Millimeter wave radar virtual target removing method, device and equipment and readable storage medium

Abstract

This invention provides a method, apparatus, device, and readable storage medium for removing false targets in millimeter-wave radar. The method includes: detecting a preset target using a millimeter-wave radar under test to obtain a test distance; identifying false targets from the test distance; and removing the identified false targets from the test distance to obtain the real target. This invention addresses the issue that, due to the metal components of the millimeter-wave radar test bench, such as the receiving and transmitting antennas which reflect millimeter waves, and considering factors like the output power of equipment in millimeter-wave radar simulation testing, false targets may appear in the test distance obtained by detecting a preset target using the millimeter-wave radar under test. Therefore, removing false targets from the test distance to obtain the real target improves the accuracy of target perception by the millimeter-wave radar under test and further enhances the reliability of joint simulation testing of millimeter-wave radar and intelligent driving domain controllers.

Description

Technical Field

[0001] This invention relates to the field of millimeter-wave radar simulation testing, and in particular to a method, apparatus, device, and readable storage medium for removing virtual targets in millimeter-wave radar. Background Technology

[0002] Millimeter-wave radar test benches typically include a millimeter-wave radar target simulator, a host computer, and a graphical user interface, used to test the performance of millimeter-wave radar. Pre-defined targets detected by the millimeter-wave radar are called useful real targets, while targets other than the pre-defined targets are called useless virtual targets. Since the receiving and transmitting antennas of the millimeter-wave radar test bench are metal components, they reflect millimeter waves. When these reflected millimeter waves are detected by the millimeter-wave radar, they appear as a useless virtual target, called a fixed virtual target. In millimeter-wave radar simulation testing, due to issues such as equipment output power, two other types of virtual targets may also appear: double virtual targets and fixed-value increased virtual targets. In joint simulation testing of millimeter-wave radar and intelligent driving domain controllers, various virtual targets severely interfere with the accuracy of target perception, thus affecting the reliability of intelligent driving simulation testing. Summary of the Invention

[0003] The main objective of this invention is to provide a method, apparatus, device, and readable storage medium for removing false targets from millimeter-wave radar. This invention aims to solve the technical problem that various false targets may appear in the joint simulation test of millimeter-wave radar and intelligent driving domain controller, which may seriously interfere with the accuracy of target perception and thus affect the reliability of intelligent driving simulation test.

[0004] In a first aspect, the present invention provides a method for removing false targets from millimeter-wave radar, the method comprising:

[0005] The test distance is obtained by detecting a preset target using the millimeter-wave radar under test;

[0006] Identify virtual targets from the test distance;

[0007] Remove the identified virtual targets from the test distances to obtain the real targets.

[0008] Optionally, determining the virtual target from the test distance includes:

[0009] The range is determined based on the frequency band and power of the millimeter-wave radar to be tested;

[0010] The detection accuracy and bottom radius of the dark box of the millimeter-wave radar to be tested are obtained. The bottom radius of the dark box is the distance between the front surface of the millimeter-wave radar to be tested and the transceiver antenna of the millimeter-wave radar target simulator.

[0011] Based on the preset distance, increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box, the virtual target is determined from the test distance.

[0012] Optionally, determining the virtual target from the test distance based on the preset distance, the increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box includes:

[0013] The test distance includes one or more values, and the values ​​are extracted sequentially from the test distance as the values ​​to be judged;

[0014] If the value to be judged is within the first range, the target corresponding to the value to be judged is determined as a fixed virtual target. The lower limit of the first range is the difference between the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested.

[0015] If the value to be judged is within the second range, the target corresponding to the value to be judged is determined as a double virtual target. The lower limit of the second range is the difference between twice the preset distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of twice the target distance and the detection accuracy of the millimeter-wave radar to be tested.

[0016] Calculate the sum of the preset distance and the increased distance to obtain the fixed increased distance;

[0017] If the value to be judged is within the third range, the target corresponding to the value to be judged is determined as a fixed-value increased virtual target. The lower limit of the third range is the difference between the fixed-value increased distance and the detection accuracy of the millimeter-wave radar under test, and the upper limit is the sum of the fixed-value increased distance and the detection accuracy of the millimeter-wave radar under test.

