A method, device, and medium for verifying a radar data processing result

Abstract

This invention provides a method, apparatus, device, and medium for verifying radar data processing results. The method includes: acquiring radar data and information about a radar given protocol; transmitting the radar data to abstraction layer software for processing to obtain the actual point cloud coordinates and actual intensity values ​​of the radar data; processing the radar data according to the information about the radar given protocol to obtain the expected point cloud coordinates and expected intensity values ​​of the radar data; and comparing the actual point cloud coordinates with the expected point cloud coordinates and comparing the actual intensity values ​​with the expected intensity values ​​to obtain a verification result. This invention improves the accuracy of radar data processing result verification.

Description

Technical Field

[0001] This application relates to the field of automotive technology, specifically to a method, apparatus, device, and medium for verifying radar data processing results. Background Technology

[0002] In autonomous vehicles, raw data collected by radar sensors such as millimeter-wave radar and lidar sensors is a crucial data input source for upper-level driving application software. Radar detection uses millimeter waves or lasers to detect the distance, position, and velocity of targets around the vehicle, acquiring corresponding raw radar data. Correct processing of this raw radar data is essential for the upper-level driving application software to receive and process the data, perform algorithmic fusion, and finally output the processing results to execute autonomous driving functions. While the raw radar data is processed by the abstraction layer software, this software involves many algorithms and models, which may contain errors or biases, potentially leading to data loss or corruption, and incorrect or large-scale errors in the processing results. Summary of the Invention

[0003] One objective of this invention is to provide a method for verifying radar data processing results, in order to solve the problems in the prior art where raw radar data is processed by abstraction layer software, but the abstraction layer software involves many algorithms and models, which may have errors or deviations, and may result in data loss or loss, as well as incorrect or large errors in the processing results; a second objective is to provide a device for verifying radar data processing results; a third objective is to provide an electronic device; and a fourth objective is to provide a computer-readable storage medium.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0005] A method for verifying radar data processing results, the method comprising:

[0006] Acquire radar data and information about the radar's given protocol;

[0007] The radar data is transmitted to the abstraction layer software for processing to obtain the actual point cloud coordinates and actual intensity values ​​of the radar data.

[0008] Based on the information from the radar's given protocol, the radar data is processed to obtain the desired point cloud coordinates and desired intensity values ​​of the radar data; and

[0009] The actual point cloud coordinates are compared with the expected point cloud coordinates, and the actual intensity value is compared with the expected intensity value to obtain the test results.

[0010] In one embodiment of the present invention, acquiring the radar data includes the following steps:

[0011] Acquire distance and grayscale information at multiple locations on the surface of the target object; and

[0012] Acquire the position and attitude information of the radar sensor.

[0013] In one embodiment of the present invention, obtaining the actual point cloud coordinates and actual intensity values ​​of the radar data includes the following steps:

[0014] The abstract software layer processes distance information, grayscale information, and position and attitude information of the radar sensor at multiple locations on the target surface to obtain the actual point cloud coordinates; and

[0015] The abstract software layer processes the grayscale information at multiple locations on the surface of the target object to obtain the actual intensity value.

[0016] In one embodiment of the present invention, obtaining the desired point cloud coordinates and desired intensity values ​​of the radar data includes the following steps:

[0017] Based on the information from the radar's given protocol, the distance information, grayscale information, and position and attitude information of the radar sensor at multiple locations on the target surface are processed to obtain the desired point cloud coordinates; and

[0018] Based on the information from the radar's given protocol, the grayscale information at multiple locations on the surface of the target object is processed to obtain the desired intensity value.

[0019] In one embodiment of the present invention, obtaining the test result includes the following steps:

[0020] Obtain preset condition information for point cloud coordinate comparison consistency; and

[0021] Based on the preset condition information of the point cloud coordinate comparison consistency, the actual point cloud coordinates are compared with the expected point cloud coordinates to obtain the verification result of the point cloud coordinates.

[0022] In one embodiment of the present invention, obtaining the test result further includes the following steps:

[0023] Obtain preset condition information for consistent intensity value comparison; and

[0024] Based on the preset condition information that the strength values ​​are consistent, the actual strength value is compared with the expected strength value to obtain the test result of the strength value.

[0025] In one embodiment of the present invention, the method further includes:

[0026] The test results of the point cloud coordinates and the test results of the intensity values ​​are represented numerically to obtain numerical test results, which are then printed and displayed.

