Test method, device and system for radar true environment simulation

Abstract

The application provides a radar real environment simulation test method, device and system. In the test method, the intermediate frequency signal of the real environment detected by the reference radar is referenced, the standard signal theoretically received by the to-be-tested radar when detecting in the real environment is restored through the gain difference of the to-be-tested radar and the reference radar at different angles, and then the standard signal is sent to a radar target environment simulation system, so that the radar target environment simulation system generates a test signal containing the standard signal, and then the test signal sent by the radar target environment simulation system is received by the to-be-tested radar, so that the test of the to-be-tested radar in the real environment is completed, without the to-be-tested radar actually detecting in the real environment by relying on the driving of the vehicle. The test process is more efficient, simple, and high in test precision.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a test method, apparatus and system for simulating a real radar environment. Background Technology

[0002] Radar can detect external targets and environmental information, and can perform environmental detection through algorithms. Millimeter-wave radar plays a significant role in applications such as autonomous driving and safety protection in automobiles.

[0003] like Figure 1 As shown, millimeter-wave radar generates a frequency-modulated continuous wave (FMCW) signal, which is then transmitted through the radar's transmitting antenna. The target in the environment (i.e., Figure 1 The car in the radar reflects the frequency-modulated continuous wave (FM / LCW) signal back to the radar, where it is received by the radar's receiving antenna. The transmitted and received FM / LCW signals are then mixed to obtain an intermediate frequency (IF) signal. This IF signal is then processed by an algorithm to detect environmental targets. Due to the frequency variation, the frequency of the IF signal represents the distance, the distance variation represents the speed, and the power of the reflected FM / LCW signal reflects the target's radar cross section (RCS). For radar angle measurements, multiple antennas are typically used, such as... Figure 2 As shown, the angle of the target is calculated by an algorithm based on the phase relationship of the reflected frequency-modulated continuous wave signal.

[0004] In practical radar products, one testing method to verify the radar's true performance is to install the radar on a car and conduct data collection and testing outdoors through actual driving. Generally, before a radar is officially put into use, it needs to be driven on real roads for a long time to verify whether the entire radar system can correctly identify targets and operate stably. Another testing method is to use a radar simulator in the laboratory. This involves importing a simulated target environment model or information from actual targets into the radar simulator, and then using the simulator to simulate multiple targets to test the radar.

[0005] The aforementioned method of installing radar on a car for real-time testing involves long data acquisition times, typically requiring tens of thousands of kilometers or more to ensure the radar system's stability and reliability. Furthermore, each radar requires this type of testing, resulting in significant expenses for radar manufacturers. In contrast, the method of simulating multiple targets using a radar simulator requires different target antennas to move in real time when simulating multiple moving targets. This process necessitates a highly complex testing system with significant construction difficulties, and the prolonged wear and tear from the movement can negatively impact the stability of the mechanical structure and the accuracy of the testing.

[0006] In summary, how to efficiently, simply, and accurately simulate radar in a real environment has become an urgent technical problem to be solved. Summary of the Invention

[0007] In view of this, the purpose of the present invention is to provide a test method, apparatus and system for simulating the real environment of radar, so as to alleviate the technical problem that the prior art cannot simply, efficiently and accurately realize the simulation test of the real environment of radar.

[0008] In a first aspect, embodiments of the present invention provide a testing method for simulating a real radar environment, comprising:

[0009] The intermediate frequency signal obtained by a reference radar installed on the vehicle during the vehicle's operation is acquired by detecting the real environment, wherein the reference radar is a qualified radar with known performance.

[0010] The radiation performance information of the radar under test and the reference radiation performance information of the reference radar are obtained, and the transmit and receive gain difference of the radar under test and the reference radar at different angles is calculated based on the radiation performance information and the reference radiation performance information.

[0011] The standard signal that the radar under test can theoretically receive in the real environment is calculated based on the intermediate frequency signal and the difference in transmit and receive gain between the radar under test and the reference radar at different angles.

[0012] The standard signal is sent to the radar target environment simulation system, so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal. Then, the radar under test receives the test signal sent by the radar target environment simulation system, thus completing the test of the radar under test in the real environment.

[0013] Furthermore, the radiation performance information includes: the transmitting antenna pattern of the radar under test and the receiving antenna pattern of the radar under test; the reference radiation performance information includes: the reference transmitting antenna pattern of the reference radar and the reference receiving antenna pattern of the reference radar; and the transmit / receive gain difference between the radar under test and the reference radar at different angles is calculated based on the radiation performance information and the reference radiation performance information, including:

[0014] The gain of the transmitting antenna and the gain of the receiving antenna of the radar under test at different angles are determined based on the transmitting antenna pattern and the receiving antenna pattern of the radar under test.

[0015] The gain of the reference transmitting antenna and the gain of the reference receiving antenna of the reference radar at different angles are determined based on the radiation pattern of the reference transmitting antenna and the radiation pattern of the reference receiving antenna of the reference radar.

[0016] The transmit / receive gain difference between the radar under test and the reference radar at different angles is calculated based on the gain of the transmitting antenna of the radar under test, the gain of the receiving antenna of the radar under test, the gain of the reference transmitting antenna of the reference radar at different angles, and the gain of the reference receiving antenna of the reference radar.

