Test method and device of detection equipment, storage medium and electronic device

Abstract

The application discloses a kind of test method and device of detection equipment, storage medium and electronic device, the test method of detection equipment includes: obtaining the motion state of detection equipment and the object to be detected in simulation test scene, wherein, simulation test scene is used to test the detection performance of detection equipment to the object to be detected;According to motion state, the phase parameter and antenna gain parameter of detection equipment are detected, wherein, phase parameter is used to indicate the phase of the object to be detected in simulation test scene relative to detection equipment, antenna gain parameter is used to indicate the antenna gain of current detection equipment to the direction where the object to be detected is located;The detection position of the object to be detected is determined according to phase parameter and antenna gain parameter, using the above technical solution, the problem of low test accuracy of detection equipment in related art is solved.

Description

Technical Field

[0001] This application relates to the field of driving technology, and more specifically, to a testing method and apparatus for a detection device, a storage medium, and an electronic device. Background Technology

[0002] In recent years, with the rapid increase in automobile usage, traffic accidents caused by human factors have led to a year-on-year increase in personal injury and property damage. Advanced Driving Assistance Systems (ADAS), as a defensive measure that can actively detect the surrounding environment and issue hazard warnings to the driver, can effectively improve the safety performance of automobile driving. For sensors, the most critical component of ADAS systems, millimeter-wave radar, with its unique advantages such as high directivity, low power consumption, ease of miniaturization, and all-weather operation, has been widely favored by academia and industry and has become one of the important components for automobiles to perceive their surroundings. Currently, in order to enable radar products to effectively identify targets and obtain accurate target information, thereby improving the prediction of algorithm errors and the control of application risks, preliminary simulation testing is essential. Simulation testing of radar product performance mainly involves generating simulated ADC (Analog-to-Digital Converter) data for simulation, detecting the reliability and effectiveness of the designed radar signal processing method, and thus further guiding the product development process.

[0003] Currently, the sources of simulated ADC data are mainly as follows: On the one hand, simulation experiments are conducted directly using millimeter-wave radar by collecting real data. This requires multiple on-site data collections for different environments, which is neither flexible nor convenient. On the other hand, the environment to be tested is simulated on a simulation platform by setting parameters such as target distance and signal-to-noise ratio. However, the influencing factors are often not considered comprehensively enough, resulting in the simulated ADC data not effectively reflecting the real environment. Consequently, the test results of millimeter-wave radar do not represent the real situation, causing many inconveniences for subsequent research and development.

[0004] There is still no effective solution to the problem of low testing accuracy of detection equipment in related technologies. Summary of the Invention

[0005] This application provides a testing method and apparatus for a detection device, a storage medium, and an electronic device to at least solve the problem of low testing accuracy of detection devices in related technologies.

[0006] According to one embodiment of this application, a testing method for a detection device is provided, comprising:

[0007] The motion states of the detection device and the object to be detected in a simulated test scenario are obtained, wherein the simulated test scenario is used to test the detection performance of the detection device on the object to be detected;

[0008] The phase parameter and antenna gain parameter of the detection device are detected according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected;

[0009] The detection position of the object to be detected is determined based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected by the detection device;

[0010] The detection performance of the detection device is determined based on the detection location and the target location, wherein the target location is the actual location of the object to be detected in the simulation test scenario.

[0011] Optionally, detecting the phase parameters and antenna gain parameters of the detection device based on the motion state includes:

[0012] The first relative distance between the detection device and the object to be detected is determined based on the motion state;

[0013] The elevation angle parameters of the detection antenna included in the detection device relative to the object to be detected are determined based on the first relative distance;

[0014] The phase parameter and antenna gain parameter corresponding to the elevation angle parameter are obtained from the target gain map. The target gain map is used to record the correspondence between the detection angle of the detection antenna and the antenna characteristics, which include phase and antenna gain.

[0015] Optionally, determining the first relative distance between the detection device and the object to be detected based on the motion state includes:

[0016] The first coordinates of the driving vehicle with the detection device deployed in the initial coordinate system and the second coordinates of the object to be detected in the current coordinate system are obtained. The initial coordinate system is a coordinate system established based on the driving vehicle. The simulation test scenario simulates the scenario in which the driving vehicle and the object to be detected move together. The current coordinate system is the coordinate system that the initial coordinate system is transformed into as the driving vehicle moves.

[0017] Based on the target motion parameters of the driving tool included in the motion state, a first transformation matrix corresponding to the current coordinate system is obtained, wherein the first transformation matrix is ​​used to transform the current coordinate system back to the initial coordinate system;

[0018] The second coordinates are converted into the third coordinates using the first transformation matrix;

[0019] The difference between the third coordinate and the first coordinate is determined as the first relative distance.

[0020] Optionally, determining the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected based on the first relative distance includes:

[0021] The first relative distance is converted into a second relative distance using a second transformation matrix, wherein the first relative distance is converted into a second relative distance using a second transformation matrix, wherein the second transformation matrix is ​​used to indicate the coordinate transformation relationship between the initial coordinate system established according to the driving tool and the detection coordinate system established according to the detection device;

[0022] Obtain the third relative distance between the transmitting antenna and the receiving antenna in the detection coordinate system, wherein the detection antenna includes the transmitting antenna and the receiving antenna;

[0023] A relative distance parameter is calculated based on the second relative distance and the third relative distance, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected;

[0024] The elevation angle parameter is calculated based on the relative distance parameter and the third relative distance, wherein the elevation angle parameter is used to indicate the relative angle between the transmitting antenna and the object to be detected, and the relative angle between the receiving antenna and the object to be detected.