[0027] This invention provides a device for verifying radar data processing results, the device comprising:

[0028] The data acquisition module is used to acquire radar data and information about the radar's given protocol.

[0029] The actual result acquisition module is used to transmit the radar data to the abstraction layer software for processing, and to obtain the actual point cloud coordinates and actual intensity values ​​of the radar data.

[0030] The expected result acquisition module is used to process the radar data according to the information of the radar given protocol, and obtain the expected point cloud coordinates and expected intensity values ​​of the radar data; and

[0031] The comparison module is used to compare the actual point cloud coordinates with the expected point cloud coordinates and the actual intensity value with the expected intensity value to obtain the test results.

[0032] An electronic device, the electronic device comprising:

[0033] At least one processor;

[0034] A storage device for storing at least one program, which, when executed by the at least one processor, causes the electronic device to implement the method for verifying the radar data processing results described in any of the preceding claims.

[0035] A computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the verification method for the radar data processing results described in any of the preceding claims.

[0036] The beneficial effects of this invention are:

[0037] (1) In this invention, the abstract layer software processes the simulated radar data to obtain the actual output results. By verifying the abstract layer software as a whole, we do not need to focus on the algorithms and models in the abstract layer software, which reduces the dependence on algorithms and models, improves the efficiency of verification, and saves resources.

[0038] (2) In this invention, the expected output result of the simulated radar data is calculated according to the radar given protocol, which improves the accuracy of the verification of radar data processing results.

[0039] (3) By verifying the radar data processing results, the accuracy and reliability of the abstraction layer software are improved, and the safety and reliability of the autonomous driving function are also improved. Attached Figure Description

[0040] 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. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0041] Figure 1 This is a schematic diagram illustrating the implementation environment of a radar data processing result verification method according to an exemplary embodiment of this application;

[0042] Figure 2 This is a flowchart illustrating a method for verifying radar data processing results, as shown in an exemplary embodiment of this application;

[0043] Figure 3 This is a structural block diagram of a radar data processing result verification device shown in an exemplary embodiment of this application;

[0044] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown.

[0045] Among them, 110-Radar sensor; 120-Abstract layer software; 130-Processing result verification module; 140-Developer; 310-Data acquisition module; 320-Actual result acquisition module; 330-Expected result acquisition module; 140-Comparison module; 400-Computer system; 401-Central processing unit; 402-Read-only memory; 403-Random access memory; 404-Bus; 405-I / O interface; 406-Keyboard input section; 407-Output section; 408-Storage section; 409-Communication section; 410-Driver; 411-Removable media. Detailed Implementation

[0046] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0047] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0048] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0049] First, it's important to clarify that a LiDAR (Light Detection and Ranging) sensor is a sensor that uses laser technology to illuminate a target and measure the reflected light to determine the target's distance. A LiDAR primarily consists of a laser emitter, a laser receiver, and an information processing system. Its working principle involves the laser emitter emitting a laser beam towards the target, the laser receiver receiving the reflected laser light, and the information processing system processing the data to obtain relevant target information, such as the target's distance from the vehicle, its azimuth, altitude, speed, attitude, and shape. LiDAR sensors offer extremely high range, angular, and velocity resolution, and also boast advantages such as small size, light weight, good concealment, strong anti-interference capabilities, and high collimation. LiDAR sensors are widely used in autonomous vehicles, robotics, drones, 3D scanning, and mapping, helping devices accurately perceive their surroundings and providing data support for intelligent decision-making.

[0050] Millimeter-wave radar sensors are radar sensors that use millimeter-wave electromagnetic waves for measurement. The working principle of a millimeter-wave radar sensor is to emit millimeter waves to detect the reflected signal from a target, and then calculate the relative distance between the target and the emission point based on the time difference between the emission and reception of the millimeter waves. Millimeter waves refer to electromagnetic waves with wavelengths of 1–10 mm, which fall between microwaves and centimeter waves. Millimeter-wave radar sensors have advantages such as high spatial resolution, strong penetration of smoke and dust, strong anti-interference ability, high concealment, and small size.

[0051] Figure 1 This is a schematic diagram illustrating the application environment of a radar data processing result verification method, as shown in an exemplary embodiment of this application. For example... Figure 1As shown, in some embodiments, the radar sensor 110 is connected to the abstraction layer software 120. The radar sensor 110 collects radar data of targets around the vehicle and transmits the radar data to the abstraction layer software 120 for processing to obtain the processing results. The processing results of the radar data are then processed by the processing result verification module 130, which obtains the verification results and displays them to the developer 140. The developer 140 uses the verification results to determine whether there are any errors in the abstraction layer software module 120, so as to optimize the performance of the abstraction layer software 120. The radar sensor 110 can upload radar data to the abstraction layer software 120 via wireless networks such as 3G (third-generation mobile information technology), 4G (fourth-generation mobile information technology), and 5G (fifth-generation mobile information technology). The embodiments of this application do not limit this and can be configured according to actual needs.

