Radar test method and device and radar evaluation method, device and system

Abstract

The invention provides a to-be-tested radar testing method and device and a to-be-evaluated radar reliability evaluation method, device and system, and relates to the technical field of radar testing. The test method comprises the following steps: acquiring actual position information of a target object; the radar to be detected is used for conducting scanning detection on the target object in the specific environment with the specific environment parameters having different environment parameter values, and estimated position information of the target object in the specific environment with the different environment parameter values is obtained; for each environment parameter value, the detection precision of the to-be-detected radar detection target object is determined based on the difference between the actual position information and the estimated position information of the target object; and obtaining a function relationship between the specific environment parameter and the detection precision of the radar to be detected according to the different environment parameter values and the corresponding detection precision. According to the invention, the detection precision of the radar is tested in the specific environment to obtain the function relationship between the specific environment parameters and the radar to be tested, so that the performance of the radar in the actual working condition can be evaluated more accurately based on the function relationship.

Description

Technical Field

[0001] The present disclosure relates to the field of radar testing technology, in particular to a testing method and device for a radar to be tested, and a reliability evaluation method, device and system for a radar to be evaluated. Background Art

[0002] With the continuous development of science and technology, unmanned technology has received widespread attention and application in the construction machinery industry. Unmanned technology is mainly reflected in unmanned driving technology, remote control technology and intelligent sensing technology. Among them, intelligent sensing technology, as the "eyes" of unmanned construction, plays a key role in subsequent decision-making planning and autonomous control.

[0003] Intelligent sensing technology can effectively obtain environmental information around the work area through radar and other sensor equipment, thereby guiding construction machinery to carry out collaborative work of excavating, loading and transporting materials. As the most important sensor equipment in unmanned construction technology of construction machinery, radar can accurately obtain the distance between the target object (equipment, vehicles, personnel, large rocks, etc.) and the sensor. Radar scans the environment around the work area to obtain a large amount of point cloud data, and constructs a three-dimensional scene of the work area where the mechanical equipment is located, thereby realizing the identification of areas such as material excavation and material loading.

[0004] In order to obtain more accurate and reliable point cloud data, it is usually necessary to conduct reliability testing on the radar. Summary of the invention

[0005] The accuracy of the test results obtained by the radar test method in the related art is low. After research, it is found that this is due to the large difference between the test environment in the related art and the actual application environment of the radar.

[0006] In order to solve the above problems, the embodiments of the present disclosure propose the following solutions.

[0007] According to a first aspect of an embodiment of the present disclosure, a testing method for a radar to be tested is provided, comprising: obtaining actual position information of a target object; using the radar to be tested to scan and detect the target object in specific environments with different environmental parameter values ​​for specific environmental parameters, respectively, to obtain estimated position information of the target object in the specific environments with different environmental parameter values; for each of the environmental parameter values, determining a detection accuracy of the radar to be tested for detecting the target object based on a difference between the actual position information and the estimated position information of the target; and obtaining a functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding detection accuracy.

[0008] In some embodiments, the specific environmental parameters include one or more of inhalable particulate matter PM10, visibility, precipitation, and humidity.

[0009] In some embodiments, the actual position information includes the actual coordinates of the morphological features of the target object, the morphological features of the target object include one or more of feature points, lines and surfaces of the target object, and the estimated position information includes the estimated coordinates of the morphological features of the target object; determining the detection accuracy of the radar to be tested for detecting the target object based on the difference between the actual position information and the estimated position information of the target object includes: determining the morphological detection accuracy of the radar to be tested for detecting the target object based on the difference between the actual coordinates and the estimated coordinates of the morphological features of the target object, the morphological detection accuracy includes one or more of feature point detection accuracy, line detection accuracy, and surface detection accuracy; obtaining the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the morphological detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding morphological detection accuracy.

[0010] In some embodiments, the topographical features of the target object include at least two feature points and at least one line of the target object.

[0011] In some embodiments, determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object, and obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding shape detection accuracy, includes: determining the feature point detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the feature point of the target object, and obtaining the functional relationship between the specific environmental parameter and the feature point detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding feature point detection accuracy; determining the line detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of multiple points included in the line of the target object, and obtaining the functional relationship between the specific environmental parameter and the line detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding line detection accuracy; and / or determining the surface detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of multiple points included in the surface of the target object, and obtaining the functional relationship between the specific environmental parameter and the surface detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding surface detection accuracy.

[0012] In some embodiments, determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape features of the target object, and obtaining the functional relationship between the specific environment parameter and the shape detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding shape detection accuracy, includes: determining the shape detection accuracy of the target object detected by the radar to be tested in the X direction, Y direction and Z direction based on the difference between the actual coordinates and the estimated coordinates of the shape features of the target object in the X direction, Y direction and Z direction, and obtaining the functional relationship between the specific environment parameter and the shape detection accuracy of the radar to be tested in the X direction, Y direction and Z direction according to the different environmental parameter values ​​and the corresponding shape detection accuracy in the X direction, Y direction and Z direction.

[0013] In some embodiments, the actual position information includes the actual distance between the target object and the radar to be measured, and the estimated position information includes the estimated distance between the target object and the radar to be measured; determining the detection accuracy of the radar to be measured for detecting the target object based on the difference between the actual position information and the estimated position information of the target object includes: determining the distance detection accuracy of the radar to be measured for detecting the target object based on the difference between the actual distance and the estimated distance; obtaining the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be measured according to the different environmental parameter values ​​and the corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the distance detection accuracy of the radar to be measured according to the different environmental parameter values ​​and the corresponding distance detection accuracy.

[0014] In some embodiments, one or more of the shape, size, and distance of the target object from the radar to be measured is set according to the usage scenario of the radar to be measured.

[0015] According to a second aspect of an embodiment of the present disclosure, a reliability assessment method for a radar to be assessed is provided, comprising: obtaining a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be assessed; determining the actual detection accuracy of the radar to be assessed under the working condition to be applied based on actual environmental parameter values ​​for the specific environmental parameter under the working condition to be applied of the radar to be assessed and the functional relationship; and judging whether the radar to be assessed is reliable under the working condition to be applied based on the actual detection accuracy.

[0016] In some embodiments, the actual environmental parameter value includes one or more of an average environmental parameter value and a real-time environmental parameter value; the average environmental parameter value represents the average value of the specific environmental parameter within a preset time period; the real-time environmental parameter value represents the real-time value of the specific environmental parameter.

