Device and method for testing angular resolution of millimeter wave radar

Abstract

The invention discloses a millimeter wave radar angular resolution testing device and method, and the device comprises a first camera obscura formed by splicing a plurality of second camera obscura, the inner wall of each second camera obscura is provided with a wave absorbing layer, the interior of the second camera obscura at the head end is provided with a mechanical rotary table, a top clamp of the mechanical rotary table is connected with a to-be-tested radar in a clamping manner, and the to-be-tested radar is provided with a wave absorbing layer. An electric arc-shaped sliding rail is arranged in the second camera obscura at the tail end, and a first corner reflector and a second corner reflector are connected to the two movable ends of the electric arc-shaped sliding rail respectively. The method has the advantages that the automobile radar angular resolution test limit can be improved, the method has the advantages of a traditional darkroom scheme, meanwhile, the equipment cost is reduced compared with the traditional darkroom scheme, the box-type scheme further has the advantage of expandability, and the method can be widely applied to measurement of radars with higher angular resolution in the future. The number of the second camera bellows can be increased and the arc guide rail can be replaced on the basis of existing equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of radar angular resolution testing devices, and in particular to a millimeter wave radar angular resolution testing device and a testing method. Background Art

[0002] In recent years, 77GHz automotive millimeter-wave radar has become one of the essential sensors in advanced driver assistance systems, and the angular resolution index of radar will largely determine the application performance of advanced driver assistance systems, such as point cloud density, detection accuracy, height measurement capability, imaging capability, etc. With the advent of 4D imaging radar and high-performance front radar in recent years, the angular resolution index is getting higher and higher. At present, the highest can reach about 0.3°, and it may be further increased to about 0.1° in the next two years. The angular resolution index test of radar is usually carried out in the field or in the darkroom. The environment required for the angular resolution test is high and requires a clean environment, so an open field or a microwave darkroom with a simulator is usually selected. At present, the field or darkroom environment that can support the angular resolution test requirements of future 4D imaging radars is often very large.

[0003] Corner reflectors, which are targets in angular resolution testing, can reflect incident electromagnetic waves back in the original direction, so they have important applications in radar detection. There are many types of corner reflectors, including: positive and negative plates, circular plates, triangular plates, Luneburg spherical lenses, etc. The most commonly used one, which also has a higher RCS (radar cross-sectional area, which characterizes the target's ability to reflect electromagnetic waves) under the same volume, is a triangular plate corner reflector composed of three mutually perpendicular planes, as shown in the figure below. The triangular plate corner reflector is hereinafter referred to as a corner reflector and will not be described in detail.

[0004] There are two solutions for traditional vehicle-mounted millimeter-wave radar angular resolution testing:

[0005] (1) Find an open area in the field, carry the corner reflector and bracket, radar and bracket, and tape measure. It is the simplest. The disadvantage is that you need to find an open area, otherwise the clutter reflection of objects near the corner reflector will make the target unrecognizable.

[0006] (2) Build a microwave darkroom, set up slide rails in the microwave darkroom, and install a radar simulator (at least two simulator horn antennas are required to simulate targets at different angles to achieve the angular resolution) on the slide rails. The advantage is that it is convenient, fast and accurate to use mechanical control of the horn antenna, the darkroom environment is almost free of clutter, the test results are accurate, and there is no need to find a dedicated site. The disadvantage is that the darkroom and simulator are expensive. For example, the far field area of ​​a 4D imaging radar must be at least 6 meters away, so the darkroom size required is large and the cost is high.

[0007] The present invention provides a low-cost 4D imaging automotive radar angular resolution darkroom test solution and device, which can quickly and accurately test the angular resolution of the 4D imaging radar and meet the challenges brought by the increasingly high angular resolution index to the test equipment. Summary of the invention

[0008] In view of the problems in the related art, the present invention proposes a millimeter wave radar angular resolution testing device and a testing method to overcome the above technical problems existing in the existing related art.

[0009] To this end, the specific technical solution adopted by the present invention is as follows:

[0010] A millimeter-wave radar angular resolution test device comprises a dark box one formed by splicing a plurality of dark boxes two, an absorbing layer is arranged on the inner wall of the dark box two, a mechanical turntable is arranged inside the dark box two at the head end, a radar to be tested is clamped and connected to the top clamp of the mechanical turntable, an electric arc slide is arranged inside the dark box two at the end, and a corner reflector one and a corner reflector two are respectively connected to the two moving ends of the electric arc slide.

