Millimeter wave radar static calibration method and device based on echo simulator

Abstract

The invention discloses a millimeter wave radar static calibration method and device based on an echo simulator. The method comprises the steps that under the condition that the working mode of the echo simulator is determined to be a stand-alone mode, attribute parameters of a static target object are acquired, and the attribute parameters at least comprise a distance parameter, a speed parameter, a radar cross section parameter and an angle parameter; working environment information of the millimeter wave radar to be calibrated is acquired, and the working environment information comprises vehicle state information; and under the condition of determining that the working environment information is normal, generating a static calibration strategy of the to-be-calibrated millimeter wave radar based on the attribute parameters, the static calibration strategy being used for performing static calibration on the to-be-calibrated millimeter wave radar. According to the invention, the technical problem of calibration of the millimeter wave radar in the camera obscura environment is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving simulation testing, and in particular to a millimeter wave radar static calibration method and device based on an echo simulator. Background Art

[0002] In order to ensure the safety and reliability of the autonomous driving system, it must be fully and systematically tested for its functions and performance before mass production. In the system development phase, the hardware-in-the-loop test method in the simulation test has a high degree of confidence and is also the mainstream controller test verification method. The hardware-in-the-loop test solution for millimeter-wave radars mostly uses an echo simulator, and the millimeter-wave radar to be calibrated needs to be calibrated before the test. The accuracy of the calibration will affect the target recognition performance of the millimeter-wave radar and thus affect the test results.

[0003] At present, the millimeter-wave radar calibration of vehicle manufacturers generally relies on the use of calibration plates or angle reflectors in a pre-planned calibration site before the vehicle drives off the production line. However, when the millimeter-wave radar calibrated on the actual vehicle is installed in the echo simulator dark box, it will still not be able to correctly identify the target due to the change in the position of the millimeter-wave radar, thus failing to meet the test requirements.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a method and device for static calibration of a millimeter-wave radar based on an echo simulator, so as to at least solve the technical problem of calibrating the millimeter-wave radar in a dark box environment.

[0006] According to one aspect of an embodiment of the present invention, a static calibration method for a millimeter-wave radar based on an echo simulator is provided, comprising: when it is determined that the working mode of the echo simulator is a stand-alone mode, obtaining attribute parameters of a static target object, wherein the attribute parameters include at least: a distance parameter, a speed parameter, a radar scattering cross-section parameter, and an angle parameter; obtaining working environment information of the millimeter-wave radar to be calibrated, wherein the working environment information includes vehicle status information; when it is determined that the working environment information is normal, generating a static calibration strategy for the millimeter-wave radar to be calibrated based on the attribute parameters, wherein the static calibration strategy is used to statically calibrate the millimeter-wave radar to be calibrated.

[0007] Optionally, when it is determined that the working environment information is normal, a static calibration strategy for the millimeter-wave radar to be calibrated is generated based on the attribute parameters, including: when it is determined that the working environment information of the millimeter-wave radar to be calibrated is normal, coarsely adjusting the installation angle and installation orientation of the millimeter-wave radar to be calibrated to obtain the signal transmission status information of the millimeter-wave radar to be calibrated, wherein the installation angle includes at least: a pitch angle and a yaw angle, and the installation orientation includes: a horizontal position and a vertical position; based on the signal transmission status information of the millimeter-wave radar to be calibrated, a first calibration strategy in the static calibration strategy is generated, and the first calibration strategy is used to statically calibrate the millimeter-wave radar to be calibrated.

[0008] Optionally, when it is determined that the working environment information is normal, a static calibration strategy for the millimeter-wave radar to be calibrated is generated based on the attribute parameters, including: determining whether the millimeter-wave radar to be calibrated is successfully calibrated; when it is determined that the millimeter-wave radar calibration is successful, obtaining the dynamic data stream information of the millimeter-wave radar after static calibration, wherein the dynamic data stream information includes at least: installation angle information, installation orientation information, fault information, and target identification information of the millimeter-wave radar to be calibrated, the installation angle information includes pitch angle information and yaw angle information, and the installation orientation information includes at least: horizontal position information and vertical position information.

[0009] Optionally, judging whether the millimeter-wave radar to be calibrated is successfully calibrated, then comprising: when it is determined that the millimeter-wave radar is not successfully calibrated, roughly adjusting the installation orientation of the millimeter-wave radar to be calibrated, and obtaining secondary signal transmission status information of the millimeter-wave radar to be calibrated, wherein the installation orientation at least includes: horizontal position and vertical position; based on the secondary signal transmission status information, generating a second calibration strategy in the static calibration strategy, the second calibration strategy is used to perform secondary static calibration on the millimeter-wave radar to be calibrated; when it is determined that the secondary static calibration is successful, obtaining dynamic data stream information of the millimeter-wave radar after the secondary static calibration.