[0018] Optionally, removing the identified virtual targets from the test distance to obtain the real targets includes:

[0019] The real target is obtained by removing the fixed virtual targets, double virtual targets, and fixed-value increased virtual targets from the test distance.

[0020] Optionally, before obtaining the test distance by detecting a preset target using the millimeter-wave radar under test, the following steps are included:

[0021] The preset distance is set by the host computer of the millimeter-wave radar test bench;

[0022] A millimeter-wave radar target simulator is used to simulate a preset target at a preset distance.

[0023] Secondly, the present invention also provides a millimeter-wave radar false target removal device, the millimeter-wave radar false target removal device comprising:

[0024] The detection module is used to detect a preset target using the millimeter-wave radar under test and obtain the test distance.

[0025] The determination module is used to identify virtual targets from the test distance;

[0026] The removal module is used to remove identified virtual targets from the test distance to obtain the real targets.

[0027] Optionally, the determining module includes:

[0028] The first determining unit is used to determine the extended range based on the frequency band and power of the millimeter-wave radar to be tested;

[0029] The acquisition unit is used to acquire the detection accuracy and bottom radius of the dark box of the millimeter-wave radar to be tested. The bottom radius of the dark box is the distance between the front surface of the millimeter-wave radar to be tested and the transceiver antenna of the millimeter-wave radar target simulator.

[0030] The second determining unit is used to determine the virtual target from the test distance based on the preset distance, the increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box.

[0031] Optionally, the second determining unit is used for:

[0032] The test distance includes one or more values, and the values ​​are extracted sequentially from the test distance as the values ​​to be judged;

[0033] If the value to be judged is within the first range, the target corresponding to the value to be judged is determined as a fixed virtual target. The lower limit of the first range is the difference between the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested.

[0034] If the value to be judged is within the second range, the target corresponding to the value to be judged is determined as a double virtual target. The lower limit of the second range is the difference between twice the preset distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of twice the target distance and the detection accuracy of the millimeter-wave radar to be tested.

[0035] Calculate the sum of the preset distance and the increased distance to obtain the fixed increased distance;

[0036] If the value to be judged is within the third range, the target corresponding to the value to be judged is determined as a fixed-value increased virtual target. The lower limit of the third range is the difference between the fixed-value increased distance and the detection accuracy of the millimeter-wave radar under test, and the upper limit is the sum of the fixed-value increased distance and the detection accuracy of the millimeter-wave radar under test.

[0037] Thirdly, the present invention also provides a millimeter-wave radar false target removal device, the millimeter-wave radar false target removal device including a processor, a memory, and a millimeter-wave radar false target removal program stored in the memory and executable by the processor, wherein when the millimeter-wave radar false target removal program is executed by the processor, the steps of the millimeter-wave radar false target removal method as described above are implemented.

[0038] Fourthly, the present invention also provides a readable storage medium storing a millimeter-wave radar false target removal program, wherein when the millimeter-wave radar false target removal program is executed by a processor, it implements the steps of the millimeter-wave radar false target removal method as described above.

[0039] In this invention, a test distance is obtained by detecting a preset target using a millimeter-wave radar under test; virtual targets are identified from the test distance; and the identified virtual targets are removed from the test distance to obtain the real target. This invention addresses the issue that, due to the fact that the receiving and transmitting antennas of the millimeter-wave radar test bench are metal components that reflect millimeter waves, and considering issues such as the output power of the equipment in millimeter-wave radar simulation testing, virtual targets may appear in the test distance obtained by detecting a preset target using the millimeter-wave radar under test. Therefore, removing virtual targets from the test distance to obtain the real target improves the accuracy of target perception by the millimeter-wave radar under test and further enhances the reliability of joint simulation testing of millimeter-wave radar and intelligent driving domain controllers. Attached Figure Description

[0040] Figure 1 This is a flowchart illustrating an embodiment of the millimeter-wave radar virtual target removal method of the present invention;

[0041] Figure 2 for Figure 1 A detailed flowchart of step S20;

[0042] Figure 3 for Figure 2 A detailed flowchart of step S203;

[0043] Figure 4 This is a schematic diagram illustrating the process of simulating a preset target in one embodiment of the millimeter-wave radar virtual target removal method of the present invention;

[0044] Figure 5 This is a functional module diagram of an embodiment of the millimeter-wave radar virtual target removal device of the present invention;

[0045] Figure 6 This is a schematic diagram of the hardware structure of an embodiment of the millimeter-wave radar virtual target removal device of the present invention.