[0011] Preferably, two electric sliders 1 are provided on the electric arc slide rail, and the two electric sliders 1 are respectively connected to corner reflector 3 and corner reflector 4.

[0012] Preferably, an electric linear slide is provided in the dark box one, and corner reflector three and corner reflector four are respectively connected to two movable ends of the electric linear slide.

[0013] Preferably, two electric sliders 2 are provided on the electric linear slide rail, and the corner reflector 3 and the corner reflector 4 are respectively connected to the two electric sliders 2.

[0014] Preferably, a maintenance door is provided on the outer surface of the side of the dark box 2, and a group of rollers and a group of adjustable feet are respectively provided at the four corners of the bottom of the dark box 2.

[0015] Preferably, the absorbing layer is a pyramidal absorbing material.

[0016] Preferably, the dark box 2 at the front end is provided with an installation window matching the radar to be tested, and the dark box 2 at the rear end is provided with a radar simulator.

[0017] According to another aspect of the present invention, there is provided a millimeter wave radar angular resolution test method, which is used for a millimeter wave radar angular resolution test device, and comprises the following steps:

[0018] Build a microwave darkroom: select a corresponding number of darkroom 2 according to the use requirements, and connect several darkroom 2 together to form a darkroom 1 with a non-reflective electromagnetic environment;

[0019] Equipment installation: Install the radar to be tested on the mechanical turntable in the dark box 2 at the head through the installation window. At this time, the radar to be tested is located at the center of the electric arc slide rail, and corner reflector 1 and corner reflector 2 are installed on the moving end of the electric arc slide rail;

[0020] Resolution test: turn on the radar to be tested, drive the electric arc slide to drive corner reflector 1 and corner reflector 2 to move and adjust the position, observe the radar host computer at the same time, and record the spacing value of the two corner reflectors, and substitute the spacing vertically into the formula to obtain the angular resolution of the radar at an azimuth angle of 60°, divide the angular resolution by 2 to obtain the measured value of the azimuth resolution, then rotate the radar 90° along the normal axis, and repeat the above steps to test and obtain the measured value of the elevation resolution.

[0021] The beneficial effects of the present invention are:

[0022] The present invention can improve the angular resolution test limit of automotive radar and has the advantages of the traditional darkroom solution while reducing the equipment cost compared to the latter. The box-type solution also has the advantage of scalability. For the measurement of radars with higher angular resolution in the future, the number of darkrooms can be increased and the arc guide rail can be replaced on the basis of the existing equipment.

[0023] The present invention adopts a movable box-type spliced ​​microwave darkroom, that is, firstly manufacture an independent darkbox 2 of the same size, the outer shell of the darkbox 2 is made of steel to achieve the purpose of shielding electromagnetic waves, and the inner shell is coated with absorbing materials to approximately equal an ideal non-reflecting electromagnetic environment, the bottom of the darkbox 2 is provided with wheels for easy movement, and a metal door is left on the side for easy maintenance, the darkbox 2 can be spliced ​​together to form a darkbox 1, and the size adjustment of the darkbox 1 can be achieved by flexibly increasing or decreasing the number of darkboxes 2 as needed, a section of circular arc guide rail is placed in the darkbox 2 at the end of the darkbox 1, two corner reflectors are placed on the guide rail, and the two corner reflectors are controlled by a motor to move on the circular arc guide rail, and the radar to be tested is located on a mechanical turntable at the center position of the circular arc slide rail. At the same time, this set of equipment can also be compatible with testing the range resolution of the radar: a section of linear guide rail is set in the darkbox 1, and two mechanically controlled vertical slide bars with small corner reflectors are placed in the front and back, and a radar simulator can also be installed in the darkbox 2 at the end to test more radar performance parameters.