[0010] Optionally, when it is determined that the millimeter-wave radar calibration is successful, the dynamic data stream information of the statically calibrated millimeter-wave radar is obtained, and then the process includes: determining whether the deviation of the dynamic data stream information is within a preset threshold; when it is determined that the deviation of the dynamic data stream information is within the preset threshold, the static calibration of the millimeter-wave radar to be calibrated is completed.

[0011] Optionally, it is determined whether the deviation of the dynamic data stream information is within a preset threshold, and then the method includes: when it is determined that the deviation of the dynamic data stream information exceeds the preset threshold, fine-tuning the installation angle of the millimeter-wave radar to be calibrated to obtain three-dimensional signal transmission status information of the millimeter-wave radar to be calibrated, and the installation angle includes at least: a pitch angle and a yaw angle; based on the three-dimensional signal transmission status information, generating a third calibration strategy in the static calibration strategy, and the third calibration strategy is used to perform three static calibrations on the millimeter-wave radar to be calibrated.

[0012] According to another aspect of an embodiment of the present invention, a millimeter-wave radar static calibration device based on an echo simulator is also provided. The device is used for the millimeter-wave radar static calibration method based on an echo simulator in the above-mentioned embodiment, and the device includes: a dark box, in which the millimeter-wave radar to be calibrated is placed; a receiving antenna, which is movably arranged on the side wall of the dark box; a transmitting antenna, which is movably arranged on the side wall of the dark box; a movable part, which is slidably arranged on the bottom of the dark box, and the millimeter-wave radar to be calibrated is located on the movable part; an echo simulator, which is communicatively connected with the receiving antenna and the transmitting antenna, and is used to simulate the attribute parameters of a static target object, and transmit the electromagnetic wave signal of the attribute parameter to the millimeter-wave radar to be calibrated through the transmitting antenna, and receive the electromagnetic wave signal emitted by the millimeter-wave radar to be calibrated through the receiving antenna, wherein the attribute parameters include at least: distance parameter, speed parameter, radar scattering cross-section parameter, and angle parameter.

[0013] Optionally, the device includes: a host computer, which is communicatively connected to the millimeter-wave radar to be calibrated, and is used to simulate and send vehicle status message signals that the millimeter-wave radar to be calibrated needs to receive when it is working normally during the entire calibration process; a diagnostic instrument, which is communicatively connected to the millimeter-wave radar to be calibrated, and is used to read the fault information, dynamic data flow information of the millimeter-wave radar to be calibrated, and to execute the static calibration process of the millimeter-wave radar.

[0014] Optionally, the movable part includes: a scale guide rail, which is fixed to the bottom of the dark box; a five-degree-of-freedom millimeter-wave radar bracket, which is movably arranged on the scale guide rail, and the millimeter-wave radar to be calibrated is connected to the five-degree-of-freedom millimeter-wave radar bracket.

[0015] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method according to the above embodiment is implemented.

[0016] In the embodiment of the present invention, an echo simulator and a static calibration strategy are used to calibrate the millimeter-wave radar in a laboratory environment without relying on actual road tests or vehicle production lines, thereby improving the flexibility of radar testing and verification, reducing testing costs, and significantly improving the calibration accuracy of the millimeter-wave radar, thereby solving the technical problem of calibrating the millimeter-wave radar in a dark box environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a first embodiment of a millimeter wave radar static calibration method based on an echo simulator according to the present invention;

[0019] Figure 2 is a schematic structural diagram of a first embodiment of a millimeter wave radar static calibration device based on an echo simulator according to the present invention;

[0020] Figure 3 is a structural schematic diagram of a second embodiment of a millimeter wave radar static calibration device based on an echo simulator according to the present invention;

[0021] Figure 4 It is a flow chart of a second embodiment of a millimeter wave radar static calibration method based on an echo simulator according to the present invention.

[0022] The above drawings include the following reference numerals:

[0023] 1. Host computer; 2. Echo simulator; 3. Dark box; 4. Transmitting antenna; 5. Receiving antenna; 6. Millimeter-wave radar to be calibrated; 7. Five-degree-of-freedom millimeter-wave radar bracket; 8. Scale guide rail; 9. Diagnostic instrument. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to an embodiment of the present invention, an embodiment of a millimeter-wave radar static calibration method based on an echo simulator is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0027] Figure 1 A millimeter wave radar static calibration method based on an echo simulator according to an embodiment of the present invention is as follows: Figure 1 As shown, the method comprises the following steps:

[0028] Step S102: when it is determined that the working mode of the echo simulator is the stand-alone mode, the attribute parameters of the static target are obtained, wherein the attribute parameters at least include: distance parameter, speed parameter, radar cross section parameter, and angle parameter.