[0025] Optionally, determining the detection position of the object to be detected based on the phase parameter and the antenna gain parameter includes:

[0026] Obtain the target scattering cross-section corresponding to the object to be detected, wherein the target scattering cross-section is the area of ​​the object to be detected reflecting the detection wave emitted by the detection device;

[0027] The signal amplitude value corresponding to the object to be detected is determined according to the antenna gain parameter, the target scattering cross-section and the relative distance parameter, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected, and the detection device includes the transmitting antenna and the receiving antenna;

[0028] The detection position of the object to be detected is determined based on the phase parameter and the signal amplitude value.

[0029] Optionally, determining the detection position of the object to be detected based on the phase parameter and the signal amplitude value includes:

[0030] The phase parameter and the signal amplitude value are determined as detection parameters, wherein the detection parameters are used to characterize the location information of the object to be detected by the detection device;

[0031] The target signal is obtained by adding the noise parameters collected by the receiving antenna to the detection parameters;

[0032] The target signal is simulated to obtain a simulated image, wherein the simulated image is used to indicate the detection position of the object to be detected.

[0033] Optionally, determining the detection performance of the detection device based on the detection location and the target location includes:

[0034] Mark the target location on the simulated image;

[0035] Determine the degree of overlap between the detection position and the target position on the simulated image;

[0036] The detection performance is determined based on the degree of overlap.

[0037] According to another embodiment of this application, a testing apparatus for a detection device is also provided, comprising:

[0038] The acquisition module is used to acquire the motion state of the detection device and the object to be detected in a simulated test scenario, wherein the simulated test scenario is used to test the detection performance of the detection device on the object to be detected;

[0039] The detection module is used to detect the phase parameter and antenna gain parameter of the detection device according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected;

[0040] The first determining module is used to determine the detection position of the object to be detected based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected by the detection device;

[0041] The second determining module is used to determine the detection performance of the detection device based on the detection position and the target position, wherein the target position is the actual position of the object to be detected in the simulation test scenario.

[0042] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, and the computer program is configured to execute the test method of the above-described detection device when it is run.

[0043] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the testing method of the detection device described above through the computer program.

[0044] In this embodiment, the motion state of the detection device and the object to be detected in a simulated test scenario is obtained, wherein the simulated test scenario is used to test the detection performance of the detection device on the object to be detected; the phase parameter and antenna gain parameter of the detection device are detected based on the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulated test scenario, and the antenna gain parameter is used to indicate the antenna gain of the detection device in the direction of the object to be detected; the detection position of the object to be detected is determined based on the phase parameter and antenna gain parameter, wherein the detection position is the location of the object to be detected detected by the detection device; the detection performance of the detection device is determined based on the detection position and the target position, wherein the target position is... The actual position of the object to be detected in the simulated test scenario is determined by first acquiring the motion state of the detection device and the object in the simulated test scenario. Based on the motion state, the phase parameters and antenna gain parameters of the detection device are detected. Subsequently, the detection position of the object is determined based on the phase parameters and the antenna gain parameters. Since the phase parameters and the antenna gain parameters are obtained based on the motion state of the detection device and the object in the simulated test scenario, the final detection position takes into account the influence of the motion state of the detection device and the object on the phase parameters and the antenna gain parameters. Finally, the accuracy of determining the detection performance of the detection device based on the detection position and the target position is higher. This technical solution solves the problem of low testing accuracy of detection devices in related technologies, achieving the technical effect of improving the testing accuracy of detection devices. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the hardware environment for a testing method of a detection device according to an embodiment of this application;

[0048] Figure 2 This is a flowchart of a testing method for a detection device according to an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of a receiving antenna acquiring echo ADC data according to an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of a transmitting antenna acquiring echo ADC data according to an embodiment of this application;

[0051] Figure 5 These are simulated images and 3D images generated by a detection device according to an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of a testing process for a detection device according to an embodiment of this application;

[0053] Figure 7 This is a structural block diagram of a testing device for a detection equipment according to an embodiment of this application. Detailed Implementation

[0054] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0055] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0056] The methods and embodiments provided in this application can be executed on a computer terminal, device terminal, or similar computing device. Taking running on a computer terminal as an example, Figure 1 This is a schematic diagram of the hardware environment for a testing method of a detection device according to an embodiment of this application. For example... Figure 1 As shown, a computer terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. In one exemplary embodiment, the computer terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the computer terminal described above. For example, the computer terminal may also include components that are more complex than those described above. Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0057] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the testing method of the detection device in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0058] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider for the computer terminal. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0059] This embodiment provides a testing method for a detection device, applied to the aforementioned computer terminal. Figure 2 This is a flowchart of a testing method for a detection device according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0060] Step S202: Obtain the motion state of the detection device and the object to be detected in the simulation test scenario, wherein the simulation test scenario is used to test the detection performance of the detection device on the object to be detected;

[0061] Step S204: Detect the phase parameter and antenna gain parameter of the detection device according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected;

[0062] Step S206: Determine the detection position of the object to be detected based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected detected by the detection device;

[0063] Step S208: Determine the detection performance of the detection device based on the detection location and the target location, wherein the target location is the actual location of the object to be detected in the simulation test scenario.

[0064] Through the above steps, the motion state of the detection device and the object to be detected in the simulated test scenario is first obtained. Based on the motion state, the phase parameters and antenna gain parameters of the detection device are detected. Subsequently, the detection position of the object to be detected is determined based on the phase parameters and the antenna gain parameters. Since the phase parameters and the antenna gain parameters are obtained based on the motion state of the detection device and the object to be detected in the simulated test scenario, the final detection position takes into account the influence of the motion state of the detection device and the object to be detected on the phase parameters and the antenna gain parameters. Finally, the accuracy of determining the detection performance of the detection device based on the detection position and the target position is higher. This technical solution solves the problem of low testing accuracy of detection devices in related technologies, achieving the technical effect of improving the testing accuracy of detection devices.