[0017] Furthermore, the radiation performance information includes: the transmit / receive gain of the radar under test at different angles; the reference radiation performance information includes: the reference transmit / receive gain of the reference radar at different angles; and the transmit / receive gain difference between the radar under test and the reference radar at different angles is calculated based on the radiation performance information and the reference radiation performance information, including:

[0018] The difference in transmit / receive gain between the radar under test and the reference radar at different angles is calculated based on the transmit / receive gain of the radar under test at different angles and the reference transmit / receive gain of the reference radar at different angles.

[0019] Furthermore, based on the intermediate frequency signal and the transmit / receive gain difference between the radar under test and the reference radar at different angles, the standard signal theoretically received by the radar under test in the real environment is calculated, including:

[0020] The intermediate frequency signal is subjected to a discrete Fourier transform to obtain the target parameters of the real environment. The target parameters include: the number of targets in the real environment, the distance between each target and the reference radar, the relative speed between each target and the reference radar, and the angle between each target and the reference radar.

[0021] Based on the angle between each target and the reference radar, and the transmit / receive gain difference between the radar under test and the reference radar at different angles, calculate the transmit / receive gain difference corresponding to the angle between each target and the reference radar.

[0022] The energy of each target in the two-dimensional discrete Fourier transform data is calibrated by using the transmit / receive gain difference corresponding to the angle between each target and the reference radar, thus obtaining the calibrated two-dimensional discrete Fourier transform data.

[0023] The calibrated two-dimensional discrete Fourier transform data is subjected to an inverse discrete Fourier transform to obtain the standard signal that the radar under test can theoretically receive in the real environment.

[0024] Furthermore, the radar target environment simulation system includes: a receiving test antenna, the target environment simulator, an inverse matrix adjuster, and a transmitting test antenna connected in sequence;

[0025] The receiving test antenna is used to receive the signal emitted by the radar under test;

[0026] The target environment simulator is used to generate the test signal based on the signal and the standard signal;

[0027] The inverse matrix adjuster is used to transform the test signal according to the inverse matrix of the spatial transmission matrix in the test environment to obtain the transformed test signal.

[0028] The transmitting test antenna is used to transmit the transformed test signal so that the signal received by the radar under test is the test signal, thereby completing the test of the radar under test in the real environment.

[0029] Furthermore, the number of receiving test antennas is the same as the number of transmitting antennas of the radar under test, and the number of transmitting test antennas is the same as the number of receiving antennas of the radar under test.

[0030] Furthermore, the radar target environment simulation system also includes: a mixer and a low-pass filter;

[0031] Each of the said receiving test antennas is connected to the target environment simulator via one of the said mixers and one of the said low-pass filters;

[0032] Each of the said transmit test antennas is connected to the inverse matrix adjuster via one of the said mixers.

[0033] Furthermore, the radar target environment simulation system also includes: a clock source;

[0034] The clock source is connected to each of the mixers to provide a local oscillator clock for each of the mixers.

[0035] Secondly, embodiments of the present invention also provide a testing apparatus for simulating a real radar environment, comprising:

[0036] An acquisition unit is used to acquire an intermediate frequency signal obtained by a reference radar installed on the vehicle from detecting the real environment during the vehicle's operation, wherein the reference radar is a qualified radar with known performance.

[0037] The acquisition and calculation unit is used to acquire the radiation performance information of the radar under test and the reference radiation performance information of the reference radar, and to calculate the transmit and receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information.

[0038] The calculation unit is used to calculate the standard signal that the radar under test can theoretically receive in the real environment based on the intermediate frequency signal and the difference between the transmit and receive gain of the radar under test and the reference radar at different angles.

[0039] The transmitting unit is used to transmit the standard signal to the radar target environment simulation system, so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal, and then the radar under test receives the test signal transmitted by the radar target environment simulation system, thus completing the test of the radar under test in the real environment.

[0040] Thirdly, embodiments of the present invention also provide a radar real-environment simulation test system, including the radar real-environment simulation test apparatus described in the second aspect above, and further including: a radar target environment simulation system.

[0041] Furthermore, it also includes: reference radar and radar under test.

[0042] In this embodiment of the invention, a test method for simulating a real-world radar environment is provided, comprising: acquiring an intermediate frequency (IF) signal obtained by a reference radar installed on a vehicle during vehicle operation, wherein the reference radar is a qualified radar with known performance; acquiring radiation performance information of the radar under test and reference radiation performance information of the reference radar, and calculating the transmit / receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information; calculating a standard signal theoretically received by the radar under test in a real-world environment based on the IF signal and the transmit / receive gain difference between the radar under test and the reference radar at different angles; sending the standard signal to a radar target environment simulation system, so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal, and the radar under test receives the test signal sent by the radar target environment simulation system, thereby completing the test of the radar under test in a real-world environment. As described above, the radar real-environment simulation test method of the present invention reconstructs the standard signal theoretically received by the radar under test when it detects in a real environment by using the intermediate frequency signal of the real environment detected by the reference radar and the difference in transmit and receive gain between the radar under test and the reference radar at different angles. Then, the standard signal is sent to the radar target environment simulation system so that the radar target environment simulation system generates a test signal containing the standard signal. The radar under test receives the test signal sent by the radar target environment simulation system, thereby completing the test of the radar under test in a real environment without the need for the radar under test to actually detect in a real environment by relying on the movement of a car. The test process is more efficient, simple, and has high accuracy, alleviating the technical problem that the prior art cannot simply, efficiently, and accurately realize the simulation test of radar in a real environment. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram illustrating the detection of external targets using millimeter-wave radar in traditional technology.