[0017] In some embodiments, the actual environmental parameter value includes the average environmental parameter value and the real-time environmental parameter value; the actual detection accuracy includes the average detection accuracy and the real-time detection accuracy; determining the actual detection accuracy of the radar to be evaluated and judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: determining the average detection accuracy of the radar to be evaluated based on the average environmental parameter value and the functional relationship; judging whether the radar to be evaluated is reliable under the working condition to be applied based on the average detection accuracy; when it is judged that the radar to be evaluated is reliable under the working condition to be applied based on the average detection accuracy, determining the real-time detection accuracy of the radar to be evaluated based on the real-time environmental parameter value and the functional relationship; and judging whether the radar to be evaluated is reliable under the working condition to be applied based on the real-time detection accuracy.

[0018] In some embodiments, obtaining the functional relationship includes: obtaining actual position information of the target; using the radar to be evaluated to scan and detect the target in specific environments with different environmental parameter values ​​for the specific environmental parameter, respectively, to obtain estimated position information of the target in the specific environments with different environmental parameter values; for each of the environmental parameter values, determining the detection accuracy of the radar to be evaluated in detecting the target based on the difference between the actual position information of the target and the estimated position information; and obtaining the functional relationship based on the different environmental parameter values ​​and the corresponding detection accuracy.

[0019] In some embodiments, the actual position information includes the actual coordinates of the morphological features of the target, the morphological features of the target include one or more of the feature points, lines and surfaces of the target, and the estimated position information includes the estimated coordinates of the morphological features of the target; determining the detection accuracy of the target detected by the radar to be evaluated based on the difference between the actual position information and the estimated position information of the target includes: determining the morphological detection accuracy of the target detected by the radar to be evaluated based on the difference between the actual coordinates and the estimated coordinates of the morphological features of the target, the morphological detection accuracy includes one or more of the feature point detection accuracy, line detection accuracy, and surface detection accuracy; obtaining the functional relationship according to the different environmental parameter values ​​and the corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the morphological detection accuracy of the radar to be evaluated according to the different environmental parameter values ​​and the corresponding morphological detection accuracy.

[0020] In some embodiments, the morphological features of the target object include at least feature points and lines of the target object, and the morphological detection accuracy includes at least feature point detection accuracy and line detection accuracy; judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: if the feature point detection accuracy and the line detection accuracy meet the corresponding accuracy requirements, judging that the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

[0021] In some embodiments, the shape detection accuracy includes shape detection accuracy in the X direction, the Y direction and the Z direction; judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: if the shape detection accuracy in the X direction, the Y direction and the Z direction all meet the corresponding accuracy requirements, then judging that the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

[0022] In some embodiments, the detection accuracy also includes distance detection accuracy; judging whether the radar to be evaluated is reliable under the working condition to be applied based on the real-time detection accuracy includes: if the distance detection accuracy and the shape detection accuracy both meet the corresponding accuracy requirements, then the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

[0023] According to a third aspect of an embodiment of the present disclosure, a testing device for a radar to be tested is provided, comprising: an environment providing device, configured to provide a specific environment with different environmental parameter values ​​for a specific environmental parameter; a target object; the radar to be tested, configured to scan and detect the target object respectively in the specific environment with different environmental parameters, and obtain estimated position information of the target object in the specific environment with different environmental parameter values; and a processor; configured to obtain actual position information of the target object; obtain the estimated position information from the radar to be tested; for each environmental parameter value, determine the detection accuracy of the radar to be tested for detecting the target object based on the difference between the actual position information of the target and the estimated position information; and obtain the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding detection accuracy.

[0024] In some embodiments, the testing device further includes: a fixing protection device configured to fix and protect the radar to be tested.

[0025] In some embodiments, the testing device is further configured to execute the testing method of the radar to be tested described in any one of the above embodiments.

[0026] According to a fourth aspect of an embodiment of the present disclosure, a reliability assessment device for a radar to be assessed is provided, comprising: an acquisition module, configured to acquire a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be assessed; a determination module, configured to determine the actual detection accuracy of the radar to be assessed under the working condition to be applied based on an actual environmental parameter value for the specific environmental parameter under the working condition to be applied of the radar to be assessed and the functional relationship; and a judgment module, configured to judge whether the radar to be assessed is reliable under the working condition to be applied based on the actual detection accuracy.

[0027] According to a fifth aspect of an embodiment of the present disclosure, a reliability assessment system is provided, comprising: a memory; and a processor coupled to the memory, configured to execute the reliability assessment method of the radar to be assessed described in any one of the above embodiments based on instructions stored in the memory.

[0028] In the disclosed embodiments, the detection accuracy of the radar for the target object is tested in a specific environment (for example, a dusty environment, a rainy environment, or a foggy environment), and the relationship between the specific environmental parameters of the specific environment and the radar detection accuracy is established. This enriches the test scenario of the radar, makes the test scenario of the radar closer to the actual usage scenario of the radar, and improves the accuracy of the test results.

[0029] In addition, on the one hand, it can analyze the impact of specific environmental parameters on the accuracy of radar detection, and on the other hand, it is convenient to subsequently evaluate whether the radar is reliable under the conditions to be applied based on this relationship, thereby better supporting the safe operation of unmanned construction machinery.

[0030] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 It is a flowchart of a testing method for a radar to be tested according to some embodiments of the present disclosure.

[0033] Figure 2 It is a schematic diagram of the functional relationship in the testing method of the radar to be tested according to some embodiments of the present disclosure.

[0034] Figure 3 The present invention provides a reliability assessment method for a radar to be assessed according to some embodiments of the present disclosure.

[0035] Figure 4 It is a flowchart of judging whether the radar to be evaluated is reliable under the working conditions to be applied in the reliability evaluation method of the radar to be evaluated according to some embodiments of the present disclosure.

[0036] Figure 5 It is a flowchart of a radar testing and evaluation method according to some embodiments of the present disclosure.

[0037] Figure 6 It is a schematic diagram of the structure of a testing device for a radar to be tested according to some embodiments of the present disclosure.

[0038] Figure 7 It is a schematic diagram of the structure of a radar reliability assessment device according to some embodiments of the present disclosure.

[0039] Figure 8 is a schematic diagram of the structure of a radar reliability assessment system according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0041] The relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0042] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0043] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] Figure 1It is a flowchart of a testing method for a radar to be tested according to some embodiments of the present disclosure. Figure 2 It is a schematic diagram of the functional relationship in the testing method of the radar to be tested according to some embodiments of the present disclosure.

