of millimeter waves is between microwaves and centimeter waves, so millimeter wave radar has some advantages of microwave radar and photoelectric radar. Compared with centimeter wave seekers, millimeter wave seekers have the characteristics of small size, light weight and high spatial resolution. Compared with optical seekers such as infrared, laser, and television, millimeter wave seekers have strong ability to penetrate fog, smoke, and dust, and have the characteristics of all-weather (except heavy rainy days) and all-day. In addition, the anti-interference and anti-stealth capabilities of millimeter wave seekers are also better than other microwave seekers. Millimeter wave radar can distinguish and identify very small targets, and can identify multiple targets at the same time. It has many advantages such as strong imaging ability, small size, mobility, and good concealment.

[0003] Currently, millimeter-wave radar hardware in the HIL (Hardware-in-the-Loop) solution generally uses a multi-channel target simulator to achieve multi-target simulation. During simulation, the RCS (Radar Cross-Section) value used by the target simulator is generally a fixed value or a value determined according to the target type. This way of setting the RCS value leads to a large difference from the actual situation, thus affecting the credibility of the simulation test. Summary of the invention

[0004] In view of the defects existing in the prior art, the purpose of the present invention is to provide a simulation test verification method and system based on a millimeter-wave radar database, which can effectively improve the reliability of the simulation test.

[0005] To achieve the above objectives, the present invention provides a simulation test verification method based on a millimeter wave radar database, which specifically includes the following steps:

[0006] Construct a multi-target motion scene, and collect the position data of each target at each time based on the millimeter-wave radar to be tested, establish a millimeter-wave radar database, and record the RCS value of each target at each time;

[0007] A simulation scene is constructed based on a multi-target motion scene, and the position data of each target at the beginning of the simulation is obtained based on the 360-degree sensor detection set in the simulation scene;

[0008] According to the position data of each target at the beginning of the simulation, a corresponding relationship is established between the targets in the simulation scene and the targets in the millimeter-wave radar database;

[0009] Run the simulation scenario to verify the correctness of the established correspondence, and reset the simulation scenario after the verification to perform simulation testing, and obtain the real-time RCS value of each target based on the millimeter-wave radar database.

[0010] On the basis of the above technical solution, the multi-target motion scene is a scene in which multiple real vehicle targets are actually driving on the road.

[0011] Based on the above technical solution, the position data includes position coordinates, angle and speed.

[0012] Based on the above technical solution, in the simulation scenario, the placement position of the 360-degree sensor overlaps with the origin coordinate position used when establishing the millimeter-wave radar database, and the coordinate orientation of the 360-degree sensor is consistent with the coordinate used when establishing the millimeter-wave radar database.

[0013] On the basis of the above technical solution, the corresponding relationship between the targets in the simulation scene and the targets in the millimeter wave radar database is established according to the position data of each target at the beginning of the simulation, and the specific steps include:

[0014] Obtain the position data of each target in the millimeter wave radar database at the time corresponding to the initial simulation;

[0015] The acquired position data of each target in the millimeter-wave radar database is matched with the position data of each target detected by the 360-degree sensor at the beginning of the simulation, so that the targets in the millimeter-wave radar database correspond to the targets in the simulation scene, thereby establishing a corresponding relationship between the targets.

[0016] On the basis of the above technical solution, the simulation scenario is run to verify the correctness of the established corresponding relationship. The specific verification process is as follows:

[0017] The simulation scenario is continuously run for a preset time, and during the simulation scenario, the position data of each target at each set time is detected by the 360-degree sensor;

[0018] Based on the position data of each target at each set time obtained by detection and the position data of each target at each set time recorded in the millimeter-wave radar database, a corresponding relationship between the target in the simulation scene at each set time and the target in the millimeter-wave radar database is established;

[0019] It is determined whether the corresponding relationship between the targets at each set time is consistent with the corresponding relationship between the targets established at the beginning of the simulation. If so, the verification is successful; if not, the verification fails.