[0052] In some embodiments, radar data is processed by abstraction layer software. However, this software involves many algorithms and models, which may contain errors or biases, potentially leading to data loss or corruption, and incorrect processing results. To address these issues, embodiments of this application propose a method, apparatus, device, and medium for verifying radar data processing results. These embodiments will be described in detail below.

[0053] Please see Figure 2 , Figure 2 This is a flowchart illustrating a method for verifying radar data processing results, as shown in an exemplary embodiment of this application. In some embodiments, this method can be applied to... Figure 1 The implementation environment shown is specifically executed by the processing result verification module 130 in that implementation environment. It should be understood that this method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which this method is applicable.

[0054] For example, the processing result verification module 120 to which the radar data processing result verification method disclosed in this embodiment is applicable may have an SDK (Software Development Kit, which is a set of development tools for building application software for specific software packages, software frameworks, operating systems, etc.) installed, and the method disclosed in this embodiment is specifically implemented as one or more functions provided by the SDK.

[0055] like Figure 2 As shown, in an exemplary embodiment, the method for verifying radar data processing results includes at least steps S210 to S240, which are described in detail below:

[0056] Step S210: Obtain radar data and information about the radar given protocol.

[0057] First, it should be noted that radar data is acquired through radar sensors. Radar sensors include lidar sensors and millimeter-wave radar sensors, and radar data includes lidar data or millimeter-wave radar data. Lidar sensors acquire lidar data of a target by emitting a laser beam towards it and receiving the reflected laser beam. Millimeter-wave radar sensors acquire millimeter-wave radar data by emitting millimeter waves towards a target and receiving the reflected millimeter waves. Radar data includes radar setting parameters and target information. Lidar setting parameters include, but are not limited to, the lidar's emission wavelength, power, and angular resolution. Raw lidar data also includes the target's distance, angle, and laser reflection intensity, as well as the lidar's position and attitude information. Millimeter-wave radar data includes the intensity of the millimeter waves reflected from the target and the intensity of interference signals. By measuring the intensity of the millimeter-wave reflection, data such as the target's position, shape, and size can be obtained. Millimeter-wave radar data also includes information on the target's velocity and direction, motion state, material, and structure.

[0058] In this embodiment, the abstraction layer software processes the radar data and obtains the processing results. The verification method provided in this application verifies the processing results. Therefore, a random function can be used to randomly generate simulated radar data within a given reasonable preset range, and the radar data generated by the random function is stored in a CSV (Comma Separated Values) file. A CSV file is a common spreadsheet file format, often used for storing and exchanging data. CSV files use commas as field separators; each row in the file represents a data record, and each column represents a data field. CSV files can be parsed and read by a wide variety of applications and programming languages, making them easy to understand and use. The acquired radar data includes distance and grayscale information at multiple locations on the target surface, as well as the position and attitude information of the radar sensor.

[0059] In this embodiment, the radar feed protocol uses some open-source radar drivers, such as the PCL (Point Cloud Library) library in ROS (Robot Operating System), to complete the data conversion process. It can also perform point cloud filtering, registration, and reconstruction operations to meet the needs of different application scenarios. Processing radar data through the radar feed protocol is a common method of data conversion, so it can be used as the expected result of radar data processing.

[0060] Step S220: The radar data is transmitted to the abstraction layer software for processing to obtain the actual point cloud coordinates and actual intensity values ​​of the radar data.