[0047] In step S110, the actual position information of the target object is obtained. The target object may include, for example, one or more of pedestrians, stones, earth pits, earth piles, construction machinery, and vehicles. The actual position information may be obtained, for example, through a calibration system. The calibration system may include, for example, one or more of a global positioning system (GPS) and a camera. The actual position information may be, for example, relative position information of the target object relative to a reference object, and the reference object may be, for example, a radar to be measured.

[0048] In step S120, the target object is scanned and detected using the radar to be tested in specific environments with different environmental parameter values ​​for the specific environmental parameter, so as to obtain estimated position information of the target object in the specific environments with different environmental parameter values.

[0049] The specific environment may include any one of a dusty environment, a rainy environment, and a foggy environment. The environmental parameters of the specific environmental parameters may include one or more of inhalable particulate matter (PM10), visibility, precipitation, and humidity. The radar to be tested may include a laser radar.

[0050] The estimated position information is the position information of the target object obtained by radar scanning.

[0051] The actual position information may include, for example, the actual three-dimensional coordinates of the target object, and the estimated position information may include the estimated three-dimensional coordinates of the target object accordingly. Alternatively, the actual position information may include, for example, the actual distance from the radar to be measured to the target object, and the estimated position information may include the estimated distance from the radar to be measured to the target object accordingly. Alternatively, the actual position information may include, for example, the actual three-dimensional coordinates of the target object and the actual distance from the radar to be measured to the target object, and the estimated position information may include the estimated three-dimensional coordinates of the target object and the estimated distance from the radar to be measured to the target object accordingly.

[0052] Taking the specific environment as a dust environment and the specific environmental parameter as inhalable particulate matter as an example, step S120 may, for example, include using a radar to measure PM10 in the dust environment to obtain estimated position information of the target object corresponding to the first value B1, the second value B2, and the third value B3 respectively.

[0053] In step S130 , for each environmental parameter value, the detection accuracy of the target object detected by the radar to be tested is determined based on the difference between the actual position information and the estimated position information of the target object.

[0054] For example, the actual position information of the target is A1 (X1, Y1, Z1), and when PM10 is the first value B1, the estimated position information of the target is A2 (X2, Y2, Z2). For the first value B1, the detection accuracy E1 of the target detected by the radar to be tested can be determined based on the difference between the actual position information A1 and the estimated position information A2 of the target. The difference between the actual position information A1 and the estimated position information A2 can be a three-dimensional array or a numerical value. The three-dimensional array is, for example, (X1-X2, Y1-Y2, Z1-Z2). The numerical value is, for example, |X1-X2|+|Y1-Y2|+|Z1-Z2|, or the Euclidean distance .

[0055] The following text will introduce how to determine the detection accuracy of the target object based on the difference between the actual position information and the estimated position information of the target object in combination with more embodiments.

[0056] In step S140, a functional relationship (also called a relationship curve) between a specific environmental parameter and the detection accuracy of the radar to be tested is obtained according to different environmental parameter values ​​and corresponding detection accuracy. The functional relationship is as follows: Figure 2 As shown, the horizontal axis is the specific environmental parameter (also called environmental calibration parameter), and the vertical axis is the detection accuracy (also called detection accuracy).

[0057] For example, when PM10 is the first value B1, the detection accuracy of the target object detected by the radar to be tested is E1. When PM10 is the second value B2, the detection accuracy of the target object detected by the radar to be tested is E2. When PM10 is the third value B3, the detection accuracy of the target object detected by the radar to be tested is E3. The functional relationship between the specific environmental parameter PM10 and the detection accuracy of the radar to be tested can be determined based on (B1, E1), (B2, E2) and (B3, E3). For example, (B1, E1), (B2, E2) and (B3, E3) can be fitted using an algorithm such as the least squares method to obtain a functional relationship.

[0058] In the above embodiments, the radar's detection accuracy of target objects is tested in a specific environment (such as a dusty environment, a rainy environment, or a foggy environment), and the relationship between the specific environmental parameters of the specific environment and the radar detection accuracy is constructed, thereby enriching the radar's test scenarios, making the radar's test scenarios closer to the radar's actual usage scenarios, and improving the accuracy of the test results.

[0059] In addition, on the one hand, it can analyze the impact of specific environmental parameters on the accuracy of radar detection, and on the other hand, it is convenient to subsequently evaluate whether the radar is reliable under the conditions to be applied based on this relationship, thereby better supporting the safe operation of unmanned construction machinery.

[0060] In some embodiments, the specific environmental parameter of the dust environment is PM10. The specific environmental parameter of the rain environment is any one of visibility, precipitation and humidity. The specific environmental parameter of the fog environment is any one of visibility and humidity.

[0061] In some embodiments, the radar is applied to mining machinery. Mining machinery may include excavation machinery, loading machinery, transportation machinery and other auxiliary machinery. Mining machinery usually works in open-pit mines, where the environment is often harsh. Therefore, the radars configured for mining machinery are often in specific environments such as dust, rain or fog. Figure 1 The method described can test the functional relationship between the specific environmental parameters of the radar and the detection accuracy of the radar under specific environments such as dust, rain, fog, etc., and is suitable for radar testing in mining scenarios.

[0062] The following describes how to determine the detection accuracy of a target object based on the difference between the actual position information and the estimated position information of the target object in conjunction with some embodiments.

[0063] In some embodiments, the actual position information includes the actual coordinates of the topographic features of the target object, and the estimated position information includes the estimated coordinates of the topographic features of the target object. The topographic features of the target object include one or more of the feature points, lines and surfaces of the target object. Feature points are also called key points.

[0064] For example, the target object is a cuboid, the feature points in the target object's morphological features may include, for example, the vertices of the cuboid, the lines in the target object's morphological features may include, for example, the edges of the cuboid, and the faces in the target object's morphological features may include, for example, the faces of the cuboid.

[0065] For another example, the target object is a truck bed, and the feature points in the morphological features of the target object may include, for example, the four corner points of the truck bed.

[0066] Determining the detection accuracy of the target object detected by the radar to be tested based on the difference between the actual position information and the estimated position information of the target object includes: determining the morphology detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the morphology features of the target object, and the morphology detection accuracy includes one or more of feature point detection accuracy, line detection accuracy, and surface detection accuracy.

[0067] Obtaining the functional relationship between a specific environmental parameter and the detection accuracy of the radar to be tested according to different environmental parameter values ​​and corresponding detection accuracy includes: obtaining the functional relationship between a specific environmental parameter and the morphology detection accuracy of the radar to be tested according to different environmental parameter values ​​and corresponding morphology detection accuracy.