[0029] The above-mentioned static target is a simulated target, including but not limited to setting the target's speed to 0, indicating a static target; setting the target's distance relative to the millimeter-wave radar to be calibrated to 2.5m; setting the target's type to a vehicle; setting the target's RCS value to 100, indicating that the target has sufficient reflection energy and the reflection intensity is large enough for static calibration to succeed; setting the target's azimuth angle to 0°, indicating that the target is directly in front of the millimeter-wave radar to be calibrated. The above parameter settings are to fully simulate the real vehicle offline calibration scene.

[0030] Step S104: obtaining working environment information of the millimeter-wave radar to be calibrated, wherein the working environment information includes vehicle status information;

[0031] The above vehicle status information simulates the vehicle status message signal that the millimeter-wave radar to be calibrated needs to receive when the whole vehicle is powered on, and sends the signal to the millimeter-wave radar to be calibrated. At the same time, the engine speed signal is 0 to provide a basis for static calibration.

[0032] Step S106: when it is determined that the working environment information is normal, a static calibration strategy for the millimeter-wave radar to be calibrated is generated based on the attribute parameters, wherein the static calibration strategy is used to statically calibrate the millimeter-wave radar to be calibrated.

[0033] Through the above steps, using the echo simulator and static calibration strategy, the millimeter-wave radar can be calibrated in a laboratory environment without relying on actual road tests or vehicle production lines. This improves the flexibility of radar testing and verification, reduces testing costs, and can significantly improve the calibration accuracy of the millimeter-wave radar.

[0034] Optionally, in step S106, when it is determined that the working environment information is normal, a static calibration strategy for the millimeter-wave radar to be calibrated is generated based on the attribute parameters, including:

[0035] S1061: When it is determined that the working environment information of the millimeter-wave radar to be calibrated is normal, roughly adjust the installation angle and installation orientation of the millimeter-wave radar to be calibrated to obtain signal transmission status information of the millimeter-wave radar to be calibrated, wherein the installation angle includes at least: a pitch angle and a yaw angle, and the installation orientation includes: a horizontal direction position and a vertical direction position.

[0036] S1062: Generate a first calibration strategy in a static calibration strategy based on signal transmission state information of the millimeter-wave radar to be calibrated, where the first calibration strategy is used to statically calibrate the millimeter-wave radar to be calibrated.

[0037] Through the above steps, by roughly adjusting the installation angle and installation orientation of the millimeter-wave radar to be calibrated, the radar's signal transmission status information can be quickly obtained, which helps to quickly determine whether the radar is correctly aimed at the static target in the initial stage. If the signal transmission status is not good, it may indicate that the installation angle and installation orientation of the radar need to be adjusted. The generation of the first calibration strategy takes into account the current working status of the radar and the preliminary signal transmission situation, so that the calibration process can be optimized in a targeted manner, unnecessary adjustments can be reduced, and calibration efficiency can be improved. Based on the first calibration strategy, the installation angle and position of the millimeter-wave radar can be adjusted more accurately to ensure that the radar can accurately receive and process signals from the echo simulator during the static calibration process.

[0038] Optionally, in step S106, when it is determined that the working environment information is normal, a static calibration strategy for the millimeter-wave radar to be calibrated is generated based on the attribute parameters, including:

[0039] S1063: Determine whether the millimeter-wave radar to be calibrated is calibrated successfully.

[0040] S1064: When it is determined that the millimeter-wave radar calibration is successful, obtain dynamic data stream information of the millimeter-wave radar after static calibration, wherein the dynamic data stream information includes at least: installation angle information, installation orientation information, fault information, and target identification information of the millimeter-wave radar to be calibrated, the installation angle information includes pitch angle information and yaw angle information, and the installation orientation information includes at least: horizontal position information and vertical position information.

[0041] The above steps are used to solve the calibration problem of the millimeter-wave radar based on the echo simulator that cannot obtain the target recognition result. By judging whether the millimeter-wave radar to be calibrated is successfully calibrated, the calibration result can be fed back in time, and the dynamic data stream information of the millimeter-wave radar after static calibration can be obtained, especially the installation angle information, including the pitch angle and the yaw angle. The acquisition of this information helps to confirm whether the actual installation angle of the radar is consistent with the angle set during the calibration process, ensuring that the radar can accurately align with the target during hardware-in-the-loop testing or actual applications, and improving the accuracy of target detection. The target recognition information in the dynamic data stream information reflects the radar's ability to recognize simulated targets during the static calibration process. Even under static conditions, by comparing the target parameters recognized by the radar with the set static target attribute parameters, it is possible to verify whether the radar algorithm is correct and whether the signal processing capability is sufficient, thereby ensuring the radar's target recognition performance in dynamic testing.

