Test system for radar target detection

Abstract

The invention provides a test system for radar target detection. The test system for radar target detection comprises a base which is provided with a guide rail in the length direction; the target simulation device is arranged on the guide rail in a sliding mode, the target simulation device comprises a plurality of moving tables arranged in the height direction of the target simulation device, and the moving tables are configured to translate in the height position of the moving tables in the direction perpendicular to the guide rail; one or more test radio frequency front ends selectively arranged on the mobile station; and the tested radar device is also slidably arranged on the guide rail, is spaced from the target simulation device along the guide rail, and is used for arranging the tested target radar, so that the test distance is adjusted through the movement of the target simulation device and the tested radar device on the guide rail. According to the scheme, the size of the radio frequency front end can be ignored, the method is suitable for 3D millimeter wave radar and 4D millimeter wave radar detection, and radar detection cost and space requirements can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of millimeter wave radar testing, and in particular to a test system for radar target detection. Background Art

[0002] 4D (four dimension) millimeter wave radar refers to a radar that can measure the distance, speed, horizontal angle, and pitch angle of a target. Compared with traditional 3D millimeter wave radars, the upgraded design of 4D millimeter wave radars in antennas and other aspects has improved performance in many aspects. Among them, the two most important changes are that in terms of horizontal angle resolution, 4D millimeter wave radars can achieve at least 1° azimuth angle resolution, which can better distinguish adjacent objects. Traditional 3D millimeter wave radars are basically unable to recognize targets below 5°. Second, at a vertical height, target recognition at a certain pitch angle can also be achieved, such as the recognition and distinction between viaducts and ground objects. However, 3D millimeter wave radars generally have no antenna arrangement in the longitudinal direction, so they cannot identify pitch angle targets, and it is difficult to distinguish between high objects and ground vehicles. Due to the precise target recognition capability of 4D millimeter wave radars, a more accurate test system is required to achieve the recognition of simulated targets.

[0003] However, due to the size of the RF front-end itself, even if the RF front-end is completely close, there needs to be a long distance between the radar under test and the RF front-end, which greatly increases the space requirements and cost of the test. Summary of the invention

[0004] In view of the above problems, the present invention proposes a radar target detection test system that overcomes the above problems or at least partially solves the above problems.

[0005] An object of the present invention is to reduce the test distance and cost required for radar testing.

[0006] A further object of the present invention is to achieve flexible switching of multiple tests.

[0007] In particular, the present invention provides a test system for radar target detection, comprising:

[0008] A base having a guide rail arranged in the length direction thereof;

[0009] The target simulation device is slidably disposed on the guide rail, and the target simulation device includes a plurality of movable platforms arranged along the height direction of the target simulation device, and the movable platforms are configured to translate in a direction perpendicular to the guide rail at their height positions;

[0010] one or more test radio frequency front ends, optionally disposed on the mobile station and configured to transmit and receive test signals;

[0011] The radar device under test can also be slidably arranged on the guide rail, spaced apart from the target simulation device along the guide rail, and used to arrange the target radar under test, so that the test distance can be adjusted by moving the target simulation device and the radar device under test on the guide rail.

[0012] Optionally, the target simulation device further comprises:

[0013] The shell defines a space for arranging a mobile station and a test radio frequency front end inside the shell, and an opening is arranged on a side of the shell opposite to the radar device under test.

[0014] Optionally, the target simulation device further comprises:

[0015] A support plate extending upward from the bottom of the shell to a set height;

[0016] A rangefinder, arranged on the support plate, is used to measure the horizontal distance between the antenna of the test RF front end and the target radar under test;

[0017] The target simulator is connected to the test RF front end and is used to generate and process the test signal and transmit and receive the signal through the test RF front end.

[0018] Optionally, the mobile station includes a top mobile station and a bottom mobile station;

[0019] The target simulator also includes:

[0020] The bottom moving device is arranged on the inner side of the bottom wall of the shell and is used to set the bottom moving platform, thereby driving the bottom moving platform to move horizontally;

[0021] The top moving device is arranged on the inner side of the top wall of the shell body and is used to arrange the top moving platform, thereby driving the top moving platform to move horizontally.