[0068] In the related technologies, the technologies related to the radar testing methods are mainly focused on testing the distance accuracy and field of view angle. In the above embodiments, the shape detection accuracy includes one or more of the feature point detection accuracy, line detection accuracy and surface detection accuracy. This detailed classification makes the radar performance evaluation more comprehensive and in-depth. Through this multi-dimensional evaluation system, the subtle differences and performance of the radar in the field of shape recognition can be captured more accurately, thereby accurately and comprehensively reflecting the accuracy of the radar in detecting the target.

[0069] In some embodiments, the topographical features of the target object include at least two feature points and at least one line of the target object.

[0070] The computational burden of feature point detection accuracy is smaller than that of line detection accuracy and surface detection accuracy, and it can more accurately reflect the detection accuracy of the radar. The computational burden of line detection accuracy is smaller than that of surface detection accuracy. Calculating the shape detection accuracy of the target object based on at least two feature points and one line is conducive to balancing computational efficiency and comprehensiveness.

[0071] In some embodiments, determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object, and obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested according to different environmental parameter values ​​and the corresponding shape detection accuracy includes at least one of the following:

[0072] (1) The point detection accuracy of the target object detected by the radar under test is determined based on the difference between the actual coordinates and the estimated coordinates of the target point. The functional relationship between the specific environmental parameters and the feature point detection accuracy of the radar under test is obtained according to the different environmental parameter values ​​and the corresponding feature point detection accuracy.

[0073] (2) The line detection accuracy of the target object detected by the radar under test is determined based on the difference between the actual coordinates and the estimated coordinates of the multiple points included in the line of the target object, and the functional relationship between the specific environmental parameters and the line detection accuracy of the radar under test is obtained according to different environmental parameter values ​​and the corresponding line detection accuracy.

[0074] The selection of the multiple points included in the line of the target object is, for example, to select a line on the surface of the target object and then select multiple points on the line.

[0075] (3) The surface detection accuracy of the target object detected by the radar to be tested is determined based on the difference between the actual coordinates and the estimated coordinates of multiple points included in the surface of the target object, and the functional relationship between the specific environmental parameters and the surface detection accuracy of the radar to be tested is obtained according to different environmental parameter values ​​and the corresponding surface detection accuracy.

[0076] The multiple points included in the surface of the target object are, for example, three or more points randomly selected on the surface.

[0077] In the above embodiment, the shape detection accuracy may include one or more of feature point detection accuracy, line detection accuracy, and surface detection accuracy. Correspondingly, the functional relationship may also include one or more of specific environmental parameters and feature point detection accuracy, specific environmental parameters and line detection accuracy, and specific environmental parameters and surface detection accuracy. The detection accuracy of the radar determined in this way is more detailed and comprehensive.

[0078] In some embodiments, the shape detection accuracy can be determined based on the weighted sum of the feature point detection accuracy, the line detection accuracy, and the surface detection accuracy. This method can simply determine the shape detection accuracy.

[0079] As some implementations, feature point detection accuracy has a first weight, line detection accuracy has a second weight, and surface detection accuracy has a third weight. The first weight is greater than the second weight and the third weight.

[0080] In the above embodiment, considering that feature points can better reflect the characteristics of the target object and are more important for the identification of the target object, the first weight of the feature point detection accuracy is set to the maximum, so that the determination of the shape detection accuracy can better reflect the radar performance.

[0081] As some implementations, the second weight of the line detection accuracy is greater than the third weight of the surface detection accuracy.

[0082] In some embodiments, determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape features of the target object, and obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested according to different environmental parameter values ​​and the corresponding shape detection accuracy includes: determining the shape detection accuracy of the target object detected by the radar to be tested in the X direction, Y direction and Z direction based on the difference between the actual coordinates and the estimated coordinates of the shape features of the target object in the X direction, Y direction and Z direction, and obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested in the X direction, Y direction and Z direction according to different environmental parameter values ​​and the corresponding shape detection accuracy in the X direction, Y direction and Z direction.

[0083] In the above embodiment, the shape detection accuracy may include the shape detection accuracy in the X direction, the shape detection accuracy in the Y direction, and the shape detection accuracy in the Z direction. Accordingly, the functional relationship may include the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested in the X direction, the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested in the Y direction, and the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested in the Z direction.

[0084] Therefore, the above embodiment can evaluate the shape detection accuracy of the target object to be detected by the radar from the X direction, the Y direction and the Z direction respectively, which is conducive to more detailed and accurate evaluation of the radar performance.

[0085] As some implementation methods, when the morphology detection accuracy includes the feature point detection accuracy, the feature point detection accuracy may include the feature point detection accuracy in the X direction, the Y direction and the Z direction. Accordingly, the functional relationship may include the functional relationship between the specific environmental parameters and the feature point detection accuracy of the radar to be tested in the X direction, the functional relationship between the specific environmental parameters and the feature point detection accuracy of the radar to be tested in the Y direction, and the functional relationship between the specific environmental parameters and the feature point detection accuracy of the radar to be tested in the Z direction.

[0086] Similarly, the line detection accuracy may include the line detection accuracy in the X direction, the Y direction, and the Z direction. The surface detection accuracy may include the surface detection accuracy in the X direction, the Y direction, and the Z direction. This will not be repeated here.

[0087] In some embodiments, the actual position information includes the actual distance between the target object and the radar to be measured, and the estimated position information includes the estimated distance between the target object and the radar to be measured.

[0088] Determining the detection accuracy of the target object detected by the radar to be tested based on the difference between the actual position information and the estimated position information of the target object includes: determining the distance detection accuracy of the target object detected by the radar to be tested based on the difference between the actual distance and the estimated distance.

[0089] Obtaining the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested according to different environmental parameter values ​​and corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the distance detection accuracy of the radar to be tested according to different environmental parameter values ​​and corresponding distance detection accuracy.

[0090] In some embodiments, the detection accuracy of the radar includes both shape detection accuracy and distance detection accuracy, which helps to make the detection accuracy of the radar more comprehensive and precise.

[0091] In some embodiments, one or more of the shape, size, and distance of the target object from the radar to be tested are set according to the usage scenario of the radar to be tested, so that the test scenario is closer to the usage scenario of the radar, thereby improving the accuracy of the radar's detection accuracy.

[0092] For example, when the radar to be tested is used in a mine, the shape and size of the target object can be set with reference to common ores in the mine, and the distance between the target object and the radar to be tested can be set with reference to the distance between the ore and mechanical equipment such as an excavator.