[0042] Optionally, S1063: determining whether the millimeter-wave radar to be calibrated is successfully calibrated, and then including:

[0043] When it is determined that the millimeter-wave radar is not calibrated successfully, roughly adjusting the installation orientation of the millimeter-wave radar to be calibrated to obtain secondary signal transmission state information of the millimeter-wave radar to be calibrated, wherein the installation orientation at least includes: a horizontal direction position and a vertical direction position;

[0044] Based on the secondary signal transmission state information, a second calibration strategy in the static calibration strategy is generated, and the second calibration strategy is used to perform secondary static calibration on the millimeter-wave radar to be calibrated;

[0045] When it is determined that the secondary static calibration is successful, dynamic data stream information of the millimeter-wave radar after the secondary static calibration is obtained.

[0046] In the case of the first static calibration failure, by roughly adjusting the installation position of the radar to obtain the secondary signal transmission status information, a feedback and adjustment mechanism can be established to timely correct the installation posture of the radar to ensure that it can correctly identify and process the static target signal generated by the echo simulator. By executing the second calibration strategy for secondary static calibration, the installation position of the radar can be adjusted more accurately, improving the calibration success rate and radar performance. The secondary static calibration process can ensure the reliability of the calibration results of the radar after multiple adjustments and verifications.

[0047] Optionally, S1064: when it is determined that the millimeter wave radar calibration is successful, dynamic data stream information of the millimeter wave radar after static calibration is obtained, and then the following steps are included:

[0048] S1065: Determine whether the deviation of the dynamic data flow information is within a preset threshold;

[0049] S1066: When it is determined that the deviation of the dynamic data stream information is within a preset threshold, the static calibration of the millimeter-wave radar to be calibrated is completed.

[0050] Through the above steps, by determining whether the deviation of the dynamic data flow information is within a preset threshold, the correctness of the static calibration result can be accurately verified.

[0051] Optionally, S1065: determining whether the deviation of the dynamic data flow information is within a preset threshold, and then including:

[0052] When it is determined that the deviation of the dynamic data stream information exceeds a preset threshold, fine-tuning the installation angle of the millimeter-wave radar to be calibrated to obtain three-dimensional signal transmission state information of the millimeter-wave radar to be calibrated, wherein the installation angle includes at least a pitch angle and a yaw angle;

[0053] Based on the three times of signal transmission state information, a third calibration strategy in the static calibration strategy is generated, and the third calibration strategy is used to perform three static calibrations on the millimeter-wave radar to be calibrated.

[0054] Through the above steps, the installation angle of the millimeter-wave radar to be calibrated is finely adjusted. The fine-tuning knob and scale of the five-degree-of-freedom millimeter-wave radar bracket can be used to achieve fine adjustment of the radar installation angle to ensure that the pitch and yaw angles of the radar meet more accurate alignment requirements. By generating the third calibration strategy and performing three static calibrations, the calibration failure problem caused by the deviation of the radar installation angle can be solved in a targeted manner, thereby improving the success rate and efficiency of the calibration work. This strategy adjustment based on real-time signal transmission status information makes the calibration process more intelligent and dynamic, avoiding invalid repeated calibration operations.

[0055] like Figure 2 , Figure 3According to another aspect of an embodiment of the present invention, a millimeter-wave radar static calibration device based on an echo simulator is provided. The device is used for the millimeter-wave radar static calibration method based on an echo simulator in the above embodiment, and the device includes: a dark box 3, in which a millimeter-wave radar 6 to be calibrated is placed; a receiving antenna 5, which is movably arranged on the side wall of the dark box 3; a transmitting antenna 4, which is movably arranged on the side wall of the dark box 3; a movable part, which is slidably arranged on the bottom of the dark box 3, and the millimeter-wave radar 6 to be calibrated is located on the movable part; an echo simulator 2, which is communicatively connected with the receiving antenna 5 and the transmitting antenna 4, and is used to simulate the attribute parameters of a static target object, and transmit the electromagnetic wave signal of the attribute parameter to the millimeter-wave radar 6 to be calibrated through the transmitting antenna 4, and receive the electromagnetic wave signal emitted by the millimeter-wave radar 6 to be calibrated through the receiving antenna 5, wherein the attribute parameters include at least: distance parameter, speed parameter, radar scattering cross-section parameter, and angle parameter.