[0022] Optionally, the target simulation device further comprises:

[0023] The translation control device is connected to the bottom moving device and the top moving device respectively, and is configured to control the bottom moving device or the top moving device to translate, thereby adjusting the position of the moving platform.

[0024] Optionally, the two test radio frequency front ends are respectively arranged on placement planes corresponding to different mobile stations;

[0025] The target radar under test is set to have its own height at the same height as the center of the test RF front end placed on the bottom mobile platform, and the target radar under test is configured to calculate the horizontal angle and the pitch angle formed by the center point of the two test RF front ends to the target radar under test.

[0026] Optionally, the two test radio frequency front ends are arranged in a horizontal direction on a placement plane of the same mobile station;

[0027] The target radar under test is set to have its own height and the center of the test RF front end at the same height position, and the target radar under test is configured to calculate the horizontal angle formed by the center point of the two test RF front ends to the target radar under test.

[0028] Optionally, one or more test radio frequency front ends are respectively arranged on placement planes corresponding to different mobile stations;

[0029] The test system also includes:

[0030] The interference RF front end is arranged on a placement plane where one of the test RF front ends is located, and is connected to a signal generator, the signal generator is configured to set the frequency of the test signal to the interference signal frequency point, and the interference RF front end is configured to transmit the interference signal;

[0031] The substitute antenna is arranged at the position where the target radar under test is located, and is used to replace the target radar under test. The substitute antenna is connected to the spectrum analyzer through a mixer. The center of the substitute antenna corresponds to the main lobe of the antenna of the interference RF front end. The spectrum analyzer is configured to calculate the path loss of the interference signal.

[0032] Optionally, the radar device under test further includes:

[0033] A fixture is arranged on the guide rail, the fixture is used to clamp the target radar under test, and is configured to perform multi-dimensional adjustment on the target radar under test, the multi-dimensionality including vertical direction, pitch angle and horizontal rotation;

[0034] The base also includes: wave absorbing materials, which are arranged on both sides of the guide rails in the base to reduce the reflection of radar waves.

[0035] Optionally, it also includes:

[0036] A radar information processing device, the radar information processing device is connected to the target radar under test and is used to process the test signal received by the target radar under test;

[0037] The radar information processing device includes: a host computer, which is configured to determine the position of the test radio frequency front end according to the test signal and calculate the frame ratio of the tested target radar to stably distinguish the test radio frequency front end.

[0038] The radar target detection test system of the present invention is provided with a guide rail in its length direction; the target simulation device is slidably arranged on the guide rail, and the target simulation device includes a plurality of mobile platforms arranged along the height direction of the target simulation device, and the mobile platform is configured to translate in a direction perpendicular to the guide rail at its height position; one or more test RF front ends can be selectively arranged on the mobile platform and configured to receive and send test signals; the radar device under test can also be slidably arranged on the guide rail, spaced from the target simulation device along the guide rail, and used to arrange the target radar under test, so as to adjust the test distance by moving the target simulation device and the radar device under test on the guide rail. The scheme of the present invention can ignore the width of the RF front end itself, thereby reducing the detection cost and space usage of the millimeter wave radar. And it can be upgraded on the basis of the 3D millimeter wave radar detection method, which is suitable for the detection of 3D millimeter wave radar and 4D millimeter wave radar, and achieves good compatibility, saves cost and space usage, and realizes the compatibility of multiple test functions.