[0046] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0048] In a first aspect, embodiments of the present invention provide a method for removing false targets in millimeter-wave radar.

[0049] To more clearly demonstrate the millimeter-wave radar virtual target removal method provided in the embodiments of this application, we will first introduce the application scenarios of the millimeter-wave radar virtual target removal method provided in the embodiments of this application.

[0050] The millimeter-wave radar false target removal method provided in this application embodiment is applied in the joint simulation test of millimeter-wave radar and intelligent driving domain controller. In intelligent driving simulation test, various false targets may appear, which will seriously interfere with the accuracy of target perception. Therefore, it is necessary to remove false targets in the test distance detected by the millimeter-wave radar under test.

[0051] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the millimeter-wave radar virtual target removal method of the present invention, as shown below. Figure 1 As shown, the millimeter-wave radar virtual target removal method includes:

[0052] Step S10: Detect a preset target using the millimeter-wave radar to be tested to obtain the test distance.

[0053] In this embodiment, the millimeter-wave radar under test is tested, a preset target is detected, and the test distance of the preset target detected by the millimeter-wave radar under test is obtained.

[0054] Step S20: Identify the virtual target from the test distance.

[0055] In this embodiment, since the receiving antenna and transmitting antenna of the millimeter-wave radar test bench are metal components that reflect millimeter waves, and due to issues such as the output power of the equipment in the millimeter-wave radar simulation test, one or more values ​​may appear in the test distance. One value may correspond to a real target or a virtual target. Therefore, it is necessary to determine the virtual target from the one or more values ​​that may appear in the test distance.

[0056] Step S30: Remove the identified virtual targets from the test distance to obtain the real targets.

[0057] In this embodiment, since the test distance may include both real targets and virtual targets, the identified virtual targets are removed to obtain useful real targets. This improves the accuracy of the millimeter-wave radar under test in target perception and further enhances the reliability of the joint simulation test of millimeter-wave radar and intelligent driving domain controller.

[0058] In this embodiment, since the receiving and transmitting antennas of the millimeter-wave radar test bench are metal components that reflect millimeter waves, and there are issues such as the output power of the equipment in the millimeter-wave radar simulation test, when the millimeter-wave radar under test detects a preset target, one or more values ​​may appear in the test distance. One value may correspond to a real target or a virtual target. Therefore, the virtual target is determined from the test distance and removed, thus obtaining the useful real target. This can improve the accuracy of the millimeter-wave radar under test in target perception and further improve the reliability of the joint simulation test of millimeter-wave radar and intelligent driving domain controller. This invention overcomes the influence of virtual targets on millimeter-wave radar testing caused by the millimeter-wave radar simulation test bench itself. It can also collect data on the determined virtual targets to provide research data for millimeter-wave radar anti-virtual target interference.

[0059] Furthermore, in one embodiment, reference is made to Figure 2 , Figure 2 for Figure 1 A detailed flowchart of step S20 is shown below. Figure 2 As shown, step S20 includes:

[0060] Step S201: Determine the increased range based on the frequency band and power of the millimeter-wave radar to be tested;

[0061] Step S202: Obtain the detection accuracy and bottom radius of the dark box of the millimeter-wave radar to be tested. The bottom radius of the dark box is the distance between the front surface of the millimeter-wave radar to be tested and the transceiver antenna of the millimeter-wave radar target simulator.

[0062] Step S203: Based on the preset distance, increased distance, detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box, determine the virtual target from the test distance.

[0063] In this embodiment, due to the different frequency bands and power of the millimeter-wave radar under test, i.e., the different performance of the millimeter-wave radar under test, a virtual target with an increased distance may appear. The increased distance of this virtual target is usually 2.2 or 4.4 meters. The increased distance is determined according to the frequency band and power of the millimeter-wave radar under test in the actual simulation test based on the debugging of the millimeter-wave radar under test. The detection accuracy of the millimeter-wave radar under test is the factory parameter of the millimeter-wave radar under test. The radius of the bottom surface of the dark box is the distance between the front surface of the millimeter-wave radar under test and the transmitting and receiving antennas of the millimeter-wave radar target simulator. The receiving antenna and transmitting antenna of the millimeter-wave radar target simulator are located close to each other. The position of the receiving antenna or transmitting antenna can be selected according to the actual situation to calculate the radius of the bottom surface of the dark box. The preset distance, the increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box all affect the magnitude of the virtual target that may appear in the test distance. Therefore, the virtual target is determined from the test distance based on the preset distance, the increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box.