[0065] In the technical solution provided in step S202 above, the detection device can be, but is not limited to, any device with detection function. It can be classified into different types according to the principle and application scenario of the detection device. For example, it can include, but is not limited to, ultrasonic detection devices, microwave detection devices, infrared beam detection devices, and radio detection devices, etc. It should be noted that in this application, radio detection devices (millimeter-wave radar) can be used as detection devices, but is not limited to describing the test method of the detection device. The type of detection device is not limited.

[0066] Optionally, in this embodiment, in a driving scenario, the object to be detected may include, but is not limited to, the driving vehicle that the detection device needs to detect. Similarly, the object to be detected may also refer to, but is not limited to, pedestrians, cyclists, cars, trucks, animals, motorcycles, engineering vehicles, road signs, and other road obstacles that need to be avoided by vehicles equipped with detection devices.

[0067] Optionally, in this embodiment, the simulation test scenario can be, but is not limited to, a scenario in which the detection device and the object to be detected move relative to each other. The motion state of the detection device and the object to be detected in the simulation test scenario can be changed by setting various parameters of the simulation test scenario on the simulation platform, thereby simulating the environment to be tested.

[0068] Optionally, in this embodiment, the motion state can be simulated and controlled by setting corresponding parameters through a simulation test scenario. For example, the parameter information in the scenario can be designed first, including the transmitted wave parameters of the detection device (millimeter-wave radar), the time axis of the simulation test scenario, and the number of objects to be detected. Then, the dB (decibel) value of the basic noise floor can be converted into an amplitude value, and the noise gain brought by the two-dimensional FFT (Fast Fourier Transform) can be removed to obtain the noise amplitude in the time domain. In addition, the noise loss can be compensated by windowing to achieve the purpose of noise formation.

[0069] Optionally, in this embodiment, the detection performance may refer to, but is not limited to, the accuracy of the detection device in detecting the target. The research and development and optimization of the detection device (millimeter-wave radar) can be promoted based on the obtained detection performance.

[0070] Since the ADC data of the target object is synthesized by directly calculating the amplitude and phase of the target signal from the distance between the target object and the driving vehicle without considering the gain of the transmitting and receiving antennas at different angles, it may not be able to accurately simulate the propagation state of the radar signal of the detection device (millimeter-wave radar) in a real environment. In step S204 of the proposed solution, the phase parameters and antenna gain parameters of the detection device are detected by the motion state. The antenna gain parameters of the corresponding transmitting and receiving antennas can be extracted from the gain pattern according to the angle between each target object and the detection device (millimeter-wave radar). That is, some necessary parameter information is added to the existing ADC data generation method and data synthesis is performed, which can effectively make up for the shortcomings of the existing artificial synthesis method and thus better simulate the real environment of radar signal propagation.

[0071] In an exemplary embodiment, the phase parameters and antenna gain parameters of the detection device can be detected based on the motion state by, but not limited to, the following methods: determining a first relative distance between the detection device and the object to be detected based on the motion state; determining the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected based on the first relative distance; and obtaining the phase parameters and antenna gain parameters corresponding to the elevation angle parameters from a target gain map, wherein the target gain map is used to record the correspondence between the detection angle possessed by the detection antenna and antenna features, and the antenna features include phase and antenna gain.

[0072] Optionally, in this embodiment, the antenna gain of the detection antenna may be different at different detection angles. Since the detection device is installed on the vehicle, the detection angle of the vehicle relative to the detection antenna will change when the vehicle moves relative to the object to be detected, and the antenna gain will also change accordingly. The first relative distance between the vehicle with the detection device and the object to be detected can be determined by the motion state. Then, the elevation angle parameter of the detection antenna relative to the object to be detected can be calculated based on the first relative distance. Finally, the phase parameter and antenna gain parameter corresponding to the elevation angle parameter can be obtained from the target gain diagram.

[0073] In an exemplary embodiment, the first relative distance between the detection device and the object to be detected can be determined based on the motion state by, but is not limited to, the following methods: obtaining the first coordinates of the driving tool on which the detection device is deployed in an initial coordinate system and the second coordinates of the object to be detected in a current coordinate system, wherein the initial coordinate system is a coordinate system established based on the driving tool, the simulation test scenario simulates a scenario in which the driving tool and the object to be detected move together, and the current coordinate system is a coordinate system transformed from the initial coordinate system as the driving tool moves; obtaining a first transformation matrix corresponding to the current coordinate system based on the target motion parameters of the driving tool included in the motion state, wherein the first transformation matrix is ​​used to transform the current coordinate system back to the initial coordinate system; converting the second coordinates into a third coordinate using the first transformation matrix; and determining the difference between the third coordinate and the first coordinate as the first relative distance.

[0074] Optionally, in this embodiment, the initial coordinate system is a coordinate system established based on the driving tool. It can be, but is not limited to, creating an initial coordinate system with the center of the rear wheel axle of the driving tool as the origin. As the driving tool moves, the initial coordinate system will transform into the current coordinate system. Therefore, the second coordinate in the current coordinate system can be converted into the third coordinate in the initial coordinate system through a first transformation matrix. Finally, the difference between the third coordinate and the first coordinate is determined as the first relative distance.

[0075]

[0076] Among them, (x lines ,y lines ) represents the first relative distance. Let (X0, Y0) be the first transformation matrix, and (X0, Y0) be the first coordinates. trg ,Y trg (X0+X) represents the distance between the detection device and the object to be detected. trg ,Y0+Y trg (Δx) is the second coordinate. host ,Δyhost This represents the offset caused by the movement of the driving vehicle. This is the third coordinate.