[0093] In some embodiments, the types of target objects may include multiple types. For example, the types of target objects may include ore, pedestrians, vehicles, etc. For each type of target object, a radar is used to perform a test respectively, so as to obtain a functional relationship between a specific environmental parameter for a specific target object and the detection accuracy of the radar to be tested.

[0094] In some embodiments, the target object is a non-transmissive object. For example, glass is a transmissive object. Testing a non-transmissive object is conducive to obtaining a more accurate radar test result.

[0095] Figure 3 The present invention provides a reliability assessment method for a radar to be assessed according to some embodiments of the present disclosure.

[0096] like Figure 3 As shown, in step S310, a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be evaluated is obtained.

[0097] In step S320, the actual detection accuracy of the radar to be evaluated under the working condition to be applied is determined based on the actual environmental parameter value for the specific environmental parameter of the working condition to be applied of the radar to be evaluated, and the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be evaluated.

[0098] In step S330, it is determined whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy.

[0099] In the above embodiment, the actual environmental parameter value is determined based on the working condition to be applied of the radar to be evaluated, and then the actual detection accuracy of the radar is determined based on the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be evaluated, so as to judge whether the radar is reliable under the working condition to be applied. The reliability of the radar to be evaluated under the working condition to be applied can be objectively and accurately judged, providing strong support for subsequent decision-making.

[0100] In some embodiments, the actual environmental parameter value includes one or more of an average environmental parameter value and a real-time environmental parameter value. The average environmental parameter value represents the average value of a specific environmental parameter within a preset time period. The real-time environmental parameter value represents the real-time value of a specific environmental parameter.

[0101] As some implementations, the actual environment parameter value includes both the average environment parameter value and the real-time environment parameter value. Accordingly, the actual detection accuracy includes both the average detection accuracy and the real-time detection accuracy.

[0102] Figure 4 It is a flowchart of judging whether the radar to be evaluated is reliable under the working conditions to be applied in the reliability evaluation method of the radar to be evaluated according to some embodiments of the present disclosure.

[0103] In some embodiments, determining the actual detection accuracy of the radar to be evaluated and judging whether the radar to be evaluated is reliable under the application condition based on the actual detection accuracy in step S320 may include: Figure 4 Steps shown.

[0104] In step S410, the average detection accuracy of the radar to be evaluated is determined based on the average environmental parameter value and the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be evaluated.

[0105] In step S420, it is determined whether the radar to be evaluated is reliable under the working condition to be applied based on the average detection accuracy.

[0106] If it is determined based on the average detection accuracy that the radar to be evaluated is reliable under the working condition to be applied, step S430 is executed.

[0107] In step S430, the real-time detection accuracy of the radar to be evaluated is determined based on the real-time environmental parameter value and the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be evaluated.

[0108] In step S440, it is determined whether the radar to be evaluated is reliable under the working condition to be applied based on the real-time detection accuracy.

[0109] In the above embodiment, the reliability of the radar to be evaluated is first evaluated using the average detection accuracy, which is conducive to quickly and easily preliminarily screening out the radars to be evaluated that do not meet the basic performance requirements, and reducing the time required for radar evaluation. Afterwards, the real-time detection accuracy can be used to dynamically determine the real-time detection accuracy of the radar, so that the evaluation process is close to the actual application scenario, and the performance of the radar in a real-time changing environment can be grasped in real time and accurately, thereby more accurately evaluating the reliability of the radar in actual applications.

[0110] In some embodiments, the limit environment of radar application can be determined based on the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be evaluated, as well as the accuracy requirement of the radar to be evaluated, such as determining the limit value of the specific environmental parameter. By comparing the current environmental parameter value with the limit value, it is possible to quickly determine whether the radar can work normally.

[0111] In some embodiments, reference may be made to Figure 1 The method shown obtains a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be evaluated. For example, the actual position information of the target object can be obtained first. Then, the radar to be evaluated is used to scan and detect the target object in a specific environment with different environmental parameter values ​​for the specific environmental parameter, and the estimated position information of the target object in the specific environment with different environmental parameter values ​​is obtained. Furthermore, for each environmental parameter value, the detection accuracy of the target object detected by the radar to be evaluated is determined based on the difference between the actual position information of the target and the estimated position information. Finally, the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be evaluated is obtained according to different environmental parameter values ​​and the corresponding detection accuracy.

[0112] In some embodiments, the actual position information includes the actual coordinates of the morphological features of the target object, the morphological features of the target object include one or more of the characteristic points, lines and surfaces of the target object, and the estimated position information includes the estimated coordinates of the morphological features of the target object. Determining the detection accuracy of the target object detected by the radar to be evaluated based on the difference between the actual position information and the estimated position information of the target object includes: determining the morphological detection accuracy of the target object detected by the radar to be evaluated based on the difference between the actual coordinates and the estimated coordinates of the morphological features of the target object, the morphological detection accuracy includes one or more of the characteristic point detection accuracy, line detection accuracy, and surface detection accuracy. Obtaining a functional relationship based on different environmental parameter values ​​and corresponding detection accuracy includes: obtaining a functional relationship between a specific environmental parameter and the morphological detection accuracy of the radar to be evaluated based on different environmental parameter values ​​and corresponding morphological detection accuracy.

[0113] In some embodiments, the morphological features of the target object include at least feature points and lines of the target object, and the morphological detection accuracy includes at least feature point detection accuracy and line detection accuracy. Judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: if the feature point detection accuracy and the line detection accuracy meet the corresponding accuracy requirements, judging that the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

[0114] That is to say, when one of the feature point detection accuracy and the line detection accuracy does not meet the reliability requirement, the detection accuracy of the radar to be evaluated does not meet the reliability requirement.

[0115] In the above embodiment, when judging the reliability of the radar to be evaluated under the working condition to be applied, if any one of the feature point detection accuracy or line detection accuracy fails to meet the preset reliability requirement, then overall, the detection accuracy of the radar to be evaluated is deemed to be not in compliance with the reliability standard. This "one-vote veto" evaluation logic emphasizes the importance of any one item in the morphology detection, improves the rigor and accuracy of the radar performance evaluation, and helps to ensure a more comprehensive and accurate evaluation of the reliability of the radar under the working condition to be applied.

[0116] In some embodiments, the shape detection accuracy includes shape detection accuracy in the X direction, the Y direction, and the Z direction. Judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: if the shape detection accuracy in the X direction, the Y direction, and the Z direction all meet the corresponding accuracy requirements, then judging that the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

[0117] That is to say, when one of the shape detection accuracies in the X direction, the Y direction, and the Z direction does not meet the reliability requirement, the detection accuracy of the radar to be evaluated does not meet the reliability requirement.