[0020] Based on the above technical solution, a mapping model of the millimeter-wave radar to be tested is set in the simulation scene, and the detection range of the mapping model is consistent with the detection range of the millimeter-wave radar to be tested, and the placement posture of the mapping model is consistent with the installation posture of the millimeter-wave radar to be tested in a multi-target motion scene.

[0021] On the basis of the above technical solution, the real-time RCS value of each target is obtained based on the millimeter-wave radar database, specifically: according to the targets detected by the mapping model corresponding to the millimeter-wave radar to be tested, the correspondence between the targets in the simulation scene and the targets in the millimeter-wave radar database, and the current moment, the millimeter-wave radar database is queried to obtain the real-time RCS value of each target.

[0022] The present invention provides a simulation test verification system based on a millimeter wave radar database, comprising:

[0023] A construction module is used to construct a multi-target motion scene, collect the position data of each target at each time based on the millimeter-wave radar to be tested, establish a millimeter-wave radar database, and record the RCS value of each target at each time;

[0024] A detection module is used to construct a simulation scene based on a multi-target motion scene, and obtain the position data of each target at the beginning of the simulation based on the 360-degree sensor detection set in the simulation scene;

[0025] An establishment module is used to establish a corresponding relationship between the targets in the simulation scene and the targets in the millimeter wave radar database according to the position data of each target at the beginning of the simulation;

[0026] The test module is used to run the simulation scenario to verify the correctness of the established correspondence, and reset the simulation scenario to perform simulation testing after the verification is passed, and obtain the real-time RCS value of each target based on the millimeter wave radar database.

[0027] On the basis of the above technical solution, the multi-target motion scene is a scene in which multiple real vehicle targets are actually driving on the road.

[0028] Compared with the prior art, the advantages of the present invention are: by constructing a multi-target motion scene, and collecting the position data of each target at each moment based on the millimeter-wave radar to be tested, a millimeter-wave radar database is established, and a simulation scene is constructed based on the multi-target motion scene, and the established simulation scene is verified, so that when a simulation test is performed based on the established simulation scene by calling the millimeter-wave radar database, the reliability of the simulation test can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 The present invention is a flowchart of a simulation test verification method based on a millimeter wave radar database in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0032] At present, when the simulation scene is running dynamically, the number of targets detected by the virtual sensor N (N≤M) is a variable, and these N targets are not fixed, and may be any combination of M. In addition, the detected targets in the simulation software have no relationship with the targets in the database, which makes it impossible to send the real-time RCS values ​​corresponding to each target in the detection area to the corresponding channel of the echo simulator for simulation testing. Therefore, how to map the data is the problem to be solved by the present invention. Only after the data is effectively mapped can an effective simulation test be carried out to ensure the accuracy of the simulation test.

[0033] See also Figure 1 As shown, a simulation test verification method based on a millimeter wave radar database provided by an embodiment of the present invention specifically includes the following steps:

[0034] S1: Construct a multi-target motion scene, and collect the position data of each target at each time based on the millimeter-wave radar to be tested, establish a millimeter-wave radar database, and record the RCS value of each target at each time; that is, the millimeter-wave radar database records both the position data of each target at each time and the RCS value of each target at each time.

[0035] In the present invention, the multi-target motion scene is a scene where multiple real vehicle targets actually travel on the road. The position data includes position coordinates, angles and speeds.

[0036] In the present invention, the specific process for establishing a millimeter-wave radar database is as follows: when each target moves in a multi-target motion scene, the position data of each target at each moment is obtained, for example, at moment t1, the position data of target 1, the position data of target 2, and the position data of target 3 are obtained; at moment t2, the position data of target 1, the position data of target 2, and the position data of target 3 are obtained; at moment t3, the position data of target 1, the position data of target 2, and the position data of target 3 are obtained, and so on. Thus, based on the position data of each target at each moment, a millimeter-wave radar database is established.

[0037] S2: construct a simulation scene based on the multi-target motion scene, and obtain the position data of each target at the beginning of the simulation based on the 360-degree sensor detection set in the simulation scene; that is, the simulation scene is a simulation form of the multi-target motion scene.