[0077] In an exemplary embodiment, the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected can be determined based on the first relative distance in the following manner: converting the first relative distance into a second relative distance using a second transformation matrix, wherein the first relative distance is converted into a second relative distance using a second transformation matrix, wherein the second transformation matrix is ​​used to indicate the coordinate transformation relationship between an initial coordinate system established according to the driving tool and a detection coordinate system established according to the detection device; obtaining a third relative distance between a transmitting antenna and a receiving antenna in the detection coordinate system, wherein the detection antenna includes the transmitting antenna and the receiving antenna; calculating a relative distance parameter based on the second relative distance and the third relative distance, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected; calculating the elevation angle parameter based on the relative distance parameter and the third relative distance, wherein the elevation angle parameter is used to indicate the relative angle between the transmitting antenna and the object to be detected, and the relative angle between the receiving antenna and the object to be detected.

[0078] Optionally, in this embodiment, the second transformation matrix is ​​a transformation matrix from the initial coordinate system to the probe coordinate system, which can be used to transform the aforementioned distance (x) lines ,y lines Transform to the detection coordinate system, then determine the third relative distance between the transmitting and receiving antennas based on their coordinate information. Calculate the relative distance parameters based on the second and third relative distances, where the relative distance parameters include the distance R from the transmitting antenna to the object being detected. tx2trg Measure the distance R from the driving vehicle to the receiving antenna. trg2rx Finally, based on R tx2trg Calculate the azimuth angle θ between the target object and the transmitting antenna based on the relative distance to the third point. tx and pitch angle And based on the target gain map (gain pattern data table) of the transmitting antenna, extract the value of the transmitting antenna in... Phase and gain G at the point t Similarly, according to R trg2rx Calculate the azimuth angle θ between the target object and the receiving antenna based on the relative distance to the third point. rx and pitch angle And based on the target gain map (gain pattern data table) of the receiving antenna, extract the value of the receiving antenna in... Phase and gain G at the pointr .

[0079] In the technical solution provided in step S206 above, the detection position is the location of the object to be detected by the detection device in the simulation test scenario, and the accuracy of the detection position can directly reflect the detection performance of the detection device.

[0080] In an exemplary embodiment, the detection position of the object to be detected can be determined, but is not limited to, by the following methods based on the phase parameter and the antenna gain parameter: obtaining the target scattering cross-section corresponding to the object to be detected, wherein the target scattering cross-section is the area of ​​the object to be detected reflecting the detection wave emitted by the detection device; determining the signal amplitude value corresponding to the object to be detected based on the antenna gain parameter, the target scattering cross-section, and the relative distance parameter, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected, and the detection device includes the transmitting antenna and the receiving antenna; and determining the detection position of the object to be detected based on the phase parameter and the signal amplitude value.

[0081] Optionally, in this embodiment, determining the signal amplitude value corresponding to the object to be detected based on the antenna gain parameter, the target scattering cross-section, and the relative distance parameter may include, but is not limited to, the following steps:

[0082] Step 11: Measure the detection signal (radar signal) obtained under ideal conditions in the darkroom at a distance R. ref The power at point P ref As a reference value, the distance R between the object to be detected and the transmitting and receiving antennas (transmitting antenna and receiving antenna) is obtained according to the following formula (2). tx2trg and R trg2rx The received power P at the receiving antenna differ .

[0083]

[0084] Step 12: Based on the directional gain of the target object relative to the transmitting and receiving antennas and the RCS (reflection cross-section) σ of the target object, calculate the received power relative to the real environment according to the following formula (3).

[0085] Where λ is the wavelength of the detection signal (radar signal), G r For receiving antenna in Gain at G t For the transmitting antenna in The gain at point σ is the RCS (reflection cross-section) of the object to be detected.

[0086] In one exemplary embodiment, the detection position of the object to be detected can be determined, but is not limited to, by the following methods based on the phase parameter and the signal amplitude value: determining the phase parameter and the signal amplitude value as detection parameters, wherein the detection parameters are used to characterize the location information of the object to be detected by the detection device; adding noise parameters collected by the receiving antenna to the detection parameters to obtain a target signal; simulating the target signal to obtain a simulation image, wherein the simulation image is used to indicate the detection position of the object to be detected.

[0087] Optionally, in this embodiment, adding the noise parameters collected by the receiving antenna to the detection parameters to obtain the target signal; simulating the target signal to obtain a simulated image may include, but is not limited to, the following steps:

[0088] Step 21: f The value is converted to dB and superimposed on the initial SNR (Signal-to-Noise Ratio) of the object to be detected, and then converted into a real-time varying amplitude value A. m .

[0089] Step 22: Superimpose the synthesized phase of the transmitting and receiving antennas with the PSK (Phase Shift Keying, digital modulation) phase shift and the amplitude value A. m Together, they form the ADC data of the target object under the transmitting and receiving antennas.

[0090] Step 23: Superimpose the echo ADC data values ​​of all objects to be detected, including:

[0091] S1: Superimpose the echo ADC data of all objects to be detected illuminated by each transmitting antenna. Figure 3 This is a schematic diagram of a receiving antenna acquiring echo ADC data according to an embodiment of this application, as shown below. Figure 3 As shown, 1. Obtain the position coordinate information of each receiving antenna on the X, Y, and Z axes; 2. Generate the time-domain Gaussian noise of each receiving antenna based on the noise amplitude value in the time domain; 3. Obtain the gain pattern data of the corresponding receiving antenna based on the RxIdx (receiving antenna number) of the current receiving antenna; 4. Obtain the maximum value in the gain pattern data of the current receiving antenna, and use this as a reference to normalize the gain pattern data table.