[0056] Optionally, the device includes: a host computer 1, which is communicatively connected to the millimeter-wave radar 6 to be calibrated, and is used to simulate and send vehicle status message signals that the millimeter-wave radar 6 to be calibrated needs to receive when it is working normally during the entire calibration process; a diagnostic instrument 9, which is communicatively connected to the millimeter-wave radar 6 to be calibrated, and is used to read the fault information, dynamic data flow information of the millimeter-wave radar 6 to be calibrated, and to execute the millimeter-wave radar static calibration process.

[0057] Optionally, the movable part includes: a scale guide rail 8, which is fixed to the bottom of the dark box 3; a five-degree-of-freedom millimeter-wave radar bracket 7, which is movably arranged on the scale guide rail 8, and the millimeter-wave radar 6 to be calibrated is connected to the five-degree-of-freedom millimeter-wave radar bracket 7.

[0058] The main body of the calibration system provided by the present invention is a cylindrical closed dark box 3, which can effectively ensure the anti-interference of the radar to be calibrated running inside it. The transmitting antenna 4 and the receiving antenna 5 are fixed to the side wall of the dark box 3 by a toothed belt, and can be driven by a mechanical structure to slide in a circle along the side wall of the dark box 3, so as to adjust the direction angle relative to the millimeter-wave radar 6 to be calibrated. The millimeter-wave radar 6 to be calibrated is fixedly connected to the five-degree-of-freedom millimeter-wave radar bracket 7, and the electromagnetic wave signal simulated by the echo simulator 2 is sent and received in real time during the calibration process. The scale guide 8 is arranged at the bottom of the dark box 3 and fixedly connected thereto, and its installation direction is consistent with the diameter direction of the circumference of the bottom surface of the dark box 3, and is perpendicular to the transmitting antenna 4 and the receiving antenna 5. The five-degree-of-freedom millimeter-wave radar bracket 7 is slidably connected to the scale guide 8, and the distance adjustment between the millimeter-wave radar 6 to be calibrated and the transmitting antenna 4 and the receiving antenna 5 can be achieved by sliding along the scale guide 8. The five-DOF millimeter-wave radar bracket 7 is characterized in that it can not only realize the displacement adjustment of the millimeter-wave radar 6 to be calibrated along the X-axis, Y-axis, and Z-axis directions in the spatial three-dimensional coordinate system, but also realize the rotation adjustment of the millimeter-wave radar 6 to be calibrated along the axis in the spatial three-dimensional coordinate system, that is, realize the adjustment of the pitch angle and yaw angle of the millimeter-wave radar 6 to be calibrated. In particular, the five-DOF millimeter-wave radar bracket 7 is equipped with a fine-tuning knob and a scale in terms of adjusting the two rotational degrees of freedom of the millimeter-wave radar 6 to be calibrated, which can realize the fine adjustment of the pitch angle and yaw angle degrees of freedom of the millimeter-wave radar 6 to be calibrated.

[0059] The host of the echo simulator 2 has a graphical user interface. When it works in stand-alone mode, the user can set the distance, speed, RCS and angle of the target object in the user interface as needed. The echo simulator 2 realizes the distance simulation of the target object by clock cycle delay, realizes the angle simulation of the target object by controlling the transmitting antenna 4 and the receiving antenna 5 to slide along the side wall of the dark box 3, realizes the speed simulation of the target object by controlling the frequency difference, and realizes the RCS simulation of the target object by controlling the power modulation. At the same time, the echo simulator 2 is connected to the transmitting antenna 4 and the receiving antenna 5 by wire. In the static calibration process of the millimeter wave radar, the echo simulator 2 receives the electromagnetic wave signal emitted by the millimeter wave radar 6 to be calibrated in real time through the receiving antenna 5 through the radio frequency cable, and calculates the electromagnetic wave signal returned to the millimeter wave radar 6 to be calibrated according to the static target distance, angle and RCS set on the echo simulator 2, and sends the electromagnetic wave signal to the millimeter wave radar 6 to be calibrated in real time through the radio frequency cable from the transmitting antenna 4 to realize the closed loop. Furthermore, the diagnostic instrument 9 is connected to the millimeter-wave radar 6 to be calibrated by wired communication, and is used to read the fault information, dynamic data flow information (installed pitch angle, yaw angle) of the millimeter-wave radar 6 to be calibrated, and execute the static calibration process of the millimeter-wave radar. The host computer 1 is connected to the millimeter-wave radar 6 to be calibrated by wired communication, and simulates and sends the vehicle status message signal that the millimeter-wave radar 6 to be calibrated needs to receive when it works normally during the entire calibration process.