[0064] Furthermore, in one embodiment, reference is made to Figure 3 , Figure 3 for Figure 2 A detailed flowchart of step S203 is shown below. Figure 3 As shown, step S203 includes:

[0065] Step S2031: The test distance includes one or more values, and the values ​​are extracted sequentially from the test distance as the values ​​to be judged;

[0066] Step S2032: If the value to be judged is within the first range, then the target corresponding to the value to be judged is determined as a fixed virtual target. The lower limit of the first range is the difference between the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested.

[0067] Step S2033: If the value to be judged is within the second range, then the target corresponding to the value to be judged is determined as a double virtual target. The lower limit of the second range is the difference between twice the preset distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of twice the target distance and the detection accuracy of the millimeter-wave radar to be tested.

[0068] Step S2034: Calculate the sum of the preset distance and the increased distance to obtain the fixed increased distance;

[0069] Step S2035: If the value to be judged is within the third range, then the target corresponding to the value to be judged is determined as a fixed-value increased virtual target. The lower limit of the third range is the difference between the fixed-value increased distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the fixed-value increased distance and the detection accuracy of the millimeter-wave radar to be tested.

[0070] In this embodiment, the test distance may include one or more values. The values ​​are extracted sequentially from the test distance as the values ​​to be judged, and it is determined whether the value to be judged corresponds to a real target or a virtual target. In this embodiment, virtual targets are divided into fixed virtual targets, double virtual targets, and fixed value increasing virtual targets, and are judged and determined sequentially.

[0071] Further, in one embodiment, step S30 includes:

[0072] The real target is obtained by removing the fixed virtual targets, double virtual targets, and fixed-value increased virtual targets from the test distance.

[0073] In this embodiment, if a fixed virtual target, a double virtual target, and a fixed-value increased virtual target are determined from the test distance, then the determined fixed virtual target, double virtual target, and fixed-value increased virtual target are removed to obtain the real target.

[0074] Furthermore, in one embodiment, reference is made to Figure 4 , Figure 4 This is a schematic diagram illustrating the process of simulating a preset target in an embodiment of the millimeter-wave radar virtual target removal method of the present invention, as shown below. Figure 4 As shown, before step S10, the following steps are included:

[0075] Step S001: Set the preset distance through the host computer of the millimeter-wave radar test bench;

[0076] Step S002: Simulate a preset target at a preset distance using a millimeter-wave radar target simulator.

[0077] In this embodiment, the millimeter-wave radar test bench typically includes a millimeter-wave radar target simulator, a host computer, a graphical user interface, etc., for testing the performance of the millimeter-wave radar. First, a preset distance is set through the host computer of the millimeter-wave radar test bench. Then, the millimeter-wave radar target simulator simulates a preset target at the preset distance, which is used by the millimeter-wave radar under test to detect the preset target in order to obtain the test distance.

[0078] Secondly, embodiments of the present invention also provide a millimeter-wave radar virtual target removal device.

[0079] Reference Figure 5 , Figure 5 This is a schematic diagram of the functional modules of an embodiment of the millimeter-wave radar virtual target removal device of the present invention.

[0080] In this embodiment, the millimeter-wave radar virtual target removal device includes:

[0081] Detection module 10 is used to detect a preset target using the millimeter-wave radar under test and obtain the test distance;

[0082] Module 20 is used to determine virtual targets from the test distance;

[0083] The removal module 30 is used to remove the determined virtual targets from the test distance to obtain the real targets.

[0084] Furthermore, in one embodiment, the determining module 20 includes:

[0085] The first determining unit 201 is used to determine the increased range based on the frequency band and power of the millimeter-wave radar to be tested;

[0086] The acquisition unit 202 is used to acquire the detection accuracy and bottom radius of the dark box of the millimeter-wave radar to be tested. The bottom radius of the dark box is the distance between the front surface of the millimeter-wave radar to be tested and the transceiver antenna of the millimeter-wave radar target simulator.