[0092] S2: Superimpose all echo ADC data values ​​from each receiving antenna. Figure 4 This is a schematic diagram of a transmitting antenna acquiring echo ADC data according to an embodiment of this application, as shown below. Figure 4As shown, the process involves: 1. Obtaining the position coordinates of each transmitting antenna on the X, Y, and Z axes; 2. Obtaining the gain pattern data of the corresponding transmitting antenna based on its TxIdx (transmitting antenna number); 3. Obtaining the maximum value in the gain pattern data of the current receiving antenna and using it as a benchmark to normalize the gain pattern data table; 4. Obtaining the PSK encoding array of the current TxIdx transmitting antenna; 5. Iterating through each target object to generate echo ADC data for each target object.

[0093] S3: Add the noise value of the current receiving antenna; convert the above superimposed signal into the matrix form required for signal processing and output it; finally, process the output signal to obtain a simulation image, in which the detection position of the object to be detected is marked.

[0094] In the technical solution provided in step S208 above, the process of obtaining the detection position takes into account the influence of the motion state of the detection device and the object to be detected in the simulation test scenario on the phase parameters and the antenna gain parameters. Finally, the accuracy of determining the detection performance of the detection device based on the detection position and the target position will be higher.

[0095] In one exemplary embodiment, the detection performance of the detection device may be determined based on the detection location and the target location by, but is not limited to, marking the target location on the simulation image; determining the degree of overlap between the detection location and the target location on the simulation image; and determining the detection performance based on the degree of overlap.

[0096] Optionally, in this embodiment, the detection position on the simulated image can be compared with the target position. Figure 5 These are simulated images and 3D images generated by a detection device according to an embodiment of this application, such as... Figure 5 As shown in the simulation and 3D images, a detection device is deployed on the vehicle. The detection device detects that the object to be detected is in the detection position. By comparing the overlap between the detection position and the target position, the detection performance of the detection device can be determined.

[0097] To better understand the testing process of the above-mentioned detection equipment, the testing procedure of the above-mentioned detection equipment will be described below in conjunction with optional embodiments, but this is not intended to limit the technical solution of the embodiments of this application.

[0098] This embodiment provides a testing method for a detection device. Figure 6 This is a schematic diagram of a testing process for a detection device according to an embodiment of this application, as shown below. Figure 6 As shown, the main steps include the following:

[0099] Step S610: Simulation scene data initialization settings, including: acquiring parameter information in the design scene, including transmitted wave parameters, time axis, number of objects to be detected, etc.; noise generation: converting the dB value of the basic noise floor into an amplitude value, and removing the noise gain brought by the two-dimensional FFT (Fast Fourier Transform) to obtain the noise amplitude in the time domain, and compensating for noise loss by windowing; calculating the transformation matrix of the vehicle coordinate system at each moment based on the vehicle speed, acceleration and deflection radius; setting the slope indication matrix of frequency hopping for PSK (Phase Shift Keying) modulation.

[0100] Step S620: Cycle through each receiving antenna to generate echo ADC data of all objects to be detected illuminated by all transmitting antennas, including: obtaining the position coordinate information of each receiving antenna on the X, Y, and Z axes; generating the time-domain Gaussian noise of each receiving antenna based on the noise amplitude value in the time domain; obtaining the gain pattern data of the corresponding receiving antenna based on the rxIdx (receiving antenna number) of the current receiving antenna; obtaining the maximum value in the gain pattern data of the current receiving antenna, and normalizing the gain pattern data table based on this value.

[0101] Step S630: Cycle through each transmitting antenna, generating echo ADC data for all objects to be detected illuminated by each transmitting antenna. This includes: acquiring the position coordinates of each transmitting antenna on the X, Y, and Z axes; obtaining the gain pattern data of the corresponding transmitting antenna based on its txIdx (transmitting antenna number); obtaining the maximum value in the gain pattern data of the current receiving antenna and normalizing the gain pattern data table based on this value; and obtaining the PSK encoding array of the current txIdx transmitting antenna.

[0102] Step S640: Loop through each target object to generate echo ADC data for each target object, including steps S640-1 to S640-5, wherein...

[0103] Step S640-1 is as follows:

[0104] 1. Obtain radar installation information (position coordinates) in the vehicle coordinate system;

[0105] 2. In the coordinate system of the driving vehicle, obtain information such as the position, velocity, and acceleration of the current object to be detected (trgsIdx);

[0106] 3. Extract the transformation matrix of the driving vehicle coordinate system at each moment relative to the previous moment, and the transformation matrix of the driving vehicle coordinate system to the radar coordinate system;

[0107] 4. Based on the vehicle coordinate transformation matrix and vehicle coordinate information obtained in the previous step, the relative distance (x) between the object to be detected and the vehicle in the vehicle coordinate system is obtained according to formula (1). lines ,y lines );

[0108] 5. Based on the radar coordinate system transformation matrix, (x) lines ,y lines Transform to the radar coordinate system;

[0109] 6. Calculate the distance R from the transmitting antenna to the object to be detected based on the coordinate information of the transmitting and receiving antennas. tx2trg The distance R from the object to be detected to the receiving antenna trg2rx ;

[0110] 7. Calculate the distance R tx2trg and R trg2rx The time difference resulting from addition;

[0111] 8. Calculate the echo frequency based on the time difference obtained in the previous step.