[0060] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method according to the above embodiment is implemented.

[0061] like Figure 4 As shown, in another embodiment of the present application, a millimeter wave radar static calibration method based on an echo simulator is proposed.

[0062] First, the millimeter wave radar static calibration preparation needs to be completed, such as steps S301 to S302:

[0063] In step S301, first adjust the working mode of the echo simulator 2 to the stand-alone mode on the user interface. Then set the simulated target attribute parameters, including but not limited to setting the target speed to 0, indicating a static target; setting the distance of the target relative to the millimeter-wave radar to be calibrated to 2.5m; setting the type of the target to a vehicle; setting the RCS value of the target to 100, indicating that the target has sufficient reflection energy and the reflection intensity is large enough for static calibration to succeed; setting the azimuth angle of the target to 0°, indicating that the target is directly in front of the millimeter-wave radar to be calibrated. The above parameter settings are to fully simulate the actual vehicle offline calibration scenario.

[0064] In step S302, in order to keep the millimeter-wave radar 6 to be calibrated in the correct working state, it is necessary to use the host computer 1 to simulate the vehicle status message signal that the millimeter-wave radar 6 to be calibrated needs to receive when the whole vehicle is powered on during the entire static calibration process, and send it to the millimeter-wave radar 6 to be calibrated. Since the present invention adopts a static calibration method, it is necessary to focus on whether the engine speed signal in the simulation message is 0.

[0065] After completing the above-mentioned millimeter wave radar static calibration preparation work, the present invention provides a strategy for coarse adjustment of the installation position and angle of the millimeter wave radar 6 to be calibrated in the dark box 3:

[0066] In step S303, the millimeter-wave radar 6 to be calibrated is first fixed on the five-degree-of-freedom millimeter-wave radar bracket 7 in the dark box 3, and the pitch and yaw degrees of freedom of the millimeter-wave radar 6 to be calibrated in the dark box 3 are roughly adjusted according to the scale of the five-degree-of-freedom millimeter-wave radar bracket 7, so that the electromagnetic wave emission plane of the millimeter-wave radar 6 to be calibrated is parallel to the transmitting antenna 4 and the receiving antenna 5.

[0067] In step S304, the up-down and left-right degrees of freedom of the millimeter-wave radar 6 to be calibrated in the dark box 3 are roughly adjusted so that the electromagnetic wave emission plane of the millimeter-wave radar 6 to be calibrated is just opposite to and can cover the transmitting antenna 4 and the receiving antenna 5. The front-back direction degrees of freedom of the millimeter-wave radar 6 to be calibrated in the dark box 3 can be adjusted to an appropriate position.

[0068] In particular, before executing the static calibration step of the millimeter-wave radar, it is necessary to follow the interface prompts of the diagnostic instrument 9, input the vehicle configuration parameters of the vehicle model to be tested and clear the fault information of the millimeter-wave radar 6 to be calibrated. The static calibration process can only be entered if and only if the millimeter-wave radar 6 to be calibrated has no other faults except for the uncalibrated faults.

[0069] In step S305, operate the interface button of the diagnostic instrument 9 to perform the static calibration of the millimeter wave radar.

[0070] If the interface of the diagnostic instrument 9 in step S306 prompts that the radar static calibration is successful, the dynamic data stream reading of the millimeter-wave radar in step S307 can be executed sequentially; if the interface of the diagnostic instrument 9 in step S306 prompts that the radar static calibration fails, it means that the millimeter-wave radar 6 to be calibrated has not received the electromagnetic waves returned by the transmitting antenna 4, so it is necessary to return to step S304 and adjust the up and down and left and right degrees of freedom of the millimeter-wave radar 6 to be calibrated in the darkroom 3 so that the millimeter-wave radar 6 to be calibrated is facing and can cover the transmitting antenna 4 and the receiving antenna 5.

[0071] Then, steps S305 to S306 are executed again, and this process is repeated until the radar static calibration is successful.

[0072] After the static calibration of the millimeter wave radar is completed, the present invention provides a strategy for fine-tuning the installation angle of the millimeter wave radar 6 to be calibrated in the dark box 3:

[0073] In step S307, the dynamic data stream of the millimeter wave radar obtained after the current static calibration is read using the diagnostic instrument 9. The dynamic data stream includes the pitch angle and yaw angle data of the current millimeter wave radar installed in the dark box 3 learned by the diagnostic instrument.