[0087] The second determining unit 203 is used to determine the virtual target from the test distance based on the preset distance, the increased distance, the detection accuracy of the millimeter-wave radar to be tested, and the radius of the bottom surface of the dark box.

[0088] Furthermore, in one embodiment, the second determining unit 203 is configured to:

[0089] The test distance includes one or more values, and the values ​​are extracted sequentially from the test distance as the values ​​to be judged;

[0090] If the value to be judged is within the first range, the target corresponding to the value to be judged is determined as a fixed virtual target. The lower limit of the first range is the difference between the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested.

[0091] If the value to be judged is within the second range, the target corresponding to the value to be judged is determined as a double virtual target. The lower limit of the second range is the difference between twice the preset distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of twice the target distance and the detection accuracy of the millimeter-wave radar to be tested.

[0092] Calculate the sum of the preset distance and the increased distance to obtain the fixed increased distance;

[0093] If the value to be judged is within the third range, the target corresponding to the value to be judged is determined as a fixed-value increased virtual target. The lower limit of the third range is the difference between the fixed-value increased distance and the detection accuracy of the millimeter-wave radar under test, and the upper limit is the sum of the fixed-value increased distance and the detection accuracy of the millimeter-wave radar under test.

[0094] Furthermore, in one embodiment, the removal module 30 is used for:

[0095] The real target is obtained by removing the fixed virtual targets, double virtual targets, and fixed-value increased virtual targets from the test distance.

[0096] Furthermore, in one embodiment, the millimeter-wave radar false target removal device further includes a simulation module for:

[0097] The preset distance is set by the host computer of the millimeter-wave radar test bench;

[0098] A millimeter-wave radar target simulator is used to simulate a preset target at a preset distance.

[0099] The functions of each module in the above-mentioned millimeter-wave radar false target removal device correspond to the steps in the above-mentioned millimeter-wave radar false target removal method embodiment, and their functions and implementation processes will not be described in detail here.

[0100] Thirdly, embodiments of the present invention provide a millimeter-wave radar virtual target removal device.

[0101] Reference Figure 6 , Figure 6 This is a schematic diagram of the hardware structure of an embodiment of the millimeter-wave radar false target removal device of the present invention. In this embodiment, the millimeter-wave radar false target removal device may include a processor 1001 (e.g., a Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize communication between these components; the user interface 1003 may include a display screen or an input unit such as a keyboard; the network interface 1004 may optionally include a standard wired interface or a wireless interface (e.g., Wireless Fidelity, Wi-Fi); the memory 1005 may be high-speed random access memory (RAM) or stable memory (non-volatile memory), such as a disk storage device; the memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that… Figure 6 The hardware structure shown does not constitute a limitation of the invention and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0102] Continue to refer to Figure 6 , Figure 6The memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a millimeter-wave radar false target removal program. The processor 1001 can call the millimeter-wave radar false target removal program stored in the memory 1005 and execute the millimeter-wave radar false target removal method provided in this embodiment of the invention.

[0103] Fourthly, embodiments of the present invention also provide a readable storage medium.

[0104] The present invention provides a millimeter-wave radar false target removal program stored on a readable storage medium, wherein when the millimeter-wave radar false target removal program is executed by a processor, it implements the steps of the millimeter-wave radar false target removal method described above.

[0105] The method implemented when the millimeter-wave radar false target removal program is executed can be referred to in various embodiments of the millimeter-wave radar false target removal method of the present invention, and will not be repeated here.

[0106] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0107] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of 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 the present invention, 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) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.