[0038] In the present invention, the placement position of the 360-degree sensor in the simulation scene overlaps with the origin coordinate position used when establishing the millimeter-wave radar database, and the coordinate orientation of the 360-degree sensor is consistent with the coordinate used when establishing the millimeter-wave radar database, thereby ensuring that the position and posture of each target detected by the 360-degree sensor in the simulation scene are consistent with the millimeter-wave radar database.

[0039] S3: According to the position data of each target at the beginning of the simulation, a corresponding relationship is established between the targets in the simulation scene and the targets in the millimeter wave radar database;

[0040] In the embodiment of the present invention, according to the position data of each target at the beginning of the simulation, a corresponding relationship is established between the targets in the simulation scene and the targets in the millimeter wave radar database, and the specific steps include:

[0041] S301: Obtaining position data of each target in the millimeter wave radar database at the initial moment of the simulation;

[0042] S302: Match the acquired position data of each target in the millimeter-wave radar database with the position data of each target detected by the 360-degree sensor at the beginning of the simulation, so that the targets in the millimeter-wave radar database correspond to the targets in the simulation scene, thereby establishing a corresponding relationship between the targets.

[0043] That is, based on the simulation scene, the simulation scene is stopped at the initial moment, and the position data of each target in the simulation scene is detected using a 360-degree sensor. Then, the detected position data is matched with the position data of each target in the millimeter-wave radar database at the corresponding initial moment of the simulation. For example, the position data of target A in the simulation scene is consistent with the position data of target a in the millimeter-wave radar database, then target A in the simulation scene corresponds to target a in the millimeter-wave radar database.

[0044] S4: Run the simulation scenario to verify the correctness of the established correspondence, and reset the simulation scenario after the verification to perform simulation testing, and obtain the real-time RCS value of each target based on the millimeter wave radar database.

[0045] In the embodiment of the present invention, a simulation scenario is run to verify the correctness of the established corresponding relationship. The specific verification process is as follows:

[0046] S401: Continuously run the simulation scene for a preset time, and during the simulation scene running, the 360-degree sensor detects and obtains the position data of each target at each set time;

[0047] S402: Based on the position data of each target at each set time obtained by detection and the position data of each target at each set time recorded in the millimeter wave radar database, a corresponding relationship between the target in the simulation scene at each set time and the target in the millimeter wave radar database is established;

[0048] S403: Determine whether the corresponding relationships between the targets established at each set time are consistent with the corresponding relationships between the targets established at the beginning of the simulation. If so, the verification is successful; if not, the verification is unsuccessful.

[0049] For example, there are 3 targets in total. At the beginning of the simulation, target A in the simulation scene corresponds to target a in the millimeter-wave radar database, target B in the simulation scene corresponds to target b in the millimeter-wave radar database, and target C in the simulation scene corresponds to target c in the millimeter-wave radar database. When the simulation scene is running, the position relationship of each target in the simulation scene at integer seconds is collected, and the position data of each target collected at integer seconds is matched with the position data of each target in the millimeter-wave radar database. If, at each integer second, target A in the simulation scene still corresponds to target a in the millimeter-wave radar database, target B in the simulation scene still corresponds to target b in the millimeter-wave radar database, and target C in the simulation scene still corresponds to target c in the millimeter-wave radar database, it means that the verification is passed and subsequent simulation tests can be performed. If they are inconsistent, the verification fails and an error prompt is given.

[0050] In an embodiment of the present invention, a mapping model of the millimeter-wave radar to be tested is provided in the simulation scene, and the detection range of the mapping model is consistent with the detection range of the millimeter-wave radar to be tested, and the placement posture of the mapping model is consistent with the installation posture of the millimeter-wave radar to be tested in a multi-target motion scene. Therefore, when performing a simulation test, the simulation software can send the distance and speed information of each target detected by the mapping model in the simulation scene relative to the mapping model to the millimeter-wave echo simulator for speed and distance simulation, so as to test the detection performance of the millimeter-wave radar to be tested in the echo simulator.