[0112] Step S640-2: Calculate the angle of the target object's trgsIdx to obtain the azimuth and elevation angles and the transmit / receive antenna gain. The steps are as follows:

[0113] 1. Obtain radar installation information (azimuth and elevation angles, normal direction, and field of view);

[0114] 2. Based on the obtained distance R of the object to be detected tx2trg Using the coordinate information of the transmitting antenna txIdx, calculate the azimuth angle θ between the target object and the transmitting antenna txIdx. tx and pitch angle Based on the gain pattern data table of the transmitting antenna, extract the txIdx of the transmitting antenna in... Phase and gain G at the point t ;

[0115] 3. Based on the obtained distance R of the object to be detected trg2rx Using the coordinate information of the receiving antenna rxIdx, calculate the azimuth angle θ between the target object and the receiving antenna rxIdx. rx and pitch angle And based on the gain pattern data table of the receiving antenna, extract the rxIdx of the receiving antenna in... Phase and gain G at the point r ;

[0116] 4. Phase synthesis of transceiver antennas.

[0117] Step S640-3: Based on the reflection characteristics of different objects to be detected, obtain the RCS of the current object to be detected, trgsIdx, as σ.

[0118] Step S640-4, Simulation ADC data synthesis, the steps are as follows:

[0119] 1. The radar signal measured in the dark room under ideal conditions at a distance R ref The power at point P ref As a reference value, the distance R between the object to be detected and the transmitting and receiving antennas is obtained according to formula (2). tx2trg and R trg2rx The received power P at the receiving antenna differ ;

[0120] 2. Based on the directional gain of the target object relative to the transmitting and receiving antennas and the RCS of the target object, the received power relative to the real environment is calculated according to formula (3).

[0121] 3. The value is converted to dB and superimposed with the initial SNR of the object to be detected, and then converted into a real-time varying amplitude value A. m ;

[0122] 4. Superimpose the combined phase of the transmitting and receiving antennas with the PSK phase shift, and then add it to the amplitude value A. m Together, they form the ADC data of the current object to be detected, trgsIdx, under the transmitting antenna txIdx and the receiving antenna rxIdx;

[0123] Step S640-5: Superimpose the echo ADC data values ​​of all objects to be detected;

[0124] Step S650: Superimpose the echo ADC data of all objects to be detected illuminated by each transmitting antenna;

[0125] Step S660: Superimpose all echo ADC data values ​​under each receiving antenna and add the noise value of the current receiving antenna rxIdx to obtain the superimposed signal;

[0126] Step S670: Convert the superimposed signal into the matrix form required for signal processing and output it.

[0127] Based on the above steps, an optional embodiment is also provided, as shown below:

[0128] Taking the generation of echo ADC data from a moving object as an example. The known waveform information is: the radar transmits N signals per frame. P = 64 chirps, each chirp samples N S=256 points, initial frequency f0 = 76 GHz, linear frequency hopping slope is 1.827 × 10 13 Hz / s. The driving vehicle information is as follows: In the driving vehicle coordinate system with the rear axle center as the origin, the driving vehicle travels at a constant linear speed of 20 m / s towards the target object. The millimeter-wave radar includes three transmitting antennas and four receiving antennas. The target object information is as follows: In the simulation test scenario, there is a moving target object. The target object's position in the driving vehicle coordinate system is (20m, 2m, 1m), its speed is V = 5 m / s, and the initial SNR is 20 dB.

[0129] The steps for generating the echo ADC data of the object to be detected are as follows:

[0130] 1) Based on the vehicle information, calculate the first transformation matrix in the vehicle coordinate system relative to the previous moment. The second transformation matrix from the vehicle coordinate system to the radar coordinate system.

[0131] 2) Calculate the relative distance (x) between the driving vehicle and the object to be detected in the driving vehicle coordinate system according to formula (1). lines ,y lines ).

[0132] 3) The relative distance (x) lines ,y lines The distance value is converted to the radar coordinate system using the second transformation matrix.

[0133] 4) Calculate the distance R from the first transmitting antenna to the target object based on the distance value in the radar coordinate system. tx2trg The distance R from the object to be detected to the first receiving antenna trg2rx .

[0134] 5) Utilize distance R tx2trg Calculate the azimuth and elevation angles of the target object relative to the first transmitting antenna. use Extract the phase φ of the first transmitting antenna tx2trg and gain G t .

[0135] 6) Utilize distance R trg2rx Calculate the azimuth and elevation angles of the target object relative to the first receiving antenna. use Extract the phase φ of the first receiving antenna trg2rx and gain G r .

[0136] 7) Based on the characteristics of the object to be detected, extract the RSC value σ of the object to be detected in the RCS data table.

[0137] 8) According to formulas (2) and (3), R trg2rx R tx2trg G t G r Combined with σ and converted into the corresponding amplitude value A m .

[0138] 9) Set the amplitude value A m With phase φ tx2trg and φ trg2rx The ADC data is synthesized into Tx1-target-Rx1 (ADC1).

[0139] 10) Repeat the above steps to obtain the ADC data ADC2 and ADC3 of Tx2-Object to be detected-Rx1 and Tx3-Object to be detected-Rx1.

[0140] 11) Superimpose all the above ADC data values ​​and add the noise of the first receiving antenna to synthesize the ADC data of a single receiving antenna: ADCRX1 = ADC1 + ADC2 + ADC3 + n1.

[0141] 12) Repeat the above steps to obtain the echo ADC data of the second, third and fourth receiving antennas and superimpose them, that is, the ADC data of each frame is ADCRX1+ADCRX2+ADCRX3+ADCRX4.

[0142] 13) Convert the ADC data of each frame into N values ​​required for signal processing. S ×N P Matrix form.

[0143] 14) The signal is processed to obtain a simulated image, which can accurately identify the moving object to be detected.

[0144] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods of the various embodiments of this application.