[0045] Figure 2 This is a schematic diagram illustrating the detection of external target angles using millimeter-wave radar in traditional technology.

[0046] Figure 3 A flowchart illustrating a test method for simulating a real radar environment, provided as an embodiment of the present invention;

[0047] Figure 4A flowchart for calculating the standard signal theoretically received by the radar under test in a real environment, provided as an embodiment of the present invention;

[0048] Figure 5 A schematic diagram illustrating the calculation of a standard signal provided in an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the radar target environment simulation system provided in an embodiment of the present invention;

[0050] Figure 7 A schematic diagram illustrating the basic principle of radar provided in an embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of a radar real-world environment simulation test device provided in an embodiment of the present invention. Detailed Implementation

[0052] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Existing technologies cannot easily, efficiently, and accurately simulate radar in real-world environments.

[0054] Based on this, the radar real-environment simulation test method of the present invention restores the standard signal theoretically received by the radar under test when it detects in the real environment by using the intermediate frequency signal of the real environment detected by the reference radar and the difference in transmit and receive gain between the radar under test and the reference radar at different angles. Then, the standard signal is sent to the radar target environment simulation system so that the radar target environment simulation system generates a test signal containing the standard signal. The radar under test receives the transformed test signal sent by the radar target environment simulation system, thereby completing the test of the radar under test in the real environment. This eliminates the need for the radar under test to actually rely on the movement of a car to conduct real detection in the real environment. The test process is more efficient, simple, and has high accuracy.

[0055] To facilitate understanding of this embodiment, a test method for simulating a real radar environment, as disclosed in this embodiment of the invention, will first be described in detail.

[0056] Example 1:

[0057] According to an embodiment of the present invention, an embodiment of a test method for simulating a real radar environment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0058] Figure 3 This is a flowchart of a test method for simulating a real radar environment according to an embodiment of the present invention, such as... Figure 3 As shown, the method includes the following steps:

[0059] Step S302: Obtain the intermediate frequency signal obtained by the reference radar installed on the car during the car's driving process by detecting the real environment, wherein the reference radar is a qualified radar with known performance.

[0060] In practical implementation, a reference radar is installed on a car, which drives in a real environment. During the journey, the intermediate frequency signal x obtained by the reference radar from detecting the real environment is recorded. IF For a reference radar with N receiving antennas, x IF There are N channels that need to be recorded in real time to obtain the intermediate frequency signal collected by the reference radar in the real environment.

[0061] The aforementioned reference radar installed on a car can travel distances of tens of thousands of kilometers in real-world environments to ensure the stability and reliability of the reference radar system. This embodiment of the invention does not impose specific limitations on the aforementioned distances.

[0062] Step S304: Obtain the radiation performance information of the radar under test and the reference radiation performance information of the reference radar, and calculate the transmit and receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information.

[0063] The aforementioned radiation performance information includes: the transmitting antenna pattern and the receiving antenna pattern of the radar under test, or the transmit and receive gain of the radar under test at different angles; the aforementioned reference radiation performance information includes: the reference transmitting antenna pattern and the reference receiving antenna pattern of the reference radar, or the reference transmit and receive gain of the reference radar at different angles.

[0064] The difference in transmit and receive gain between the radar under test and the reference radar at the above different angles reflects the difference in the intermediate frequency signals detected by the radar under test and the reference radar when they detect the same target in the environment.

[0065] Step S306: Calculate the standard signal that the radar under test can theoretically receive in a real environment based on the intermediate frequency signal and the difference in transmit and receive gain between the radar under test and the reference radar at different angles.

[0066] The above process can be understood as follows: the intermediate frequency signal obtained by the reference radar from the detection of the real environment is calibrated by using the difference between the transmit and receive gain of the radar under test and the reference radar at different angles, so as to obtain the standard signal that the radar under test can theoretically receive when it detects in the real environment. The process will be described in detail below, and will not be repeated here.

[0067] Step S308: The standard signal is sent to the radar target environment simulation system so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal. Then, the radar under test receives the test signal sent by the radar target environment simulation system, thus completing the test of the radar under test in a real environment.

[0068] The aforementioned radar target environment simulation system includes a receiving test antenna, a target environment simulator, an inverse matrix modulator, and a transmitting test antenna connected in sequence. During actual testing, the radar under test and the receiving and transmitting test antennas of the target environment simulation system are placed in an anechoic chamber. The target environment simulator generates a test signal containing a standard signal (specifically, the receiving test antenna receives the signal transmitted by the radar under test in the test environment and transmits it to the target environment simulator; the target environment simulator generates the test signal based on the standard signal and the signal). The test signal is transmitted via the inverse matrix modulator and the transmitting test antenna, so that the signal received by the radar under test is the test signal (which contains the target parameters of the real environment), thereby completing the test of the radar under test in the real environment.

[0069] The above process does not require the radar under test to actually conduct real detection in a real environment by relying on the movement of a car. It only requires the target environment simulator to generate the test signal that the radar under test would theoretically receive in a real environment in the experiment. This can realize the testing of the radar under test in a real environment, which is efficient, simple and accurate.