[0051] In an embodiment of the present invention, the real-time RCS value of each target is obtained based on the millimeter-wave radar database, specifically: according to the targets detected by the mapping model corresponding to the millimeter-wave radar to be tested, the correspondence between the targets in the simulation scene and the targets in the millimeter-wave radar database, and the current moment, the millimeter-wave radar database is queried to obtain the real-time RCS value of each target.

[0052] That is, when conducting simulation tests, the real-time RCS of each target is obtained from the millimeter-wave radar database by interpolation based on the targets detected by the mapping model, the corresponding relationship between the targets in the simulation scene and the targets in the millimeter-wave radar database, and the current moment. Because the millimeter-wave radar database may have a row of data every 100ms (that is, the millimeter-wave radar database records the position data and RCS value of each target every 100ms), and the actual operation may send data to the millimeter-wave echo simulator every 10ms, then it is necessary to interpolate and look up the timestamp in the millimeter-wave radar database. For example, the RCS value of the millimeter-wave radar database at the 1.1th second is 25dbm, and the RCS value of the 1.2th second is 26dbm. Then, the millimeter-wave radar data is checked at the 1.13th second of the simulation test to obtain 25dbm.

[0053] The simulation test verification method based on the millimeter wave radar database of the embodiment of the present invention builds a multi-target motion scene, and collects the position data of each target at each time based on the millimeter wave radar to be tested, establishes a millimeter wave radar database, builds a simulation scene based on the multi-target motion scene, and verifies the established simulation scene, so that when the simulation test is performed by calling the millimeter wave radar database based on the established simulation scene, the reliability of the simulation test can be effectively improved. At the same time, the millimeter wave radar database of the present invention is suitable for radar HIL tests of various FOV (field of view) ranges whose detection range is smaller than the radar range when the real vehicle collects the RCS value, and has strong applicability.

[0054] A simulation test verification system based on a millimeter-wave radar database provided in an embodiment of the present invention includes a construction module, a detection module, a creation module and a test module.

[0055] The construction module is used to construct a multi-target motion scene, and based on the millimeter-wave radar to be tested, collect the position data of each target at each time, establish a millimeter-wave radar database, and record the RCS value of each target at each time; the detection module is used to construct a simulation scene based on the multi-target motion scene, and obtain the position data of each target at the beginning of the simulation based on the 360-degree sensor detection set in the simulation scene; the establishment module is used to establish a correspondence between the targets in the simulation scene and the targets in the millimeter-wave radar database according to the position data of each target at the beginning of the simulation; the test module is used to run the simulation scene to verify the correctness of the established correspondence, and reset the simulation scene after the verification is passed for simulation testing, and obtain the real-time RCS value of each target based on the millimeter-wave radar database. The multi-target motion scene is a scene where multiple real vehicle targets are actually driving on the road.

[0056] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0057] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A simulation test verification method based on a millimeter wave radar database, characterized in that: The specific steps include: Construct a multi-target motion scene, and collect the position data of each target at each time based on the millimeter-wave radar to be tested, establish a millimeter-wave radar database, and record the RCS value of each target at each time; A simulation scene is constructed based on a multi-target motion scene, and the position data of each target at the beginning of the simulation is obtained based on the 360-degree sensor detection set in the simulation scene; According to the position data of each target at the beginning of the simulation, a corresponding relationship is established between the targets in the simulation scene and the targets in the millimeter-wave radar database; Run the simulation scenario to verify the correctness of the established correspondence, and reset the simulation scenario to perform simulation testing after the verification is passed, and obtain the real-time RCS value of each target based on the millimeter-wave radar database; The steps of establishing a corresponding relationship between the targets in the simulation scene and the targets in the millimeter wave radar database according to the position data of each target at the beginning of the simulation include: Obtain the position data of each target in the millimeter wave radar database at the time corresponding to the initial simulation; The acquired position data of each target in the millimeter-wave radar database is matched with the position data of each target detected by the 360-degree sensor at the beginning of the simulation, so that the targets in the millimeter-wave radar database correspond to the targets in the simulation scene, thereby establishing a corresponding relationship between the targets; The simulation scenario is run to verify the correctness of the established corresponding relationship. The specific verification process is as follows: The simulation scenario is continuously run for a preset time, and during the simulation scenario, the position data of each target at each set time is detected by the 360-degree sensor; Based on the position data of each target at each set time obtained by detection and the position data of each target at each set time recorded in the millimeter-wave radar database, a corresponding relationship between the target in the simulation scene at each set time and the target in the millimeter-wave radar database is established; It is determined whether the corresponding relationship between the targets at each set time is consistent with the corresponding relationship between the targets established at the beginning of the simulation. If so, the verification is successful; if not, the verification fails.