[0118] In the above embodiment, the assessment of the shape detection accuracy is further refined into three dimensions: X direction, Y direction, and Z direction. If the shape detection accuracy of the radar in any one of the X direction, Y direction, or Z direction fails to meet the preset reliability standard, then overall, the detection accuracy of the radar is deemed to fail to meet the reliability requirements. This strict assessment logic is also conducive to a more comprehensive and accurate assessment of the reliability of the radar under the working conditions to be applied, and then to screening out the available radars that meet the accuracy requirements of various aspects under the working conditions to be applied.

[0119] In some embodiments, the detection accuracy includes distance detection accuracy and shape detection accuracy. Judging whether the radar to be evaluated is reliable under the working condition to be applied based on the real-time detection accuracy includes: if the distance detection accuracy and the shape detection accuracy both meet the corresponding accuracy requirements, then the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

[0120] That is to say, when one of the distance accuracy and the shape feature accuracy does not meet the reliability requirement, the detection accuracy of the radar to be evaluated does not meet the reliability requirement.

[0121] In the above embodiment, the radar detection accuracy includes both the distance detection accuracy and the shape detection accuracy. If either the distance detection accuracy or the shape detection accuracy does not meet the standard, it is determined that the radar detection accuracy does not meet the reliability standard, ensuring that the evaluation result is both strict and comprehensive.

[0122] In a specific example, the radar detection accuracy may include both the distance detection accuracy and the shape detection accuracy, and the shape detection accuracy includes the feature point detection accuracy, the line detection accuracy, and the surface detection accuracy. The feature point detection accuracy may include three feature point detection accuracy in the X direction, the Y direction, and the Z direction, the line detection accuracy may include three line detection accuracy in the X direction, the Y direction, and the Z direction, and the surface detection accuracy may include three surface detection accuracy in the X direction, the Y direction, and the Z direction. In the case where one of the distance detection accuracy, the feature point detection accuracy in the X direction, the feature point detection accuracy in the Y direction, the feature point detection accuracy in the Z direction, the line detection accuracy in the X direction, the line detection accuracy in the Y direction, the line detection accuracy in the Z direction, the surface detection accuracy in the X direction, the surface detection accuracy in the Y direction, and the surface detection accuracy in the Z direction does not meet the reliability requirements, the detection accuracy of the radar to be evaluated does not meet the reliability requirements.

[0123] In some embodiments, the radar detection accuracy can be determined based on the weighted sum of the distance detection accuracy, the X-direction feature point detection accuracy, the Y-direction feature point detection accuracy, the Z-direction feature point detection accuracy, the X-direction line detection accuracy, the Y-direction line detection accuracy, the Z-direction line detection accuracy, the X-direction surface detection accuracy, the Y-direction surface detection accuracy, and the Z-direction surface detection accuracy. If the aforementioned weighted sum does not meet the preset range, the detection accuracy of the radar to be evaluated does not meet the reliability requirement.

[0124] In some embodiments, before testing the radar, it is first fixed and / or protected. Fixing the radar is conducive to keeping the radar stable, thereby ensuring the test quality, and protecting the radar is conducive to preventing the tested radar from being damaged during the test.

[0125] In some embodiments, when the radar is used in real time in the usage scenario, the radar can be fixed and protected, which is beneficial for preventing the radar from being damaged and also for avoiding the influence of dust and rain on the radar under long-term use.

[0126] In some embodiments, the fixing and protection of the radar do not block the radar's field of view, so as to avoid the fixing and protection affecting the test quality.

[0127] Figure 5 It is a flowchart of a radar testing and evaluation method according to some embodiments of the present disclosure.

[0128] like Figure 5 As shown, in step S510, the working condition information of the radar to be used is determined. In some embodiments, the working condition information may include, for example, influencing factors existing in the working area that needs to be detected by the radar. The influencing factors existing in the working area may include, for example, personnel, soil piles, pits, and ore.

[0129] In step S520, radar selection is performed. In some embodiments, radar selection may be performed based on one or more parameters of vertical field of view angle, horizontal field of view angle, angular resolution, maximum detection distance, and number of beams.

[0130] In step S530, the radar is fixed and protected.

[0131] In step S540, a radar performance test is performed. The radar performance test can be performed, for example, by Figure 1 The radar performance test can be carried out in two aspects: accuracy test and scene test. Accuracy test includes distance detection accuracy test and shape detection accuracy test. Scene test can include tests in ordinary environment (not shown in the figure), dusty environment, rainy environment and foggy environment. It should be understood that although Figure 5The accuracy test and scene test in the text do not mean two separate tests, but rather testing both accuracy and scene in the same test.

[0132] In step S550, the performance test results are obtained, such as Figure 2 The functional relationship shown.

[0133] In step S560, the reliability of the radar in actual working conditions is evaluated, for example, Figure 3 The reliability assessment method shown evaluates radar.

[0134] The above embodiments involve radar selection, fixation and protection, performance testing, result acquisition, and evaluation and judgment, providing a complete radar deployment and verification process.

[0135] In some embodiments, the radar performance test may include the following steps.

[0136] Step S541: Perform a distance accuracy test without the influence of environmental factors. During the test, a non-projectile object can be used as a target, and the distance accuracy of the radar for target detection can be obtained by calculating the difference between the actual distance and the distance displayed by the point cloud data.

[0137] Step S542: Performing a shape accuracy test without the influence of environmental factors. The shape characteristics of the target object may include feature information related to points, lines, and surfaces of the target object.

[0138] Step S543: Perform radar testing in a dusty environment. PM10 is used as a quantitative indicator (also called a specific environmental parameter) in the dusty environment. Figure 6 The environment provided by the device controls the PM10 value, thereby achieving the test effect of the radar in different dust environments.

[0139] Step S544: Analyze the detection accuracy of the radar in different dust environments, where the detection accuracy includes distance detection accuracy and shape detection accuracy.

[0140] Step S545: construct the relationship between PM10 and distance detection accuracy and shape detection accuracy, so as to evaluate the impact of PM10 on radar target detection.

[0141] Step S546: Perform radar testing in rainy and foggy environments. The rainfall environment uses precipitation as a quantitative indicator (also called a specific environmental parameter), and the fog environment uses visibility as a quantitative indicator (also called a specific environmental parameter). Figure 6 The environment shown provides a device to control the precipitation and visibility values, thereby achieving radar testing effects in different rain and fog environments.