[0024] The azimuth plane of the rotating radar of the present invention is 60°. The radar is turned on, and the two vertical slide bars on which the corner reflectors are placed are controlled to be in a close position (the gap between the two nearest corners is 1 cm). The spacing between the corner reflectors on the slide rails is gradually increased, and the radar host computer is observed at the same time until the two corner reflectors can be distinguished on the host computer. The spacing 2d between the two corner reflectors at this time is recorded and substituted into Formula 2 to obtain the angular resolution of the radar at an azimuth angle of 60°. Dividing this result by 2 is the actual measured value of the azimuth resolution (at 0°) of the radar, thereby expanding the angular resolution limit of the equipment test radar by 2 times. The radar is rotated 90° along the normal axis, and the pitch angle resolution can be tested with the same steps. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a schematic diagram of the overall structure of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0027] Figure 2 The internal structure of a millimeter wave radar angular resolution test device according to an embodiment of the present invention is schematically shown. Figure 1 ;

[0028] Figure 3 The internal structure of a millimeter wave radar angular resolution test device according to an embodiment of the present invention is schematically shown. Figure 2 ;

[0029] Figure 4 This is a table of models and performances of pyramidal absorbing materials of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0030] Figure 5 is a schematic diagram of radar angular resolution testing of a millimeter wave radar angular resolution testing device according to an embodiment of the present invention;

[0031] Figure 6 This is a top view of the arrangement of the radar, the slide rail, and the corner reflector when an angular resolution test is performed in a dark box of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0032] Figure 7 is a diagram showing the relative positions of two corner reflectors in an extreme case of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0033] Figure 8 is a top view of the arrangement of two corner reflectors in an extreme case of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0034] Fig. 9 It is a top view of the arrangement of a radar, a corner reflector and a slide rail in an extended angular resolution test limit range of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0035] Fig.10 is a flowchart of the steps of a method for testing the angular resolution of a millimeter-wave radar according to an embodiment of the present invention;

[0036] Fig.11 is a table of RCS parameters of various reflectors of a millimeter wave radar angular resolution test device according to an embodiment of the present invention;

[0037] Fig.12 1 is a diagram of the right-angled sides of a triangular plate corner reflector of a millimeter wave radar angular resolution test device according to an embodiment of the present invention.

[0038] In the figure:

[0039] 1. Dark box one; 2. Dark box two; 3. Installation window; 4. Maintenance door; 5. Roller; 6. Adjustable feet; 7. Electric arc slide; 8. Corner reflector one; 9. Corner reflector two; 10. Electric linear slide; 11. Corner reflector three; 12. Corner reflector four; 13. Mechanical turntable; 14. Radar to be tested; 15. Radar simulator; 16. Absorbing layer. DETAILED DESCRIPTION

[0040] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in the field should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0041] According to an embodiment of the present invention, a millimeter wave radar angular resolution testing device is provided.

[0042] Embodiment 1;

[0043] like Figure 1-4As shown, the millimeter-wave radar angular resolution test device according to the embodiment of the present invention comprises a dark box 1 which is spliced ​​together by a plurality of dark boxes 2, the inner wall of the dark box 2 is provided with an absorbing layer 16, the absorbing layer 16 is a pyramidal absorbing material, a mechanical turntable 13 is provided in the dark box 2 at the head end, a radar 14 to be tested is clamped and connected by a top clamp of the mechanical turntable 13, an installation window 3 which matches the radar 14 to be tested is provided on the dark box 2 at the head end, an electric arc slide rail 7 is provided inside the dark box 2 at the end, a corner reflector 1 8 and a corner reflector 2 9 are respectively connected to the two moving ends of the electric arc slide rail 7, two electric sliders 1 are provided on the electric arc slide rail 7, the electric arc slide rail 7 and the electric slider are both conventional technical means in the prior art, therefore, there is no need to elaborate, the two electric sliders 1 are respectively connected to the corner reflector 3 11 and the corner reflector 4 14, an electric linear slide rail 10 is provided in the dark box 1, the Corner reflector three 11 and corner reflector four 14 are respectively connected to the two moving ends of the electric linear slide 10, and two electric sliders two are arranged on the electric linear slide 10. Both the electric linear slide 10 and the electric slider two are conventional technical means in the prior art, so there is no need to elaborate on them. The corner reflector three 11 and the corner reflector four 14 are respectively connected to the two electric sliders two, and the corner reflector three 11 and the corner reflector four 14 are used to measure the radar distance resolution. When measuring the radar angle resolution, the corner reflector three 11 and the corner reflector four 14 will be removed. A maintenance door 4 is provided on the outer surface of the side of the dark box two 2, and a group of rollers 5 and a group of adjustable feet 6 are respectively provided at the four corners of the bottom of the dark box two 2. A radar simulator 15 is provided in the dark box two 2 at the end. The radar simulator 15 is used to simulate radar targets and test the speed and distance performance of the radar 14. The radar simulator 15 needs to be shielded with absorbing materials, leaving only the horn antenna mouth exposed.