[0061] In this embodiment, Figure 1 The abstraction layer software 130 shown is a software design concept that refers to separating low-level implementation details from high-level business logic to provide a higher level of abstraction. The abstraction layer software 130 includes numerous models and algorithms that convert radar data into point cloud coordinates and intensity values ​​for use by the upper-level application software. The abstraction layer software 130 reads simulated radar data from a CSV file and, based on its internal models and algorithms, converts the radar data into actual point cloud coordinates (X1, Y1, Z1) and actual intensity values ​​(Intensity1). The actual point cloud coordinates are a set of multiple coordinate points in a spatial coordinate system or a Cartesian coordinate system, and the actual intensity value represents the intensity of the radar signal reflected by the target object, calculated by the abstraction layer software. The abstraction layer software 130 can calculate the spatial coordinates of each position on the target object's surface based on information such as the distance between the target object and the vehicle, and the position and attitude of the lidar sensor, and combine these spatial coordinates into actual point cloud coordinates. The abstract layer software 130 can process distance information from multiple locations on the surface of a target object, as well as the position and attitude information of the radar sensor, to obtain the actual point cloud coordinates of the target object. It can also process grayscale values ​​from multiple locations on the surface of the target object to obtain the actual intensity value of the target object.

[0062] Step S230: Process the radar data according to the information of the radar given protocol to obtain the desired point cloud coordinates and desired intensity values ​​of the radar data.

[0063] In this embodiment, simulated radar data is read from a CSV file and substituted into a given radar protocol to calculate the expected point cloud coordinates (X2, Y2, Z2) and expected intensity value (Intensity2) of the radar data. The expected point cloud coordinates are a set of multiple coordinate points in a spatial coordinate system or a Cartesian coordinate system, and the expected intensity value represents the intensity of the radar signal emitted by the target object, calculated according to the given radar protocol. Based on the information from the given radar protocol, the distance information at multiple locations on the target object's surface, as well as the position and attitude information of the radar sensor, can be processed to obtain the expected point cloud coordinates of the target object. Similarly, the grayscale values ​​at multiple locations on the target object's surface can be processed to obtain the expected intensity value of the target object. In this application, the expected point cloud coordinates and expected intensity value are used as the correct standards for the radar data processing results.

[0064] Step S240: Compare the actual point cloud coordinates with the expected point cloud coordinates and compare the actual intensity value with the expected intensity value to obtain the test results.

[0065] In this embodiment, the verification results include the verification results of point cloud coordinates and the verification results of intensity values. By obtaining preset condition information for point cloud coordinate consistency, the actual point cloud coordinates output by the abstraction layer software are compared with the expected point cloud coordinates to obtain the verification results of the point cloud coordinates. For example, the preset condition information for point cloud coordinate consistency is that the distance between the two point cloud coordinates meets a preset distance. Similarly, by obtaining preset condition information for intensity value consistency, the actual intensity value is compared with the expected intensity value to obtain the verification results of the radar data processing results. For example, the preset condition information for intensity value consistency is that the intensity difference between the actual intensity value and the expected intensity value meets a preset intensity difference. The verification results for point cloud coordinates include verification results for both consistent and inconsistent point cloud coordinate comparisons, and the verification results for intensity values ​​also include verification results for both consistent and inconsistent intensity values. All verification results are represented numerically. The numerical verification results are obtained and printed out for developers' reference to optimize the performance of the abstraction layer software.

[0066] Figure 3 This is a block diagram illustrating a radar data processing result verification apparatus according to an exemplary embodiment of this application. The apparatus can be applied to... Figure 1 The implementation environment shown is specifically configured in the processing result verification module 130. This device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which this device is applicable.

[0067] like Figure 3 As shown, the exemplary radar data processing result verification device includes:

[0068] The data acquisition module 310 is used to acquire radar data and information about the radar given protocol; the actual result acquisition module 320 is used to transmit the radar data to the abstraction layer software for processing to acquire the actual point cloud coordinates and actual intensity values ​​of the radar data; the expected result acquisition module 330 is used to process the radar data according to the information of the radar given protocol to acquire the expected point cloud coordinates and expected intensity values ​​of the radar data; and the comparison module 340 is used to compare the actual point cloud coordinates with the expected point cloud coordinates and the actual intensity values ​​with the expected intensity values ​​to obtain the verification results.

[0069] Embodiments of this application also provide an electronic device, including: at least one processor; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the radar data processing result verification method provided in the above embodiments.

[0070] Figure 4A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 4 The computer system 400 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0071] like Figure 4 As shown, the computer system 400 includes a Central Processing Unit (CPU) 401, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 402 or programs loaded from Storage Unit 408 into Random Access Memory (RAM) 403, such as performing the methods described in the above embodiments. The RAM 403 also stores various programs and data required for system operation. The CPU 401, ROM 402, and RAM 403 are interconnected via a bus 404. An Input / Output (I / O) interface 405 is also connected to the bus 404.

[0072] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed.

[0073] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411. When the computer program is executed by central processing unit (CPU) 401, it performs various functions defined in the system of this application.