[0070] In this embodiment of the invention, a test method for simulating a real-world radar environment is provided, comprising: acquiring an intermediate frequency (IF) signal obtained by a reference radar installed on a vehicle during vehicle operation, wherein the reference radar is a qualified radar with known performance; acquiring radiation performance information of the radar under test and reference radiation performance information of the reference radar, and calculating the transmit / receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information; calculating a standard signal theoretically received by the radar under test in a real-world environment based on the IF signal and the transmit / receive gain difference between the radar under test and the reference radar at different angles; sending the standard signal to a radar target environment simulation system, so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal, thereby the radar under test receives the test signal sent by the radar target environment simulation system, thus completing the test of the radar under test in a real-world environment. As described above, the radar real-environment simulation test method of the present invention reconstructs the standard signal theoretically received by the radar under test when it detects in a real environment by using the intermediate frequency signal of the real environment detected by the reference radar and the difference in transmit and receive gain between the radar under test and the reference radar at different angles. Then, the standard signal is sent to the radar target environment simulation system so that the radar target environment simulation system generates a test signal containing the standard signal. The radar under test receives the test signal sent by the radar target environment simulation system, thereby completing the test of the radar under test in a real environment without the need for the radar under test to actually detect in a real environment by relying on the movement of a car. The test process is more efficient, simple, and has high accuracy, alleviating the technical problem that the prior art cannot simply, efficiently, and accurately realize the simulation test of radar in a real environment.

[0071] The above provides a brief overview of the radar real-world environment simulation test method of the present invention. The specific details involved are described in detail below.

[0072] In an optional embodiment of the present invention, the radiation performance information includes: the transmitting antenna pattern of the radar under test and the receiving antenna pattern of the radar under test; the reference radiation performance information includes: the reference transmitting antenna pattern of the reference radar and the reference receiving antenna pattern of the reference radar. Step S304, which calculates the transmit / receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information, specifically includes the following steps:

[0073] (1) Determine the gain of the transmitting antenna and the receiving antenna of the radar under test at different angles based on the transmitting antenna pattern and the receiving antenna pattern of the radar under test.

[0074] In practice, the radar under test can be placed in an anechoic chamber, and the radiation patterns of its transmitting and receiving antennas can be measured.

[0075] After obtaining the transmitting antenna pattern and the receiving antenna pattern of the radar under test, the gain of the transmitting antenna of the radar under test at different angles is determined based on the transmitting antenna pattern, and the gain of the receiving antenna of the radar under test at different angles is determined based on the receiving antenna pattern.

[0076] (2) Determine the gain of the reference transmitting antenna and the gain of the reference receiving antenna of the reference radar at different angles based on the radiation pattern of the reference transmitting antenna and the radiation pattern of the reference receiving antenna of the reference radar.

[0077] In practice, the reference radar can be placed in an anechoic chamber to measure the radiation patterns of the reference transmitting antenna and the reference receiving antenna.

[0078] After obtaining the reference transmitting antenna pattern and the reference receiving antenna pattern of the reference radar, the gain of the reference transmitting antenna of the reference radar at different angles is determined based on the reference transmitting antenna pattern of the reference radar, and the gain of the reference receiving antenna of the reference radar at different angles is determined based on the reference receiving antenna pattern of the reference radar.

[0079] (3) Calculate the difference between the transmit and receive gain of the radar under test and the reference radar at different angles based on the gain of the transmitting antenna of the radar under test, the gain of the receiving antenna of the radar under test, the gain of the reference transmitting antenna of the reference radar at different angles, and the gain of the reference receiving antenna of the reference radar.

[0080] Specifically, the formula for calculating the transmit / receive gain difference is as follows:

[0081] ΔG i =(G i，T，DUT -G i，T，STD )+(G i,R,DUT -G i，R，STD )

[0082] Wherein, ΔG i G represents the difference in transmit and receive gain between the radar under test and the reference radar at angle i. i，T，DUT G represents the gain of the transmitting antenna of the radar under test at angle i. i，T，STD G represents the gain of the reference transmitting antenna of the reference radar at angle i. i，R，DUT G represents the gain of the receiving antenna of the radar under test at angle i. i，R，STD This represents the gain of the reference receiving antenna of the reference radar at angle i.

[0083] In another optional embodiment of the present invention, the radiation performance information includes: the transmit / receive gain of the radar under test at different angles, and the reference radiation performance information includes: the reference transmit / receive gain of the reference radar at different angles. Step S304 above, calculating the transmit / receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information, includes the following steps:

[0084] (1) Calculate the difference in transmit and receive gain between the radar under test and the reference radar at different angles based on the transmit and receive gain of the radar under test at different angles and the reference transmit and receive gain of the reference radar at different angles.

[0085] In practice, the radar under test can be placed in an anechoic chamber, and the transmit / receive gain of the radar under test at different angles can be measured using a reflector (such as a corner bevel reflector). In addition, the reference radar can be placed in an anechoic chamber, and the reference transmit / receive gain of the reference radar at different angles can be measured using a reflector (such as a corner bevel reflector).

[0086] After obtaining the transmit / receive gain of the radar under test (DUT) at different angles and the reference transmit / receive gain of the reference radar at different angles, the transmit / receive gain difference between the DUT and the reference radar at different angles is calculated based on these values. Specifically, the formula for calculating the transmit / receive gain difference is as follows:

[0087] ΔG i =G i，TR，DUT -G i，TR，STD

[0088] Wherein, ΔG i G represents the difference in transmit and receive gain between the radar under test and the reference radar at angle i. i，TR，DUT G represents the transmit / receive gain of the radar under test at angle i. i，TR，STD This represents the reference transmit / receive gain of the reference radar at angle i.