[0044] Embodiment 2:

[0045] like Fig.10 As shown, according to an embodiment of the present invention, a millimeter wave radar angular resolution test method is also provided, which is used for a millimeter wave radar angular resolution test device, and includes the following steps:

[0046] Step S101, constructing a microwave darkroom: selecting a corresponding number of darkrooms 2 according to usage requirements, and splicing a number of darkrooms 2 together end to end to form a darkroom 1 with a non-reflective electromagnetic environment;

[0047] Equipment installation: Install the radar 14 to be tested on the mechanical turntable 13 in the dark box 2 of the head through the installation window 3. At this time, the radar 14 to be tested is located at the center of the electric arc slide 7, and the corner reflector 1 8 and the corner reflector 2 9 are installed on the moving end of the electric arc slide 7;

[0048] Step S103, resolution test, turn on the radar 14 to be tested, drive the electric arc slide rail 7 to drive the corner reflector 1 8 and the corner reflector 2 9 to move and adjust the position, observe the radar host computer at the same time, and record the spacing value of the two corner reflectors, and vertically substitute the spacing into the formula to obtain the angular resolution of the radar at an azimuth angle of 60°, divide the angular resolution by 2 to obtain the measured value of the azimuth resolution, then rotate the radar 90° along the normal axis, repeat the above steps to test and obtain the measured value of the pitch angle resolution.

[0049] Step S105, constructing a microwave darkroom: according to the use requirements, several darkboxes 2 are spliced ​​together end to end to form a darkbox 1, and the outer shell of the darkbox 2 is made of steel to achieve the purpose of shielding electromagnetic waves. At the same time, the absorbing layer 16 laid on the inner wall of the darkbox 2 can be approximately equivalent to an ideal non-reflection electromagnetic environment;

[0050] The specific steps are as follows:

[0051] Equipment installation: Install the radar 14 to be tested on the mechanical turntable 13 in the dark box 2 2 of the head through the installation window 3. At this time, the radar 14 to be tested is located at the center of the electric arc slide 7. Corner reflector 1 8 and corner reflector 2 9 are installed on the moving end of the electric arc slide 7. Corner reflector 3 11 and corner reflector 4 12 are installed on the moving end of the electric linear slide 10.

[0052] Adjustment test, turn on the radar to be tested 14, drive the electric arc slide 7 and the electric linear slide 10 to drive the corner reflector 1 8 and corner reflector 2 9 to move for position adjustment. During the adjustment process, gradually increase the spacing between the corner reflectors on the slides, and observe the radar host computer at the same time until the two corner reflectors can be distinguished on the host computer, record the spacing 2d between the two corner reflectors at this time, substitute it into formula 2 to obtain the angular resolution of the radar at an azimuth angle of 60°, divide this result by 2 to obtain the actual measured value of the radar's azimuth resolution (at 0°), which expands the equipment test radar angular resolution limit by two times, rotate the radar 90° along the normal axis, and the same steps can be used to test the pitch angle resolution.

[0053] In addition, if Figure 11-12 As shown, the calculation formula for the RCS of the corner reflector (Formula 1) is:

[0054]

[0055] Where RCS is the scattering cross-sectional area, b is the length of the right angle side of the corner reflector, and λ is the radar wavelength.

[0056] Specifically, in the automotive radar, a target with an RCS of 10 dBsm (equivalent to the radar cross-sectional area of ​​the front or back of a car at 77 GHz) is used as the standard for determining distance, speed and angle. Formula 1 is used to calculate that the right-angle side b of a corner reflector with an RCS of 10 dBsm is 7.7 cm, and the right-angle side of a corner reflector with a 0 dBsm (value between the RCS of pedestrians and bicycles at 77 GHz) is 4.3 cm. When the RCS is 10 dBsm, the two corner reflectors are symmetrically arranged on the left and right sides of the radar.