[0039] Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will become more aware of the above and other objects, advantages and features of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0041] Figure 1 It is a schematic diagram of a radar multi-target angle detection system in the prior art;

[0042] Figure 2 is a schematic diagram of a test system for 4D millimeter wave radar target detection according to an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of the position of a test system for 4D millimeter wave radar target detection according to an embodiment of the present invention;

[0044] Figure 4 is a schematic diagram of a test system for 3D millimeter wave radar target detection according to an embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of a test system for radar target detection according to another embodiment of the present invention; and

[0046] Figure 6 It is a schematic diagram of the structure of a radio frequency front end according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] It should be understood by those skilled in the art that the embodiments described below are only some embodiments of the present invention, rather than all embodiments of the present invention, and these embodiments are intended to explain the technical principles of the present invention, rather than to limit the protection scope of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should still fall within the protection scope of the present invention.

[0048] It should be noted that the logic and / or steps represented in the flowchart or described in other ways herein can be considered as a sequenced list of executable instructions for implementing logical functions, which can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or equipment (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or equipment and execute instructions), or used in combination with these instruction execution systems, devices or equipment.

[0049] It should be understood by those skilled in the art that the embodiments described below are only some embodiments of the present invention, rather than all embodiments of the present invention, and these embodiments are intended to explain the technical principles of the present invention, rather than to limit the protection scope of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should still fall within the protection scope of the present invention.

[0050] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0051] Furthermore, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] 4D (four dimension) millimeter wave radar refers to a radar that can measure the distance, speed, horizontal angle, and pitch angle of a target. Compared with traditional 3D millimeter wave radars, the upgraded design of 4D millimeter wave radars in antennas and other aspects has improved performance in many aspects. Among them, the two most important changes are that in terms of horizontal angle resolution, 4D millimeter wave radars can achieve at least 1° azimuth angle resolution, which can better distinguish adjacent objects. Traditional 3D millimeter wave radars are basically unable to recognize targets below 5°. Second, at a vertical height, target recognition at a certain pitch angle can also be achieved, such as the recognition and distinction between viaducts and ground objects. However, 3D millimeter wave radars generally have no antenna arrangement in the longitudinal direction, so they cannot identify pitch angle targets, and it is difficult to distinguish between high objects and ground vehicles. Due to the precise target recognition capability of 4D millimeter wave radars, a more accurate test system is required to achieve the recognition of simulated targets.

[0053] According to the angle accuracy test requirements in the multi-target resolution test specified in the current Chinese automotive industry standard "Performance Requirements and Test Methods for Automotive Millimeter-Wave Radars", two RF front-end modules with transceiver antennas need to be placed at a certain angle at the front end of the millimeter-wave radar under test. However, since the 4D millimeter-wave radar can identify horizontal angles of less than 1°, the distance between the two RF front-end modules needs to be very close. According to the size of the RF front-end modules of existing millimeter-wave radars, even if they are completely close, there needs to be a long distance between the module and the radar under test. This results in the required darkroom length being at least 15 meters, which increases the space and cost of the test, as well as problems such as poor test accuracy due to the long distance.

[0054] Figure 1 Schematic diagram of radar multi-target angle detection system in the prior art. Figure 1As shown, in the prior art, a radar target simulator is placed at one end of a darkroom, and the host of the radar target simulator can be configured with multiple channels. Here, two channels are taken as an example, and two sets of RF front-end modules 1 and 2 are respectively connected to simulate two targets A and B. Among them, each RF front-end module has a pair of TxANT (Transmit Antenna) and Rx ANT (Receive Antenna) transceiver antennas. The other end of the darkroom is the radar under test and its host computer software. In the setting interface of the radar target simulator, two stationary targets with radar cross-sections (RCS for short) of 10dBsm are set, located at the same distance, and symmetrical relative to the normal line OR of the radar under test. Fix target A and move target B closer to target A (the distance between the two targets and the measured radar remains unchanged) until the number of frames in which the measured radar can stably distinguish the two targets within 100-500 consecutive frames is less than 90%, and record the angle φ1 between the two targets and the measured radar at this time; then move target B away from target A (the distance between the two targets and the measured radar remains unchanged) until the number of frames in which the measured radar can stably distinguish the two targets within 100-500 consecutive frames reaches 90% or more, and record the angle φ2 between the two and the measured radar; calculate the angular resolution as (φ1+φ2) / 2.