[0089] In an alternative embodiment of the present invention, reference is made to... Figure 4 Step S306 above calculates the standard signal theoretically received by the radar under test in a real environment based on the intermediate frequency signal and the difference in transmit and receive gain between the radar under test and the reference radar at different angles. This specifically includes the following steps:

[0090] Step S401: Perform a discrete Fourier transform on the intermediate frequency signal to obtain the target parameters of the real environment. The target parameters include: the number of targets in the real environment, the distance between each target and the reference radar, the relative speed between each target and the reference radar, and the angle between each target and the reference radar.

[0091] The aforementioned Discrete Fourier Transforms include: distance-discrete Fourier Transform, Doppler-discrete Fourier Transform, angle-discrete Fourier Transform, and other target detection algorithms (such as CA-CFAR) to obtain target parameters in the real environment.

[0092] For details, please refer to Figure 5 The intermediate frequency signal is first subjected to range-discrete Fourier transform and Doppler-discrete Fourier transform to obtain a two-dimensional array, which is the correspondence data between range, velocity and energy in the real environment, that is, a series of data between range, velocity and energy. Target detection (target detection algorithm, such as CA-CFAR) is performed on this series of data between range, velocity and energy to obtain the number of targets in the real environment, the distance between each target and the reference radar, and the relative velocity between each target and the reference radar. Then, the series of data between range, velocity and energy, the number of targets, the distance between each target and the reference radar, and the relative velocity between each target and the reference radar are subjected to angle-discrete Fourier transform or other angle measurement algorithms (such as the MUSIC algorithm) to obtain the angle between each target and the reference radar.

[0093] Step S402: Calculate the transmit / receive gain difference between each target and the reference radar based on the angle between each target and the reference radar, and the transmit / receive gain difference between the radar under test and the reference radar at different angles.

[0094] Specifically, the angle between each target and the reference radar is matched with different angles in the transmit / receive gain difference between the radar under test and the reference radar at different angles, and the transmit / receive gain difference corresponding to the angle between each target and the reference radar is determined based on the angle matching results.

[0095] Step S403: Using the transmit / receive gain difference corresponding to the angle between each target and the reference radar, the energy of each target in the data after two-dimensional discrete Fourier transform is calibrated to obtain the calibrated data after two-dimensional discrete Fourier transform. The data after two-dimensional discrete Fourier transform is the data obtained after performing range-discrete Fourier transform and Doppler-discrete Fourier transform on the intermediate frequency signal.

[0096] Specifically, the data after the two-dimensional discrete Fourier transform is the data obtained after performing range-discrete Fourier transform and Doppler-discrete Fourier transform on the intermediate frequency signal, that is, a series of data between range, velocity and energy. The transmit and receive gain difference corresponding to the angle between each target and the reference radar obtained in step S402 is used to calibrate the energy of the corresponding target in the data after the two-dimensional discrete Fourier transform, so as to obtain the calibrated data after the two-dimensional discrete Fourier transform.

[0097] The above process involves calibrating the transmit / receive gain difference corresponding to the angle between each target and the reference radar into the energy / power of the data after range-discrete Fourier transform and Doppler-discrete Fourier transform (i.e., the result containing target parameters). For example, if the ΔG corresponding to the angle between a target and the reference radar is 1dB, the energy / power of the corresponding target in the data after range-discrete Fourier transform and Doppler-discrete Fourier transform can be increased by 1dB.

[0098] This process references Figure 5 The calculation of the transmit / receive gain difference is briefly described as follows: Data obtained after performing range-discrete Fourier transform and Doppler-discrete Fourier transform on the intermediate frequency signal (i.e., a series of data between range, velocity, and energy), the number of targets in the real environment obtained after target detection, the distance between each target and the reference radar, the relative velocity between each target and the reference radar, and the angle between each target and the reference radar obtained after angle-discrete Fourier transform. Then, according to steps S402 and S403, the energy of each target in the two-dimensional discrete Fourier transform data is calibrated to obtain the calibrated two-dimensional discrete Fourier transform data.

[0099] Step S404: Perform inverse discrete Fourier transform on the calibrated two-dimensional discrete Fourier transform data to obtain the standard signal that the radar under test can theoretically receive in a real environment. The inverse discrete Fourier transform includes: inverse Doppler-discrete Fourier transform and inverse range-discrete Fourier transform.

[0100] Specifically, after performing the inverse discrete Fourier transform, the calibrated two-dimensional discrete Fourier transform data is restored to the time domain, thus obtaining the standard signal that the radar under test will theoretically receive when it conducts detection in a real environment.

[0101] In an alternative embodiment of the present invention, reference is made to... Figure 6 The radar target environment simulation system includes: a receiving test antenna, a target environment simulator, an inverse matrix adjuster, and a transmitting test antenna connected in sequence.

[0102] The receiving test antenna is used to receive signals emitted by the radar under test.

[0103] A target environment simulator used to generate test signals based on signals and standard signals;

[0104] The inverse matrix modulator is used to transform the test signal according to the inverse matrix of the spatial transfer matrix in the test environment to obtain the transformed test signal.