[0109] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for removing virtual targets using millimeter-wave radar, characterized in that, The millimeter-wave radar virtual target removal method includes: The test distance is obtained by detecting a preset target using the millimeter-wave radar under test; Identify virtual targets from the test distance; Remove the identified virtual targets from the test distances to obtain the real targets; The process of determining the virtual target from the test distance includes: The range is determined based on the frequency band and power of the millimeter-wave radar to be tested; The detection accuracy and bottom radius of the dark box of the millimeter-wave radar to be tested are obtained. The bottom radius of the dark box is the distance between the front surface of the millimeter-wave radar to be tested and the transceiver antenna of the millimeter-wave radar target simulator. Based on the preset distance, increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box, the virtual target is determined from the test distance; The process of determining the virtual target from the test distance based on the preset distance, the increased distance, the detection accuracy of the millimeter-wave radar under test, and the radius of the bottom surface of the dark box includes: The test distance includes one or more values, and the values ​​are extracted sequentially from the test distance as the values ​​to be judged; If the value to be judged is within the first range, the target corresponding to the value to be judged is determined as a fixed virtual target. The lower limit of the first range is the difference between the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested. If the value to be judged is within the second range, the target corresponding to the value to be judged is determined as a double virtual target. The lower limit of the second range is the difference between twice the preset distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of twice the target distance and the detection accuracy of the millimeter-wave radar to be tested. Calculate the sum of the preset distance and the increased distance to obtain the fixed increased distance; If the value to be judged is in the third range, the target corresponding to the value to be judged is determined as a fixed value increase virtual target. The lower limit of the third range is the difference between the fixed value increase distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the fixed value increase distance and the detection accuracy of the millimeter-wave radar to be tested. The step of removing the identified virtual targets from the test distance to obtain the real targets includes: Remove the fixed virtual targets, double virtual targets, and virtual targets with a fixed increase from the test distance to obtain the real targets; Before obtaining the test distance by detecting a preset target using the millimeter-wave radar under test, the process includes: The preset distance is set by the host computer of the millimeter-wave radar test bench; A millimeter-wave radar target simulator is used to simulate a preset target at a preset distance.

2. A millimeter wave radar false target removing apparatus characterized by comprising: The millimeter-wave radar virtual target removal device includes: The detection module is used to detect a preset target using the millimeter-wave radar under test and obtain the test distance. The determination module is used to identify virtual targets from the test distance; The removal module is used to remove determined virtual targets from the test distance to obtain the real targets; The determining module includes: The first determining unit is used to determine the extended range based on the frequency band and power of the millimeter-wave radar to be tested; The acquisition unit is used to acquire the detection accuracy and bottom radius of the dark box of the millimeter-wave radar to be tested. The bottom radius of the dark box is the distance between the front surface of the millimeter-wave radar to be tested and the transceiver antenna of the millimeter-wave radar target simulator. The second determining unit is used to determine the virtual target from the test distance based on the preset distance, the increased distance, the detection accuracy of the millimeter-wave radar to be tested, and the radius of the bottom surface of the dark box; The second determining unit is used for: The test distance includes one or more values, and the values ​​are extracted sequentially from the test distance as the values ​​to be judged; If the value to be judged is within the first range, the target corresponding to the value to be judged is determined as a fixed virtual target. The lower limit of the first range is the difference between the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the bottom radius of the dark box and the detection accuracy of the millimeter-wave radar to be tested. If the value to be judged is within the second range, the target corresponding to the value to be judged is determined as a double virtual target. The lower limit of the second range is the difference between twice the preset distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of twice the target distance and the detection accuracy of the millimeter-wave radar to be tested. Calculate the sum of the preset distance and the increased distance to obtain the fixed increased distance; If the value to be judged is in the third range, the target corresponding to the value to be judged is determined as a fixed value increase virtual target. The lower limit of the third range is the difference between the fixed value increase distance and the detection accuracy of the millimeter-wave radar to be tested, and the upper limit is the sum of the fixed value increase distance and the detection accuracy of the millimeter-wave radar to be tested. The removal module is used for: Remove the fixed virtual targets, double virtual targets, and virtual targets with a fixed increase from the test distance to obtain the real targets; The millimeter-wave radar virtual target removal device also includes a simulation module for: The preset distance is set by the host computer of the millimeter-wave radar test bench; A millimeter-wave radar target simulator is used to simulate a preset target at a preset distance.

3. A millimeter wave radar virtual target removal device, characterized by, The millimeter-wave radar false target removal device includes a processor, a memory, and a millimeter-wave radar false target removal program stored in the memory and executable by the processor, wherein when the millimeter-wave radar false target removal program is executed by the processor, it implements the steps of the millimeter-wave radar false target removal method as described in claim 1.

4. A readable storage medium, characterized by, The readable storage medium stores a millimeter-wave radar false target removal program, wherein when the millimeter-wave radar false target removal program is executed by a processor, it implements the steps of the millimeter-wave radar false target removal method as described in claim 1.

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