[0055] The problem with the above measurement system method is that when the angle between the two targets is very small, such as 1°, it is impossible to build a test environment that meets the angle condition in a darkroom space of limited length. Figure 1 When the angle φ=1°, the distance between the radar under test and the center point O of the RF front end is D, then OA is the distance from point O to the center of the RF front end of target A, recorded as D1; ​​OB is the distance from point O to the center of the RF front end of target B, recorded as D2. Since the distances between the two targets and the center point R of the radar antenna under test must be the same, AR=BR, then D1=D2=D×tan(φ / 2)=3×tan(0.5°)≈0.026m=26mm. The geometric dimensions of the RF front end of a general radar simulator are approximately 162.50mm(L)x76mm(H)x131.50mm(W), which is also the size of the RF front end of a general automotive millimeter-wave radar target simulator. So even if Figure 1If the RF front-ends 1 and 2 are placed next to each other, the shortest distance D1+D2 from A to B needs to be 131.5mm, then D1=D2=65.75mm. At this time, if you want to meet the target angle measurement of 1°, then D=65.75mm / tan(0.5°)≈7.5m; if you need to measure the target angle less than 1°, such as 0.5°, then D=65.75mm / tan(0.25°)≈15m. Obviously, the multi-target angle test of 4D radar has increased the size requirements of the darkroom several times compared with the traditional 3D radar. Since the angle of the traditional 3D radar only needs 5°, according to the above calculation, only 1.5 meters of darkroom space is needed, while 4D needs to be expanded to more than 8-15 meters. This greatly increases the test verification cost of the laboratory, and such a huge site is not convenient for construction and layout, which increases the difficulty of testing and reduces accuracy.

[0056] In order to realize the test of 4D millimeter wave radar in a limited space, the present invention proposes a test system such as Figure 2 As shown, Figure 2 4D millimeter wave radar target detection test system according to an embodiment of the present invention, which includes a base 210, a target simulation device, two test RF front ends and a radar device under test.

[0057] The base 210 is provided with a guide rail 211 in its length direction. The guide rail 211 is an important physical support structure of the entire test system. It provides a track for the movement of the target simulation device and the radar device under test, ensuring their stability and linearity during the movement. The accuracy of the guide rail 211 directly affects the accuracy of the test distance adjustment and the reliability of the entire test system. The existence of the guide rail 211 enables the target simulation device and the radar device under test to be accurately adjusted in the horizontal direction, so as to achieve the setting of different test distances and simulate the relative position relationship between the radar and the target in different scenarios. By moving on the guide rail 211, dynamic processes such as approaching and moving away from the radar and the target, as well as static detection scenes at different distances can be simulated.

[0058] The base 210 is also provided with an absorbing material 212, which is arranged on both sides of the guide rail 211 in the base 210 to reduce the reflection of radar waves. When the radar is working, the emitted radar waves propagate to the surrounding space. In the test environment, if there are no appropriate absorbing measures, the radar waves are prone to reflection when encountering objects such as metal and walls. These reflected waves will be reflected and superimposed multiple times in the test space to form complex interference signals. When the radar under test receives the signal, in addition to the real simulation signal from the target simulation device, these reflected waves will also be received. This will cause a large amount of noise and false information to be mixed into the signal obtained by the radar, making it difficult for the radar to accurately distinguish the echo signal of the real target, thereby affecting the accurate measurement of parameters such as target distance, speed, angle, etc., and reducing the accuracy and reliability of the test results. In this test system, the absorbing material 212 arranged on both sides of the guide rail 211 can effectively absorb the energy of the radar wave. The presence of the absorbing material 212 can create a relatively quiet electromagnetic environment, reduce the cluttered signals generated by the reflection of the radar wave, and enable the test system to more realistically simulate the signal interaction process between the radar and the target in the actual application scenario. This not only helps to improve test accuracy, but also enables the test results to more accurately reflect the performance of the radar under test in actual use, providing more reliable data support for radar research and development, improvement and performance evaluation.