[0074] In step S308, 0° is used as a reference to determine whether the installation angle deviation of the millimeter-wave radar is less than a predetermined threshold. If the above deviations are all less than the predetermined threshold, entering step S310 means that the static calibration of the millimeter-wave radar to be calibrated is completed, and the conditions for conducting hardware-in-the-loop testing in the echo simulator darkroom under a laboratory environment are met. If the above angle deviation is greater than the predetermined threshold, it is necessary to fine-tune the pitch and yaw degrees of freedom of the millimeter-wave radar in the darkroom 3 by fine-tuning the knob of the five-degree-of-freedom millimeter-wave radar bracket 7 according to the dynamic data stream of the millimeter-wave radar read by the diagnostic instrument 9 as mentioned in step S309. Then re-execute steps S305 to S309 in sequence, and repeat until the data deviation is within the preset threshold range.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] (1) Generally, the calibration methods of millimeter-wave radars based on echo simulators rely on comparing the target recognition results output by the millimeter-wave radar to be calibrated with the radio frequency parameters of the echo simulator to complete the calibration. However, such methods are not suitable for the calibration of millimeter-wave radars that cannot obtain target recognition results. The present invention provides a millimeter-wave radar calibration system based on an echo simulator, in which a diagnostic instrument is connected to the millimeter-wave radar to be calibrated by wired communication. Not only can the static calibration process be executed according to the prompts on the interface of the diagnostic instrument, but the diagnostic instrument can also read the fault information and dynamic data stream information (installation pitch angle and yaw angle) of the millimeter-wave radar to be calibrated. According to the dynamic data stream information of the millimeter-wave radar read by the diagnostic instrument, the installation angle of the millimeter-wave radar to be calibrated in the dark box can be fine-tuned to complete the calibration. Therefore, the introduction of the diagnostic instrument effectively solves the problem of static calibration of the millimeter-wave radar to be calibrated based on the echo simulator when the target recognition result cannot be obtained.

[0077] (2) The present invention provides a static calibration method for millimeter-wave radar based on an echo simulator, which particularly mentions the installation position of the millimeter-wave radar in the dark box before calibration, the angle coarse adjustment strategy, and the installation angle fine adjustment strategy of the millimeter-wave radar in the dark box after calibration. The installation position and angle coarse adjustment strategy of the millimeter-wave radar in the dark box are to enable the millimeter-wave radar to be calibrated to successfully complete the static calibration process performed by the diagnostic instrument; and after the static calibration, the installation angle of the millimeter-wave radar in the dark box is fine-tuned according to the dynamic data stream of the millimeter-wave radar read by the diagnostic instrument, which can effectively improve the accuracy of the static calibration results of the millimeter-wave radar based on the echo simulator. Thereby, in the subsequent test link, the millimeter-wave radar has better target recognition performance, ensuring the validity and reliability of the test results.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0079] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0080] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0081] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0082] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A millimeter wave radar static calibration method based on an echo simulator, characterized in that: include: When it is determined that the working mode of the echo simulator is the stand-alone mode, the attribute parameters of the static target object are obtained, wherein the attribute parameters at least include: a distance parameter, a speed parameter, a radar cross section parameter, and an angle parameter; Acquire working environment information of the millimeter-wave radar to be calibrated, wherein the working environment information includes vehicle status information; When it is determined that the working environment information is normal, a static calibration strategy of the millimeter-wave radar to be calibrated is generated based on the attribute parameters, wherein the static calibration strategy is used to statically calibrate the millimeter-wave radar to be calibrated.

2. The millimeter wave radar static calibration method based on the echo simulator according to claim 1 is characterized in that: When it is determined that the working environment information is normal, a static calibration strategy of the millimeter-wave radar to be calibrated is generated based on the attribute parameters, including: When it is determined that the working environment information of the millimeter-wave radar to be calibrated is normal, roughly adjust the installation angle and installation orientation of the millimeter-wave radar to be calibrated to obtain signal transmission state information of the millimeter-wave radar to be calibrated, wherein the installation angle at least includes: a pitch angle and a yaw angle, and the installation orientation includes: a horizontal direction position and a vertical direction position; Based on the signal transmission state information of the millimeter-wave radar to be calibrated, a first calibration strategy in the static calibration strategy is generated, and the first calibration strategy is used to statically calibrate the millimeter-wave radar to be calibrated.

3. The millimeter wave radar static calibration method based on the echo simulator according to claim 2 is characterized in that: When it is determined that the working environment information is normal, a static calibration strategy of the millimeter-wave radar to be calibrated is generated based on the attribute parameters, including: Determining whether the millimeter-wave radar to be calibrated is calibrated successfully; When it is determined that the calibration of the millimeter-wave radar to be calibrated is successful, dynamic data stream information of the millimeter-wave radar after static calibration is obtained, wherein the dynamic data stream information at least includes: installation angle information, installation orientation information, fault information, and target identification information of the millimeter-wave radar to be calibrated, the installation angle information includes pitch angle information and yaw angle information, and the installation orientation information at least includes: horizontal position information and vertical position information.