[0142] Step S547: Analyze the detection accuracy of the radar in different rain and fog environments, where the detection accuracy includes distance detection accuracy and shape detection accuracy.

[0143] Step S548: construct the relationship between precipitation and visibility and the distance detection accuracy and shape detection accuracy respectively, so as to evaluate the influence of precipitation and visibility on the radar target detection respectively.

[0144] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0145] Figure 6 It is a schematic diagram of the structure of a testing device for a radar to be tested according to some embodiments of the present disclosure.

[0146] like Figure 6 As shown, the testing device 600 for the radar to be tested includes an environment providing device 610, a target object 620, a radar to be tested 630 and a processor (not shown in the figure).

[0147] The environment providing device 610 is configured to provide a specific environment with different environment parameter values ​​for a specific environment parameter. In some embodiments, the environment providing device is also called a dust, rain and fog control device.

[0148] The radar 630 to be tested is configured to scan and detect the target object in specific environments with different environmental parameters respectively, and obtain estimated position information of the target object in the specific environments with different environmental parameter values.

[0149] The processor is configured to obtain actual position information of the target object; obtain estimated position information from the radar to be tested; for each environmental parameter value, determine the detection accuracy of the target object detected by the radar to be tested based on the difference between the actual position information of the target object and the estimated position information; and obtain a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be tested based on different environmental parameter values ​​and corresponding detection accuracies.

[0150] In some embodiments, the test device 600 further includes a fixed protection device 640. The fixed protection device 640 is configured to fix and protect the radar to be tested.

[0151] In some embodiments, the testing device 600 further includes a bracket 650. The bracket 650 is used to adjust the height of the radar.

[0152] In some embodiments, the testing device 600 may further include a test chamber, which isolates the testing environment from the external environment, thereby ensuring that the environment providing device 610 can provide an environment that meets the requirements.

[0153] In some embodiments, the testing device 600 is further configured to execute the testing method of the radar to be tested described in any one of the above embodiments.

[0154] Figure 7 It is a schematic diagram of the structure of a radar reliability assessment device according to some embodiments of the present disclosure.

[0155] like Figure 7 As described above, the radar reliability assessment device 700 includes an acquisition module 710 , a determination module 720 and a judgment module 730 .

[0156] The acquisition module 710 is configured to acquire a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be evaluated.

[0157] The determination module 720 is configured to determine the actual detection accuracy of the radar to be evaluated under the application conditions based on the actual environmental parameter values ​​for the specific environmental parameters of the application conditions of the radar to be evaluated, and the functional relationship between the specific environmental parameters and the detection accuracy of the radar to be evaluated.

[0158] The judgment module 730 is configured to judge whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy.

[0159] Figure 8 is a schematic diagram of the structure of a reliability evaluation system according to some embodiments of the present disclosure.

[0160] like Figure 8 As shown, the reliability evaluation system 800 includes a memory 810 and a processor 820 coupled to the memory 810 . The processor 820 is configured to execute the method of any one of the aforementioned embodiments based on the instructions stored in the memory 810 .

[0161] The memory 810 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, and other programs.

[0162] The radar reliability assessment system 800 may also include an input / output interface 830, a network interface 840, a storage interface 850, etc. The input / output interface 830, the network interface 840, the storage interface 850, and the memory 810 and the processor 820 may be connected, for example, via a bus 860. The input / output interface 830 provides a connection interface for input / output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 840 provides a connection interface for various networked devices. The storage interface 850 provides a connection interface for external storage devices such as an SD card and a USB flash drive.

[0163] The embodiments of the present disclosure further provide a computer-readable storage medium, comprising computer program instructions, which implement the method of any one of the above embodiments when executed by a processor.

[0164] The embodiment of the present disclosure further provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, any one of the above-mentioned methods is implemented.

[0165] So far, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0166] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0167] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that the functions specified in one or more processes in the flowchart and / or one or more blocks in the block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the functions specified in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0168] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0169] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0170] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified or some technical features may be replaced by equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A test method for a radar to be tested, comprising: Obtain the actual location information of the target object; Under specific environments with different environmental parameter values ​​for specific environmental parameters, respectively, the target object is scanned and detected using the radar to be tested to obtain estimated position information of the target object under the specific environments with different environmental parameter values; For each of the environmental parameter values, determining a detection accuracy of the target object detected by the radar to be tested based on a difference between the actual position information and the estimated position information of the target object; as well as A functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested is obtained according to the different environmental parameter values ​​and the corresponding detection accuracy.

2. The method according to claim 1, wherein: The specific environmental parameters include one or more of inhalable particulate matter PM10, visibility, precipitation, and humidity.

3. The method according to claim 1 or 2, wherein: The actual position information includes actual coordinates of the topographical features of the target object, the topographical features of the target object include one or more of feature points, lines and surfaces of the target object, and the estimated position information includes estimated coordinates of the topographical features of the target object; Determining the detection accuracy of the target object detected by the radar to be tested based on the difference between the actual position information and the estimated position information of the target object includes: determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object, wherein the shape detection accuracy includes one or more of feature point detection accuracy, line detection accuracy, and surface detection accuracy; Obtaining the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the morphology detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding morphology detection accuracy.

4. The method according to claim 3, wherein: The topographic features of the target object include at least two feature points and at least one line of the target object.

5. The method according to claim 3 or 4, wherein: Determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object, and obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding shape detection accuracy, including: Determine the feature point detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the feature point of the target object, and obtain the functional relationship between the specific environmental parameter and the feature point detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding feature point detection accuracy; Determining the line detection accuracy of the target object detected by the radar under test based on the difference between the actual coordinates and the estimated coordinates of the plurality of points included in the line of the target object, and obtaining the functional relationship between the specific environmental parameter and the line detection accuracy of the radar under test according to the different environmental parameter values ​​and the corresponding line detection accuracy; and / or The surface detection accuracy of the target object detected by the radar to be tested is determined based on the difference between the actual coordinates and the estimated coordinates of multiple points included in the surface of the target object, and the functional relationship between the specific environmental parameter and the surface detection accuracy of the radar to be tested is obtained according to the different environmental parameter values ​​and the corresponding surface detection accuracy.