[0145] Figure 7 This is a structural block diagram of a testing device for a detection apparatus according to an embodiment of this application; as shown below. Figure 7 As shown, it includes:

[0146] The acquisition module 702 is used to acquire the motion state of the detection device and the object to be detected in a simulation test scenario, wherein the simulation test scenario is used to test the detection performance of the detection device on the object to be detected;

[0147] The detection module 704 is used to detect the phase parameter and antenna gain parameter of the detection device according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected;

[0148] The first determining module 706 is used to determine the detection position of the object to be detected based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected detected by the detection device;

[0149] The second determining module 708 is used to determine the detection performance of the detection device based on the detection position and the target position, wherein the target position is the actual position of the object to be detected in the simulation test scenario.

[0150] Through the above embodiments, the motion state of the detection device and the object to be detected in the simulated test scenario is first obtained. Based on the motion state, the phase parameters and antenna gain parameters of the detection device are detected. Subsequently, the detection position of the object to be detected is determined based on the phase parameters and the antenna gain parameters. Since the phase parameters and the antenna gain parameters are obtained based on the motion state of the detection device and the object to be detected in the simulated test scenario, the final detection position takes into account the influence of the motion state of the detection device and the object to be detected on the phase parameters and the antenna gain parameters. Finally, the accuracy of determining the detection performance of the detection device based on the detection position and the target position is higher. By adopting the above technical solution, the problem of low testing accuracy of detection devices in related technologies is solved, achieving the technical effect of improving the testing accuracy of detection devices.

[0151] In one exemplary embodiment, the detection module includes:

[0152] The first determining unit is configured to determine a first relative distance between the detection device and the object to be detected based on the motion state;

[0153] The second determining unit is used to determine the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected based on the first relative distance;

[0154] The first acquisition unit is used to acquire the phase parameter and antenna gain parameter corresponding to the elevation angle parameter from the target gain map, wherein the target gain map is used to record the correspondence between the detection angle of the detection antenna and the antenna features, and the antenna features include phase and antenna gain.

[0155] In an exemplary embodiment, the first determining unit is further configured to:

[0156] The first coordinates of the driving vehicle with the detection device deployed in the initial coordinate system and the second coordinates of the object to be detected in the current coordinate system are obtained. The initial coordinate system is a coordinate system established based on the driving vehicle. The simulation test scenario simulates the scenario in which the driving vehicle and the object to be detected move together. The current coordinate system is the coordinate system that the initial coordinate system is transformed into as the driving vehicle moves.

[0157] Based on the target motion parameters of the driving tool included in the motion state, a first transformation matrix corresponding to the current coordinate system is obtained, wherein the first transformation matrix is ​​used to transform the current coordinate system back to the initial coordinate system;

[0158] The second coordinates are converted into the third coordinates using the first transformation matrix;

[0159] The difference between the third coordinate and the first coordinate is determined as the first relative distance.

[0160] In one exemplary embodiment, the second determining unit is further configured to:

[0161] The first relative distance is converted into a second relative distance using a second transformation matrix, wherein the first relative distance is converted into a second relative distance using a second transformation matrix, wherein the second transformation matrix is ​​used to indicate the coordinate transformation relationship between the initial coordinate system established according to the driving tool and the detection coordinate system established according to the detection device;

[0162] Obtain the third relative distance between the transmitting antenna and the receiving antenna in the detection coordinate system, wherein the detection antenna includes the transmitting antenna and the receiving antenna;

[0163] A relative distance parameter is calculated based on the second relative distance and the third relative distance, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected;

[0164] The elevation angle parameter is calculated based on the relative distance parameter and the third relative distance, wherein the elevation angle parameter is used to indicate the relative angle between the transmitting antenna and the object to be detected, and the relative angle between the receiving antenna and the object to be detected.

[0165] In an exemplary embodiment, the first determining module includes:

[0166] The second acquisition unit is used to acquire the target scattering cross-section corresponding to the object to be detected, wherein the target scattering cross-section is the area of ​​the object to be detected reflecting the detection wave emitted by the detection device;

[0167] The third determining unit is used to determine the signal amplitude value corresponding to the object to be detected based on the antenna gain parameter, the target scattering cross-section and the relative distance parameter, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected, and the detection device includes the transmitting antenna and the receiving antenna;

[0168] The fourth determining unit is used to determine the detection position of the object to be detected based on the phase parameter and the signal amplitude value.

[0169] In one exemplary embodiment, the fourth determining unit is further configured to:

[0170] The phase parameter and the signal amplitude value are determined as detection parameters, wherein the detection parameters are used to characterize the location information of the object to be detected by the detection device;

[0171] The target signal is obtained by adding the noise parameters collected by the receiving antenna to the detection parameters;

[0172] The target signal is simulated to obtain a simulated image, wherein the simulated image is used to indicate the detection position of the object to be detected.

[0173] In one exemplary embodiment, the second determining module includes:

[0174] A marking unit is used to mark the target location on the simulation image;

[0175] The fifth determining unit is used to determine the degree of overlap between the detection position and the target position on the simulated image;

[0176] The sixth unit is used to determine the detection performance based on the overlap degree.

[0177] Embodiments of this application also provide a storage medium including a stored program, wherein the program executes any of the methods described above when it is run.

[0178] Optionally, in this embodiment, the storage medium may be configured to store program code for performing the following steps:

[0179] S1, acquire the motion state of the detection device and the object to be detected in the simulation test scenario, wherein the simulation test scenario is used to test the detection performance of the detection device on the object to be detected;

[0180] S2, detect the phase parameter and antenna gain parameter of the detection device according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected;

[0181] S3, determine the detection position of the object to be detected based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected by the detection device;

[0182] S4. Determine the detection performance of the detection device based on the detection position and the target position, wherein the target position is the actual position of the object to be detected in the simulation test scenario.