[0105] The transmitting test antenna is used to transmit the transformed test signal so that the signal received by the radar under test can be used as the test signal, thereby completing the test of the radar under test in a real environment.

[0106] In this embodiment of the invention, the inventors analyzed the basic principles of radar, such as... Figure 7 As shown, radar uses a mixer to combine the transmitted and received frequency-modulated continuous wave (FM continuous wave) signals. Figure 7 After mixing the signal with the × symbol in the image, the signal is then passed through a low-pass filter (LPF) to obtain the intermediate frequency signal. The algorithm analyzes the intermediate frequency signal to calculate the target parameters of the environment.

[0107] Based on the basic principles of radar, the inventors conceived of calculating the standard signal that the radar under test would theoretically receive in the real environment, and then transmitting a test signal containing the standard signal through the transmitting test antenna of the radar target environment simulation system. As long as the signal actually received by the radar under test is also the above-mentioned test signal, the radar under test can be tested in the real environment.

[0108] Therefore, the inventors designed the above-mentioned radar target environment simulation system. The receiving test antenna, target environment simulator, inverse matrix adjuster and transmitting test antenna connected in sequence can simulate the intermediate frequency signal (i.e. the standard signal theoretically received by the radar under test in the real environment) detected by the radar under test in the real environment. Then, the radar under test is tested based on the simulated intermediate frequency signal detected by the radar under test in the real environment (i.e., the test of the radar under test in the real environment).

[0109] From the above, it can be seen that in actual testing, it is only necessary to ensure that the radar under test (taking a radar under test with 4 receiving antennas as an example) actually receives the signal (x) IF1 x IF2 x IF3 x IF4 ) includes the above standard signal (y) IF1 y IF2 y IF3 y IF4 This allows for the testing of the radar under test in a real environment.

[0110] During testing, the receiving test antenna of the radar target environment simulation system receives the first signal s transmitted by the radar under test (taking a radar under test with one transmitting antenna as an example) in the test environment. IF1 And send it to the target environment simulator, the target environment simulator according to the standard signal (y IF1 y IF2 y IF3 y IF4 ) and the first signal sIF1 Generate a test signal (t) containing a standard signal. IF1 t IF2 t IF3 t IF4 ):

[0111] t IF1 =y IF1 *s IF1

[0112] t IF2 =y IF2 *s IF2

[0113] t IF3 =y IF3 *s IF3

[0114] t IF4 =y IF4 *s IF4

[0115] Test signal (t) IF1 t IF2 t IF3 t IF4 Send to the inverse matrix regulator.

[0116] In actual transmission, due to the presence of the antenna and air link, the test signal cannot be directly transmitted from the target environment simulator to the receiving antenna of the radar under test. Therefore, a certain method is needed to achieve this transmission. The method adopted in this invention is "direct air interface connection". Specifically, with Figure 7 Taking the radar under test as an example, after the test signal is directly transmitted through the test antenna, the relationship between the signal actually received by the radar under test and the test signal is as follows:

[0117]

[0118] The H matrix is ​​the space transmission matrix. To ensure that the signal actually received by the radar under test is the same as the test signal, the inverse matrix M of the H matrix needs to be loaded onto it before signal transmission to counteract the effects of space transmission, making the following formula hold:

[0119]

[0120] The above equation holds true when H*M = I (identity matrix). Figure 6 The inverse matrix in the inverse matrix regulator is the M matrix in the formula. Therefore, the transformed test signal t transmitted through the test antenna... IF ′ for:

[0121]

[0122] It should be noted that, since millimeter-wave radar has a very wide operating bandwidth, the inverse matrix M and the spatial transmission matrix H can be functions of frequency, and the inverse matrix M of the spatial transmission matrix H at different frequencies can be obtained.

[0123] The process of obtaining the spatial transmission matrix H is an existing technology. For example, the signal power received by the receiving antenna of the radar under test can be obtained by adjusting the amplitude and phase of each transmitted signal emitted by the transmitting test antenna, and the spatial transmission matrix H can be calculated accordingly.

[0124] After obtaining the spatial transmission matrix, its inverse matrix M is calculated based on the spatial transmission matrix H. The parameters of the inverse matrix are then used as the inverse matrix of the aforementioned preset spatial transmission matrix and applied to the inverse matrix regulator (implemented by DSP and FPGA) to achieve direct air interface connection between the target environment simulator and the receiver of the radar under test.

[0125] In an optional embodiment of the present invention, the number of receiving test antennas is the same as the number of transmitting antennas of the radar under test, and the number of transmitting test antennas is the same as the number of receiving antennas of the radar under test.

[0126] Specifically, many radars under test have more than one transmitting antenna. This solution is applicable to radars under test with a single transmitting antenna as well as radars under test with multiple transmitting antennas, including TDM radars, DDM radars, and so on.

[0127] In an alternative embodiment of the present invention, reference is made to... Figure 6 The radar target environment simulation system also includes: a mixer and a low-pass filter;

[0128] Each receiving test antenna is connected to the target environment simulator via a mixer and a low-pass filter;

[0129] Each transmit test antenna is connected to an inverse matrix adjuster via a mixer.