6. The method according to claim 3 or 4, wherein: Determining the shape detection accuracy of the target object detected by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object, and obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding shape detection accuracy, including: Determining the shape detection accuracy of the target object in the X direction, Y direction and Z direction by the radar to be tested based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object in the X direction, Y direction and Z direction respectively, and, According to the different environmental parameter values ​​and the corresponding shape detection accuracy in the X direction, Y direction and Z direction, the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be tested in the X direction, Y direction and Z direction is obtained.

7. The method according to any one of claims 1 to 6, wherein: The actual position information includes the actual distance between the target object and the radar to be measured, and the estimated position information includes the estimated distance between the target object and the radar to be measured; Determining the detection accuracy of the target object detected by the radar to be tested based on the difference between the actual position information and the estimated position information of the target object includes: determining the distance detection accuracy of the target object detected by the radar to be tested based on the difference between the actual distance and the estimated distance; Obtaining the functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the distance detection accuracy of the radar to be tested according to the different environmental parameter values ​​and the corresponding distance detection accuracy.

8. The method according to any one of claims 1 to 7, wherein: One or more of the shape, size, and distance from the radar to be tested of the target object is set according to a usage scenario of the radar to be tested.

9. A reliability assessment method for a radar to be assessed, comprising: Obtaining a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be evaluated; Determine the actual detection accuracy of the radar to be evaluated under the working condition to be applied based on the actual environmental parameter value for the specific environmental parameter under the working condition to be applied of the radar to be evaluated and the functional relationship; as well as Based on the actual detection accuracy, it is determined whether the radar to be evaluated is reliable under the working condition to be applied.

10. The method according to claim 9, wherein: The actual environmental parameter value includes one or more of an average environmental parameter value and a real-time environmental parameter value; The average environmental parameter value represents the average value of the specific environmental parameter within a preset time period; The real-time environmental parameter value represents the real-time value of the specific environmental parameter.

11. The method according to claim 10, wherein: The actual environmental parameter value includes the average environmental parameter value and the real-time environmental parameter value; the actual detection accuracy includes the average detection accuracy and the real-time detection accuracy; Determining the actual detection accuracy of the radar to be evaluated and judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: Determine the average detection accuracy of the radar to be evaluated based on the average environmental parameter value and the functional relationship; Determining whether the radar to be evaluated is reliable under the working condition to be applied based on the average detection accuracy; In the case where it is judged based on the average detection accuracy that the radar to be evaluated is reliable under the working condition to be applied, determining the real-time detection accuracy of the radar to be evaluated based on the real-time environmental parameter value and the functional relationship; and Based on the real-time detection accuracy, it is determined whether the radar to be evaluated is reliable under the working condition to be applied.

12. The method according to any one of claims 9 to 11, wherein: Acquiring the functional relationship includes: Obtain the actual location information of the target object; Under specific environments with different environmental parameter values ​​for the specific environmental parameter, respectively, the target object is scanned and detected using the radar to be evaluated to obtain estimated position information of the target object under the specific environments with different environmental parameter values; For each of the environmental parameter values, determining a detection accuracy of the target object detected by the radar to be evaluated based on a difference between the actual position information and the estimated position information of the target object; and The functional relationship is obtained according to the different environmental parameter values ​​and the corresponding detection accuracies.

13. The method according to claim 12, wherein: The actual position information includes actual coordinates of the topographical features of the target object, the topographical features of the target object include one or more of feature points, lines and surfaces of the target object, and the estimated position information includes estimated coordinates of the topographical features of the target object; Determining the detection accuracy of the target object detected by the radar to be evaluated based on the difference between the actual position information and the estimated position information of the target object includes: determining the shape detection accuracy of the target object detected by the radar to be evaluated based on the difference between the actual coordinates and the estimated coordinates of the shape feature of the target object, wherein the shape detection accuracy includes one or more of feature point detection accuracy, line detection accuracy, and surface detection accuracy; Obtaining the functional relationship according to the different environmental parameter values ​​and the corresponding detection accuracy includes: obtaining the functional relationship between the specific environmental parameter and the shape detection accuracy of the radar to be evaluated according to the different environmental parameter values ​​and the corresponding shape detection accuracy.

14. The method according to claim 13, wherein: The topographic features of the target object at least include feature points and lines of the target object, and the topographic detection accuracy at least includes feature point detection accuracy and line detection accuracy; Judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: If the feature point detection accuracy and the line detection accuracy meet the corresponding accuracy requirements, then it is determined that the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

15. The method according to claim 13 or 14, wherein: The shape detection accuracy includes shape detection accuracy in the X direction, the Y direction and the Z direction; Judging whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy includes: If the shape detection accuracy in the X direction, the Y direction and the Z direction all meet the corresponding accuracy requirements, then it is determined that the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

16. The method according to any one of claims 13 to 15, wherein: The detection accuracy also includes distance detection accuracy; Judging whether the radar to be evaluated is reliable under the working condition to be applied based on the real-time detection accuracy includes: if the distance detection accuracy and the shape detection accuracy both meet corresponding accuracy requirements, the radar to be evaluated is reliable under the working condition to be applied, otherwise it is unreliable.

17. A test device for a radar to be tested, comprising: An environment providing device is configured to provide a specific environment having different environment parameter values ​​for a specific environment parameter; Target object; The radar to be tested is configured to scan and detect the target object respectively in the specific environment with different environmental parameters to obtain estimated position information of the target object in the specific environment with different environmental parameter values; as well as processor; is configured to obtain actual position information of the target object; Acquire the estimated position information from the radar to be tested; For each environmental parameter value, determining a detection accuracy of the target object detected by the radar to be tested based on a difference between the actual position information and the estimated position information of the target object; And a functional relationship between the specific environmental parameter and the detection accuracy of the radar to be tested is obtained according to the different environmental parameter values ​​and the corresponding detection accuracy.

18. The testing device according to claim 17, further comprising: The fixed protection device is configured to fix and protect the radar to be tested.

19. The testing device according to claim 17 or 18, further configured to perform the method according to any one of claims 2-8.

20. A reliability assessment device for a radar to be assessed, comprising: An acquisition module is configured to acquire a functional relationship between a specific environmental parameter and the detection accuracy of the radar to be evaluated; A determination module, configured to determine the actual detection accuracy of the radar to be evaluated under the working condition to be applied based on the actual environmental parameter value of the specific environmental parameter under the working condition to be applied of the radar to be evaluated and the functional relationship; as well as The judgment module is configured to judge whether the radar to be evaluated is reliable under the working condition to be applied based on the actual detection accuracy.

21. A reliability assessment system, comprising: Memory; as well as A processor coupled to the memory is configured to execute the method of any one of claims 9 to 16 based on instructions stored in the memory.

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