[0074] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and application structures according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0076] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0077] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the verification method for radar data processing results as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0078] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the radar data processing result verification method provided in the various embodiments described above.

[0079] This invention uses abstraction layer software to process simulated radar data and obtain actual output results. By verifying the abstraction layer software as a whole, it eliminates the need to focus on the algorithms and models within it, reducing reliance on algorithms and models, improving verification efficiency, and saving resources. Furthermore, it calculates the expected output results of the simulated radar data according to the given radar protocol, improving the accuracy of radar data processing result verification. By verifying the radar data processing results, the accuracy and reliability of the abstraction layer software are improved, thereby enhancing the safety and reliability of the autonomous driving function.

[0080] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for verifying radar data processing results, characterized in that, The method includes: Acquire radar data and information about the radar's given protocol; The radar data is transmitted to the abstraction layer software for processing to obtain the actual point cloud coordinates and actual intensity values ​​of the radar data. Based on the information from the radar's given protocol, the radar data is processed to obtain the desired point cloud coordinates and desired intensity values ​​of the radar data; and The actual point cloud coordinates are compared with the expected point cloud coordinates, and the actual intensity value is compared with the expected intensity value to obtain the test results; Acquiring the radar data includes the following steps: Acquire distance and grayscale information at multiple locations on the surface of the target object; and Acquire the position and attitude information of the radar sensor; Obtaining the actual point cloud coordinates and actual intensity values ​​of the radar data includes the following steps: The abstraction layer software processes distance information from multiple locations on the target surface, as well as the position and attitude information of the radar sensor, to obtain the actual point cloud coordinates; and The abstraction layer software processes the grayscale information at multiple locations on the surface of the target object to obtain the actual intensity value; Obtaining the desired point cloud coordinates and desired intensity values ​​of the radar data includes the following steps: Based on the information from the radar's given protocol, the distance information at multiple locations on the target surface, as well as the position and attitude information of the radar sensor, are processed to obtain the desired point cloud coordinates; and Based on the information from the radar's given protocol, the grayscale information at multiple locations on the surface of the target object is processed to obtain the desired intensity value.

2. The method for verifying radar data processing results according to claim 1, characterized in that, Obtaining the test results includes the following steps: Obtain preset condition information for point cloud coordinate comparison consistency; and Based on the preset condition information of the point cloud coordinate comparison consistency, the actual point cloud coordinates are compared with the expected point cloud coordinates to obtain the verification result of the point cloud coordinates.

3. The method for verifying radar data processing results according to claim 2, characterized in that, Obtaining the test results also includes the following steps: Obtain preset condition information for consistent intensity value comparison; and Based on the preset condition information that the strength values ​​are consistent, the actual strength value is compared with the expected strength value to obtain the test result of the strength value.

4. The method for verifying radar data processing results according to claim 3, characterized in that, The method further includes: The test results of the point cloud coordinates and the test results of the intensity values ​​are represented numerically to obtain numerical test results, which are then printed and displayed.

5. A device for verifying radar data processing results, characterized in that, The device includes: The data acquisition module is used to acquire radar data and information from the radar's given protocol; specifically, it is used to acquire distance and grayscale information at multiple locations on the surface of the target object, as well as the position and attitude information of the radar sensor. The actual result acquisition module is used to transmit the radar data to the abstraction layer software for processing, and to obtain the actual point cloud coordinates and actual intensity values ​​of the radar data; specifically, the abstraction layer software processes the distance information of multiple locations on the surface of the target object and the position and attitude information of the radar sensor to obtain the actual point cloud coordinates, and the abstraction layer software processes the grayscale information of multiple locations on the surface of the target object to obtain the actual intensity values. The expected result acquisition module is used to process the radar data according to the information of the radar given protocol to obtain the expected point cloud coordinates and expected intensity value of the radar data; specifically, it is used to process the distance information of multiple positions on the target surface and the position and attitude information of the radar sensor according to the information of the radar given protocol to obtain the expected point cloud coordinates, and to process the grayscale information of multiple positions on the target surface according to the information of the radar given protocol to obtain the expected intensity value; and The comparison module is used to compare the actual point cloud coordinates with the expected point cloud coordinates and the actual intensity value with the expected intensity value to obtain the test results.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; A storage device for storing at least one program, which, when executed by the at least one processor, causes the electronic device to implement the method for verifying the radar data processing results according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by the computer's processor, causes the computer to perform the verification method for the radar data processing results as described in any one of claims 1-4.

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