[0130] The entire work process will be described in detail below:

[0131] During testing, the receiving test antenna receives the signal transmitted by the radar under test. Then, the signal received by the receiving test antenna enters the mixer, which mixes the signal with the local clock signal. Figure 6The device represented by the wavy line in the circle (representing the clock source) is mixed. The mixed signal enters a low-pass filter and is down-converted to an intermediate frequency (IF) signal. This IF signal then enters the target environment simulator. The target environment simulator generates a test signal based on the IF signal and a standard signal. The test signal enters an inverse matrix regulator. The inverse matrix regulator transforms the test signal using the inverse of the spatial transmission matrix in the test environment to obtain a transformed test signal. The transformed test signal enters a mixer, which mixes the transformed test signal with the local clock signal. The resulting transformed test signal is then transmitted through the test antenna. The signal received by the radar under test is thus the test signal, completing the test of the radar under test in a real environment.

[0132] In an alternative embodiment of the present invention, reference is made to... Figure 6 The radar target environment simulation system also includes: a clock source;

[0133] A clock source is connected to each mixer to provide the local oscillator clock for each mixer.

[0134] The radar real-environment simulation testing method of this invention solves the problem that each radar under test / batch needs to be driven for tens of thousands of kilometers for testing. By acquiring intermediate frequency (IF) data from a reference radar through a single driving test, and then restoring the IF data to the radar under test based on the differences between the reference radar and the radar under test, a direct air interface connection can be used to simulate the signal required by any radar under test. This provides a low-cost, high-efficiency testing method that enables realistic environmental testing of the radar under test in an anechoic chamber environment without the need for actual driving of tens of thousands of kilometers.

[0135] Example 2:

[0136] This invention also provides a test device for simulating a real radar environment. This test device is mainly used to execute the test method for simulating a real radar environment provided in Embodiment 1 of this invention. The test device for simulating a real radar environment provided in this invention will be described in detail below.

[0137] Figure 8 This is a schematic diagram of a radar real-world environment simulation test device according to an embodiment of the present invention, such as... Figure 8 As shown, the device mainly includes: an acquisition unit 10, an acquisition and calculation unit 20, a calculation unit 30, and a transmission unit 40, wherein:

[0138] The acquisition unit is used to acquire the intermediate frequency signal obtained by the reference radar installed on the car during the car's driving process by detecting the real environment. The reference radar is a qualified radar with known performance.

[0139] The acquisition and calculation unit is used to acquire the radiation performance information of the radar under test and the reference radiation performance information of the reference radar, and to calculate the transmit and receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information.

[0140] The calculation unit is used to calculate the standard signal that the radar under test can theoretically receive in a real environment based on the intermediate frequency signal and the difference between the transmit and receive gain of the radar under test and the reference radar at different angles.

[0141] The transmitting unit is used to send a standard signal to the radar target environment simulation system, so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal. Then, the radar under test receives the test signal sent by the radar target environment simulation system, thus completing the test of the radar under test in a real environment.

[0142] Specifically, the testing device for simulating the real radar environment can be a computer or other host computer, and the embodiments of the present invention do not impose specific limitations on it.

[0143] In this embodiment of the invention, a test apparatus for simulating a real-world radar environment is provided, comprising: acquiring an intermediate frequency (IF) signal obtained by a reference radar installed on a vehicle during vehicle operation, wherein the reference radar is a qualified radar with known performance; acquiring radiation performance information of the radar under test and reference radiation performance information of the reference radar, and calculating the transmit / receive gain difference between the radar under test and the reference radar at different angles based on the radiation performance information and the reference radiation performance information; calculating a standard signal theoretically received by the radar under test in a real-world environment based on the IF signal and the transmit / receive gain difference between the radar under test and the reference radar at different angles; and sending the standard signal to a radar target environment simulation system, so that the target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal, thereby the radar under test receives the test signal sent by the radar target environment simulation system, thus completing the test of the radar under test in a real-world environment. As described above, the radar real-environment simulation test device of the present invention reconstructs the standard signal theoretically received by the radar under test when it detects in a real environment by using the intermediate frequency signal of the real environment detected by the reference radar and the difference in transmit and receive gain between the radar under test and the reference radar at different angles. Then, the standard signal is sent to the radar target environment simulation system so that the radar target environment simulation system generates a test signal containing the standard signal. The radar under test receives the test signal sent by the radar target environment simulation system, thereby completing the test of the radar under test in a real environment without the need for the radar under test to actually rely on the movement of a car to conduct real detection in a real environment. The test process is more efficient, simple, and has high accuracy, alleviating the technical problem that the prior art cannot simply, efficiently, and accurately realize the simulation test of radar in a real environment.

[0144] Example 3:

[0145] This invention also provides a radar real-world environment simulation test system, including the radar real-world environment simulation test device in Embodiment 2 above, and further including: a radar target environment simulation system.

[0146] Optionally, it may also include: a reference radar and a radar under test.

[0147] Furthermore, in the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0148] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0149] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A test method for radar real environment simulation, characterized in that, The method comprises the following steps: acquiring intermediate frequency signals detected by a reference radar installed on a vehicle during driving of the vehicle, wherein the reference radar is a qualified radar with known performance; acquiring radiation performance information of a to-be-tested radar and reference radiation performance information of the reference radar, and calculating transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles according to the radiation performance information and the reference radiation performance information; calculating standard signals theoretically received by the to-be-tested radar in the real environment according to the intermediate frequency signals and the transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles; sending the standard signals to a radar target environment simulation system, so that a target environment simulator in the radar target environment simulation system generates test signals containing the standard signals, and then the to-be-tested radar receives the test signals emitted by the radar target environment simulation system, thereby completing the test of the to-be-tested radar in the real environment.