[0057] Angular resolution test method: Figure 5 As shown, the radar is placed on a mechanical turntable, and two corner reflectors are placed symmetrically on both sides of the central axis in front of the radar as targets (because the angular resolution test requires the two corner reflectors to be at the same distance and speed, and the same distance means that the radial distance from the corner reflector to the radar is the same), and the spacing is set to 2d. At the initial moment, corner reflector 1 and corner reflector 2 are arranged adjacent to each other in the normal direction of the radar, and the distance between the midpoint of the line connecting the two and the radar is always R. Turn on the radar to be tested. At this time, the two corner reflectors cannot be distinguished on the radar host computer, because the radar angular resolution is usually larger than that at the initial moment. Gradually increase the spacing between the two corner reflectors. As 2d gradually increases, when the critical point of the radar angular resolution is reached, the radar host computer can distinguish the two corner reflectors, and record the 2d value at this time. The radar resolution calculation formula is:

[0058]

[0059] In the formula, θ res is the angular resolution; d is half the distance between the two angular anti-targets, such as Figure 5 As shown; R is the distance from the radar to the angle reflection, which is approximately equal to the distance from the midpoint of the two angle reflection lines to the radar, as shown Figure 5 As shown, for high angular resolution radars, such as 4D imaging radars, front radars / corner radars, the angular resolution is usually only a few tenths of a degree to a few degrees, so the formula (Formula 2) can be used to obtain:

[0060]

[0061] In the formula, θ res is the angular resolution; d is half the distance between the two angular anti-targets, such as Figure 5 As shown; R is the distance from the radar to the angle reflection, which is approximately equal to the distance from the midpoint of the two angle reflection lines to the radar, as shown Figure 5 As shown, the distance R cannot be too small, because the radar antenna has a near-field effect. If R is too small, the electromagnetic wave is in the Fresnel zone and the field is in a non-plane wave state. In actual work, the radar electromagnetic wave is in a plane wave state in the far field.

[0062] like, Figure 6As shown, the smaller the distance R, the better, because this means that fewer dark boxes are required and the cost is lower. The formula for the minimum R in the far field area (Formula 3) is as follows:

[0063]

[0064] Where D is the size of the radar antenna array, λ is the wavelength of the radar electromagnetic wave, and R min is the minimum distance in the far field region.

[0065] Typically, the size of a 77GHz vehicle-mounted 4D imaging radar D is 0.1m to 0.15m, and the wavelength λ is 3.92mm. The above formula is used to calculate R min The range is 5.1m-11.5m. For 4D imaging radar, R is set to at least 6m;

[0066] like, Figure 7 As shown, the limiting angular resolution of a 6m long dark box is as follows:

[0067] When two target corner reflectors are placed close together, Figure 7 As shown in the figure, at this time, the minimum angular resolution that the device can test is achieved. Taking the corner reflector with RCS equal to 10dBsm as the target, the minimum distance of the corner reflector is Where, Gap is the minimum distance of the corner reflector, b is the right-angle side of the corner reflector, and the value of b of the right-angle side of the 10dBsm corner reflector mentioned above is 7.7cm, and Gap is 10.89cm. Gap is equal to 2d. Substituting it into Formula 2, the angular resolution at this time is 1.04°. When there is a 1cm gap between the two corner reflectors, Gap is 11.89cm. Substituting it into Formula 2, the limiting angular resolution is 1.136°.

[0068] like, Figure 8 As shown, by automatically or manually controlling the mechanical turntable to rotate the radar around the axis by 60° in the azimuth plane, the angular resolution measurement limit of the device can be improved. It is known that the radar angular resolution has the following formula (Formula 4):

[0069]

[0070] Where λ is the radar operating wavelength, L is the equivalent aperture size of the radar antenna MIMO array, and θ is the angle between the radar-to-target line and the radar normal. The further away from the radar normal, the worse the radar angular resolution performance. The angular resolution given in the index is the performance at the default 0° azimuth (i.e., normal). The angular resolution index measured at the 0° azimuth shall prevail, that is, the theoretical angular resolution formula is:

[0071]

[0072] Where λ is the radar operating wavelength, L is the equivalent aperture size of the radar antenna MIMO array, and θ is the angle between the radar-to-target line and the radar normal. According to the above formula, the radar is rotated 60° in the azimuth plane. At this time, the radar angular resolution formula at the original normal position T becomes:

[0073]

[0074] Where λ is the radar operating wavelength, L is the equivalent aperture size of the radar antenna MIMO array, and θ is the angle between the line connecting the radar to the target and the radar normal;