2. A simulation test verification method based on a millimeter wave radar database as claimed in claim 1, characterized in that: The multi-target motion scene is a scene in which multiple real vehicle targets are actually driving on the road.

3. The simulation test verification method based on the millimeter wave radar database as claimed in claim 1, characterized in that: The position data includes position coordinates, angle and speed.

4. The simulation test verification method based on the millimeter wave radar database as claimed in claim 1, characterized in that: In the simulation scenario, the placement position of the 360-degree sensor overlaps with the origin coordinate position used when establishing the millimeter-wave radar database, and the coordinate orientation of the 360-degree sensor is consistent with the coordinate used when establishing the millimeter-wave radar database.

5. The simulation test verification method based on the millimeter wave radar database as claimed in claim 1, characterized in that: A mapping model of the millimeter-wave radar to be tested is set in the simulation scene, and the detection range of the mapping model is consistent with the detection range of the millimeter-wave radar to be tested, and the placement posture of the mapping model is consistent with the installation posture of the millimeter-wave radar to be tested in the multi-target motion scene.

6. A simulation test verification method based on a millimeter wave radar database as claimed in claim 5, characterized in that: The real-time RCS value of each target is obtained based on the millimeter-wave radar database, specifically: according to the targets detected by the mapping model corresponding to the millimeter-wave radar to be tested, the correspondence between the targets in the simulation scene and the targets in the millimeter-wave radar database, and the current moment, the millimeter-wave radar database is queried to obtain the real-time RCS value of each target.

7. A simulation test verification system based on millimeter wave radar database, characterized in that: include: A construction module is used to construct a multi-target motion scene, collect the position data of each target at each time based on the millimeter-wave radar to be tested, establish a millimeter-wave radar database, and record the RCS value of each target at each time; A detection module is used to construct a simulation scene based on a multi-target motion scene, and obtain the position data of each target at the beginning of the simulation based on the 360-degree sensor detection set in the simulation scene; An establishment module is used to establish a corresponding relationship between the targets in the simulation scene and the targets in the millimeter wave radar database according to the position data of each target at the beginning of the simulation; The test module is used to run the simulation scenario to verify the correctness of the established correspondence, and reset the simulation scenario to perform simulation testing after the verification is passed, and obtain the real-time RCS value of each target based on the millimeter wave radar database; The steps of establishing a corresponding relationship between the targets in the simulation scene and the targets in the millimeter wave radar database according to the position data of each target at the beginning of the simulation include: Obtain the position data of each target in the millimeter wave radar database at the time corresponding to the initial simulation; The acquired position data of each target in the millimeter-wave radar database is matched with the position data of each target detected by the 360-degree sensor at the beginning of the simulation, so that the targets in the millimeter-wave radar database correspond to the targets in the simulation scene, thereby establishing a corresponding relationship between the targets; The simulation scenario is run to verify the correctness of the established corresponding relationship. The specific verification process is as follows: The simulation scenario is continuously run for a preset time, and during the simulation scenario, the position data of each target at each set time is detected by the 360-degree sensor; Based on the position data of each target at each set time obtained by detection and the position data of each target at each set time recorded in the millimeter-wave radar database, a corresponding relationship between the target in the simulation scene at each set time and the target in the millimeter-wave radar database is established; It is determined whether the corresponding relationship between the targets at each set time is consistent with the corresponding relationship between the targets established at the beginning of the simulation. If so, the verification is successful; if not, the verification fails.

8. A simulation test verification system based on a millimeter wave radar database as claimed in claim 7, characterized in that: The multi-target motion scene is a scene in which multiple real vehicle targets are actually driving on the road.

Images