[0183] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0184] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0185] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0186] S1, acquire the motion state of the detection device and the object to be detected in the simulation test scenario, wherein the simulation test scenario is used to test the detection performance of the detection device on the object to be detected;

[0187] S2, detect the phase parameter and antenna gain parameter of the detection device according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected;

[0188] S3, determine the detection position of the object to be detected based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected by the detection device;

[0189] S4. Determine the detection performance of the detection device based on the detection position and the target position, wherein the target position is the actual position of the object to be detected in the simulation test scenario.

[0190] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0191] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0192] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0193] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A test method for a probe device, characterized by, include: The motion states of the detection device and the object to be detected in a simulated test scenario are obtained, wherein the simulated test scenario is used to test the detection performance of the detection device on the object to be detected; The phase parameter and antenna gain parameter of the detection device are detected according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected; The detection position of the object to be detected is determined based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected by the detection device; The detection performance of the detection device is determined based on the detection location and the target location, wherein the target location is the actual location of the object to be detected in the simulation test scenario; The step of detecting the phase parameters and antenna gain parameters of the detection device based on the motion state includes: determining a first relative distance between the detection device and the object to be detected based on the motion state; determining the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected based on the first relative distance; and obtaining the phase parameters and antenna gain parameters corresponding to the elevation angle parameters from a target gain map, wherein the target gain map is used to record the correspondence between the detection angle of the detection antenna and the antenna features, and the antenna features include phase and antenna gain.

2. The method of claim 1, wherein, Determining the first relative distance between the detection device and the object to be detected based on the motion state includes: The first coordinates of the driving vehicle with the detection device deployed in the initial coordinate system and the second coordinates of the object to be detected in the current coordinate system are obtained. The initial coordinate system is a coordinate system established based on the driving vehicle. The simulation test scenario simulates the scenario in which the driving vehicle and the object to be detected move together. The current coordinate system is the coordinate system that the initial coordinate system is transformed into as the driving vehicle moves. Based on the target motion parameters of the driving tool included in the motion state, a first transformation matrix corresponding to the current coordinate system is obtained, wherein the first transformation matrix is ​​used to transform the current coordinate system back to the initial coordinate system; The second coordinates are converted into the third coordinates using the first transformation matrix; The difference between the third coordinate and the first coordinate is determined as the first relative distance.

3. The method of claim 1, wherein, Determining the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected based on the first relative distance includes: The first relative distance is converted into a second relative distance using a second transformation matrix, wherein the second transformation matrix is ​​used to indicate the coordinate transformation relationship between the initial coordinate system established based on the driving tool and the detection coordinate system established based on the detection device; Obtain the third relative distance between the transmitting antenna and the receiving antenna in the detection coordinate system, wherein the detection antenna includes the transmitting antenna and the receiving antenna; A relative distance parameter is calculated based on the second relative distance and the third relative distance, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected; The elevation angle parameter is calculated based on the relative distance parameter and the third relative distance, wherein the elevation angle parameter is used to indicate the relative angle between the transmitting antenna and the object to be detected, and the relative angle between the receiving antenna and the object to be detected.

4. The method of claim 1, wherein, Determining the detection position of the object to be detected based on the phase parameter and the antenna gain parameter includes: Obtain the target scattering cross-section corresponding to the object to be detected, wherein the target scattering cross-section is the area of ​​the object to be detected reflecting the detection wave emitted by the detection device; The signal amplitude value corresponding to the object to be detected is determined according to the antenna gain parameter, the target scattering cross-section and the relative distance parameter, wherein the relative distance parameter is used to indicate the relative distance between the transmitting antenna and the object to be detected, and the relative distance between the receiving antenna and the object to be detected, and the detection device includes the transmitting antenna and the receiving antenna; The detection position of the object to be detected is determined based on the phase parameter and the signal amplitude value.

5. The method according to claim 4, characterized in that, Determining the detection position of the object to be detected based on the phase parameter and the signal amplitude value includes: The phase parameter and the signal amplitude value are determined as detection parameters, wherein the detection parameters are used to characterize the location information of the object to be detected by the detection device; The target signal is obtained by adding the noise parameters collected by the receiving antenna to the detection parameters; The target signal is simulated to obtain a simulated image, wherein the simulated image is used to indicate the detection position of the object to be detected.

6. The method according to claim 5, characterized in that, Determining the detection performance of the detection device based on the detection location and the target location includes: Mark the target location on the simulated image; Determine the degree of overlap between the detection position and the target position on the simulated image; The detection performance is determined based on the degree of overlap.

7. A testing device for a detection equipment, characterized in that, include: The acquisition module is used to acquire the motion state of the detection device and the object to be detected in a simulated test scenario, wherein the simulated test scenario is used to test the detection performance of the detection device on the object to be detected; The detection module is used to detect the phase parameter and antenna gain parameter of the detection device according to the motion state, wherein the phase parameter is used to indicate the phase of the object to be detected relative to the detection device in the simulation test scenario, and the antenna gain parameter is used to indicate the current antenna gain of the detection device in the direction of the object to be detected; The first determining module is used to determine the detection position of the object to be detected based on the phase parameter and the antenna gain parameter, wherein the detection position is the location of the object to be detected by the detection device; The second determining module is used to determine the detection performance of the detection device based on the detection position and the target position, wherein the target position is the actual position of the object to be detected in the simulation test scenario; The detection module includes: a first determining unit, configured to determine a first relative distance between the detection device and the object to be detected based on the motion state; a second determining unit, configured to determine the elevation angle parameter of the detection antenna included in the detection device relative to the object to be detected based on the first relative distance; and a first acquiring unit, configured to acquire the phase parameter and antenna gain parameter corresponding to the elevation angle parameter from a target gain map, wherein the target gain map is used to record the correspondence between the detection angle of the detection antenna and the antenna features, and the antenna features include phase and antenna gain.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 6 through the computer program.

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