[0075] like, Fig. 9 As shown, the value is twice as much as the above. The benefit brought about by this is: assuming that a 6m darkroom is used and two 10dBsm corner reflectors are used as targets, the angular resolution of 1.136° in the normal direction (position T) has reached the limit of the device's ability to test the angular resolution. After the same radar is rotated 60°, the angular resolution of position T (corresponding to 60° in the normal direction) is twice that before the rotation, i.e., 2.272°. In this way, this characteristic can be used to expand the device's test limit of the radar angular resolution by 1 time without increasing the cost. For example, a radar with an angular resolution of 0.6° exceeds the measurement limit of this darkroom device. If the angular resolution of position T is measured to be 1.2° (just reaching the limit of the device) after the radar is rotated 60°, it can be inferred that the angular resolution of the radar in the normal direction (azimuth 0°) is 0.6°. Of course, you can also choose to splice more dark box 2 to increase the distance between the radar and the target and replace the arc guide to achieve the purpose of expanding the angular resolution limit, but this will obviously increase the cost: for example, doubling the number of dark box 2 to make R become 12m, the obtainable maximum angular resolution is 0.568°.

[0076] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A millimeter wave radar angular resolution test device, characterized in that: The invention comprises a dark box one (1) formed by splicing a plurality of dark box twos (2), wherein an absorbing layer (16) is provided on the inner wall of the dark box two (2), a mechanical turntable (13) is provided inside the dark box two (2) at the head end, a radar to be tested (14) is clamped and connected to the top clamp of the mechanical turntable (13), and an electric arc slide rail (7) is provided inside the dark box two (2) at the end, and a corner reflector one (8) and a corner reflector two (9) are respectively connected to the two movable ends of the electric arc slide rail (7).

2. A millimeter wave radar angular resolution test device according to claim 1, characterized in that: The electric arc-shaped slide rail (7) is provided with two electric slide blocks 1, and the two electric slide blocks 1 are respectively connected to a corner reflector 3 (11) and a corner reflector 4 (14).

3. The millimeter wave radar angular resolution test device according to claim 1, characterized in that: An electric linear slide rail (10) is provided in the dark box one (1), and two movable ends of the electric linear slide rail (10) are respectively connected to a corner reflector three (11) and a corner reflector four (14).

4. The millimeter wave radar angular resolution test device according to claim 3, characterized in that: The electric linear slide rail (10) is provided with two electric slide blocks 2, and the corner reflector 3 (11) and the corner reflector 4 (14) are respectively connected to the two electric slide blocks 2.

5. The millimeter wave radar angular resolution test device according to claim 1, characterized in that: A maintenance door (4) is provided on the outer side surface of the side of the second dark box (2), and a group of rollers (5) and a group of adjustable feet (6) are respectively provided at the four corners of the bottom of the second dark box (2).

6. The millimeter wave radar angular resolution test device according to claim 1, characterized in that: The wave absorbing layer (16) is a pyramidal wave absorbing material.

7. The millimeter wave radar angular resolution test device according to claim 6, characterized in that: The dark box 2 (2) at the front end is provided with an installation window (3) matching the radar (14) to be tested, and the dark box 2 (2) at the rear end is provided with a radar simulator (15).

8. A millimeter wave radar angular resolution test method, characterized in that: The millimeter wave radar angular resolution test device as claimed in claim 4 comprises the following steps: Constructing a microwave darkroom: selecting a corresponding number of darkroom twos (2) according to usage requirements, and splicing a number of darkroom twos (2) end to end to form a darkroom one (1) with a non-reflective electromagnetic environment; Equipment installation: The radar to be tested (14) is installed on the mechanical turntable (13) in the dark box (2) of the head through the installation window (3), the radar to be tested (14) is located at the center of the electric arc slide (7), and the corner reflector 1 (8) and the corner reflector 2 (9) are installed on the moving end of the electric arc slide (7); Resolution test: turn on the radar to be tested (14), drive the electric arc slide rail (7) to drive the corner reflector 1 (8) and the corner reflector 2 (9) to move and adjust the position, observe the radar host computer at the same time, and record the spacing value of the two corner reflectors, and vertically substitute the spacing into the formula to obtain the angular resolution of the radar at an azimuth angle of 60°, divide the angular resolution by 2 to obtain the measured value of the azimuth resolution, rotate the radar 90° along the normal axis, and repeat the above steps to test and obtain the measured value of the elevation resolution.

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