2. The test method of claim 1, wherein, The radiation performance information comprises a transmitting antenna pattern of the to-be-tested radar and a receiving antenna pattern of the to-be-tested radar, the reference radiation performance information comprises a reference transmitting antenna pattern of the reference radar and a reference receiving antenna pattern of the reference radar, and the calculation of the transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles according to the radiation performance information and the reference radiation performance information comprises the following steps: determining the gain of the transmitting antenna of the to-be-tested radar and the gain of the receiving antenna of the to-be-tested radar at different angles according to the transmitting antenna pattern of the to-be-tested radar and the receiving antenna pattern of the to-be-tested radar; determining the gain of the reference transmitting antenna of the reference radar and the gain of the reference receiving antenna of the reference radar at different angles according to the reference transmitting antenna pattern of the reference radar and the reference receiving antenna pattern of the reference radar; calculating the transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles according to the gain of the transmitting antenna of the to-be-tested radar, the gain of the receiving antenna of the to-be-tested radar, the gain of the reference transmitting antenna of the reference radar and the gain of the reference receiving antenna of the reference radar at different angles.

3. The test method of claim 1, wherein, The radiation performance information comprises transmit-receive gains of the to-be-tested radar at different angles, the reference radiation performance information comprises reference transmit-receive gains of the reference radar at different angles, and the calculation of the transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles according to the radiation performance information and the reference radiation performance information comprises the following steps: calculating the transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles according to the transmit-receive gains of the to-be-tested radar at different angles and the reference transmit-receive gains of the reference radar at different angles.

4. The test method of claim 1, wherein, The calculation of the standard signals theoretically received by the to-be-tested radar in the real environment according to the intermediate frequency signals and the transmit-receive gain difference values of the to-be-tested radar and the reference radar at different angles comprises the following steps: performing discrete Fourier transform on the intermediate frequency signal to obtain a target parameter of the real environment, wherein the target parameter comprises a number of targets in the real environment, a distance between each target and the reference radar, a relative speed between each target and the reference radar, and an angle between each target and the reference radar; calculating a transceiving gain difference value corresponding to the angle between each target and the reference radar according to the angle between each target and the reference radar and the transceiving gain difference value of the to-be-tested radar and the reference radar at different angles; performing calibration on energy of each target in the data after two-dimensional discrete Fourier transform by using the transceiving gain difference value corresponding to the angle between each target and the reference radar to obtain calibrated data after two-dimensional discrete Fourier transform; performing inverse discrete Fourier transform on the calibrated data after two-dimensional discrete Fourier transform to obtain a standard signal theoretically received by the to-be-tested radar in the real environment.

5. The test method of claim 1, wherein, The radar target environment simulation system comprises: a receiving test antenna, the target environment simulator, an inverse matrix adjuster and a transmitting test antenna connected in sequence; The receiving test antenna is configured to receive a signal transmitted by the to-be-tested radar. The target environment simulator is configured to generate the test signal according to the signal and the standard signal. The inverse matrix adjuster is configured to transform the test signal according to an inverse matrix of a spatial transmission matrix in a test environment to obtain a transformed test signal. The transmitting test antenna is configured to transmit the transformed test signal so that the signal received by the to-be-tested radar is the test signal, thereby completing the test of the to-be-tested radar in the real environment.

6. The test method of claim 5, wherein, The number of the receiving test antennas is the same as the number of transmitting antennas of the to-be-tested radar, and the number of the transmitting test antennas is the same as the number of receiving antennas of the to-be-tested radar.

7. The test method of claim 6, wherein, The radar target environment simulation system further comprises: a mixer and a low-pass filter. Each receiving test antenna is connected to the target environment simulator through one mixer and one low-pass filter. Each transmitting test antenna is connected to the inverse matrix adjuster through one mixer.

8. The test method of claim 7, wherein, The radar target environment simulation system further comprises: a clock source. The clock source is connected to each mixer to provide a local oscillator clock for each mixer.

9. A test device for radar real environment simulation, characterized in that The radar target environment simulation system comprises: an acquisition unit configured to acquire an intermediate frequency signal obtained by a reference radar installed on a vehicle during driving of the vehicle to detect a real environment, wherein the reference radar is a qualified radar with known performance; an acquisition and calculation unit configured to acquire radiation performance information of a to-be-tested radar and reference radiation performance information of the reference radar, and calculate a transceiving gain difference value of the to-be-tested radar and the reference radar at different angles according to the radiation performance information and the reference radiation performance information; a calculation unit configured to calculate a standard signal theoretically received by the to-be-tested radar in the real environment according to the intermediate frequency signal and the transceiving gain difference value of the to-be-tested radar and the reference radar at different angles. The sending unit is configured to send the standard signal to a radar target environment simulation system, so that a target environment simulator in the radar target environment simulation system generates a test signal containing the standard signal, and then the radar under test receives the test signal sent by the radar target environment simulation system, thereby completing the test of the radar under test in the real environment.

10. A test system for radar real environment simulation, characterized in that, The test device for radar real environment simulation according to claim 9 further comprises a radar target environment simulation system.

11. The test system of claim 10, wherein, Further comprising: A reference radar and a radar under test.

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