4. The millimeter wave radar static calibration method based on the echo simulator according to claim 3 is characterized in that: Determining whether the millimeter-wave radar to be calibrated is successfully calibrated, then comprising: When it is determined that the millimeter-wave radar to be calibrated is not calibrated successfully, roughly adjusting the installation orientation of the millimeter-wave radar to be calibrated to obtain secondary signal transmission state information of the millimeter-wave radar to be calibrated, wherein the installation orientation at least includes: a horizontal direction position and a vertical direction position; Based on the secondary signal transmission state information, generating a second calibration strategy in the static calibration strategy, wherein the second calibration strategy is used to perform secondary static calibration on the millimeter-wave radar to be calibrated; When it is determined that the secondary static calibration is successful, dynamic data stream information of the millimeter-wave radar after the secondary static calibration is obtained.

5. The millimeter wave radar static calibration method based on echo simulator according to claim 4 is characterized in that: When it is determined that the millimeter wave radar calibration is successful, the dynamic data stream information of the millimeter wave radar after static calibration is obtained, and then the following steps are included: Determining whether the deviation of the dynamic data flow information is within a preset threshold; When it is determined that the deviation of the dynamic data stream information is within a preset threshold, the static calibration of the millimeter-wave radar to be calibrated is completed.

6. The millimeter wave radar static calibration method based on echo simulator according to claim 5 is characterized in that: Determining whether the deviation of the dynamic data flow information is within a preset threshold, then comprising: When it is determined that the deviation of the dynamic data stream information exceeds a preset threshold, fine-tuning the installation angle of the millimeter-wave radar to be calibrated to obtain three-dimensional signal transmission state information of the millimeter-wave radar to be calibrated, wherein the installation angle at least includes: a pitch angle and a yaw angle; Based on the three signal transmission state information, a third calibration strategy in the static calibration strategy is generated, and the third calibration strategy is used to perform three static calibrations on the millimeter-wave radar to be calibrated.

7. A millimeter wave radar static calibration device based on an echo simulator, characterized in that: The millimeter-wave radar static calibration device based on the echo simulator is used for the millimeter-wave radar static calibration method based on the echo simulator according to any one of claims 1 to 6, and the device comprises: A dark box (3), wherein the dark box (3) is used to place the millimeter wave radar (6) to be calibrated; A receiving antenna (5), the receiving antenna (5) being movably arranged on a side wall inside the dark box (3); a transmitting antenna (4), the transmitting antenna (4) being movably arranged on a side wall inside the dark box (3); A movable part, the movable part being slidably arranged at the bottom of the dark box (3), and the millimeter-wave radar (6) to be calibrated being located on the movable part; An echo simulator (2), wherein the echo simulator (2) is communicatively connected with the receiving antenna (5) and the transmitting antenna (4), and the echo simulator (2) is used to simulate attribute parameters of a static target object, and transmit the electromagnetic wave signal of the attribute parameter to the millimeter-wave radar (6) to be calibrated through the transmitting antenna (4), and receive the electromagnetic wave signal emitted by the millimeter-wave radar (6) to be calibrated through the receiving antenna (5), wherein the attribute parameters at least include: distance parameter, speed parameter, radar scattering cross section parameter, and angle parameter.

8. The millimeter wave radar static calibration device based on the echo simulator according to claim 7 is characterized in that: The device comprises: A host computer (1), the host computer (1) being in communication connection with the millimeter-wave radar (6) to be calibrated, the host computer (1) being used to simulate and send vehicle status message signals required to be received when the millimeter-wave radar (6) to be calibrated is working normally during the entire calibration process; A diagnostic instrument (9), the diagnostic instrument (9) being in communication connection with the millimeter-wave radar (6) to be calibrated, the diagnostic instrument (9) being used to read fault information and dynamic data flow information of the millimeter-wave radar (6) to be calibrated and to execute a millimeter-wave radar static calibration process.

9. The millimeter wave radar static calibration device based on the echo simulator according to claim 7, characterized in that: The activities include: A graduated guide rail (8), wherein the graduated guide rail (8) is fixed to the bottom of the dark box (3); A five-degree-of-freedom millimeter-wave radar bracket (7), wherein the five-degree-of-freedom millimeter-wave radar bracket (7) is movably arranged on the scale guide rail (8), and the millimeter-wave radar to be calibrated (6) is connected to the five-degree-of-freedom millimeter-wave radar bracket (7).

10. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 6.

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