[0059] The target simulation device is slidably arranged on the guide rail 211, and the target simulation device includes a plurality of mobile platforms arranged along the height direction of the target simulation device, and the mobile platforms are configured to translate in a direction perpendicular to the guide rail 211 at the height position thereof; and two test radio frequency front ends are selectively arranged on the mobile platforms and configured to receive and send test signals. The target simulation device is slidably arranged on the guide rail 211, which means that it can move freely along the guide rail 211, so as to conveniently change the distance between it and the radar device under test. This slidable connection mode enables the test system to easily adapt to the detection distance requirements of different radars, and flexibly adjust the test parameters during the test process. The plurality of mobile platforms arranged along the height direction of the target simulation device provide a carrier for the installation of the test radio frequency front end, and each mobile platform is configured to translate in a direction perpendicular to the guide rail 211 at the height position thereof. This design greatly increases the flexibility of the position adjustment of the test RF front end. Not only can the position be changed in the horizontal direction by sliding the target simulation device on the guide rail 211, but also fine-tuning can be performed in the direction perpendicular to the guide rail 211, so that more target scenes with different positions, angles and distributions can be simulated. Through the coordinated work of multiple mobile stations, the spatial positions of the two test RF front ends can be accurately adjusted to simulate various complex target distribution situations.

[0060] The target simulation device also includes: a target simulator, which is connected to the test RF front end and is used to generate and process test signals and transmit and receive through the test RF front end. The test signals generated and processed by the target simulator are transmitted through the line connected to the test RF front end. After receiving these signals, the test RF front end converts them from baseband signals to RF signals suitable for propagation in space. This conversion process is crucial because only RF signals can be transmitted by the antenna to simulate the reflection of radar signals by real targets. At the receiving end, the test RF front end converts the received radar reflected RF signals back to baseband signals, and then transmits them to the target simulator for subsequent analysis and processing. For example, in the automotive millimeter wave radar test, the baseband signal output by the target simulator is converted into a millimeter wave frequency band RF signal by the test RF front end and transmitted. After being received by the radar under test, the reflected RF signal is converted back to a baseband signal by the test RF front end for further processing by the target simulator.

[0061] The two test RF front ends can be selectively arranged on the mobile station. This means that operators can choose to install the test RF front ends on different mobile stations according to specific test requirements to achieve different target simulation scenarios. This optional installation method increases the flexibility and adaptability of the test system and can meet the test requirements of various types of radars.

[0062] In some optional embodiments, the target simulation device may also generally include: a housing 223, the interior of the housing 223 defines a space for arranging a mobile station and a test RF front end, and the housing 223 is provided with an opening on the side opposite to the radar device under test. This space design can provide a stable installation environment for the mobile station and the test RF front end. The mobile station needs to perform precise mobile operations in a specific space to simulate the position changes of different targets. As a key component for simulating the transmission and reception of target signals, the test RF front end also needs to work in a relatively stable and protected space to ensure that its performance is not interfered with by the external environment.

[0063] The shell 223 is provided with an opening on the side opposite to the radar device under test. When the radar under test transmits radar waves, the radar waves need to pass through this opening to reach the test RF front end inside the target simulation device. After receiving the radar wave, the test RF front end processes and modulates it according to the preset target parameters, and then transmits the simulated target echo signal through the opening to be received by the radar under test. The existence of the opening ensures that the radar wave can smoothly enter and exit the target simulation device, ensuring the effective transmission of the signal. In addition, the opening also provides convenience for the adjustment and maintenance of the internal components of the target simulation device. Technicians can easily install, disassemble, debug and repair the mobile station and the test RF front end through the opening. For example, when it is necessary to replace a certain component of the test RF front end or to check the transmission device of the mobile station, the technician does not need to open the entire shell 223, and can only operate through the opening, saving time and energy and improving work efficiency. At the same time, the existence of the opening is also convenient for observing and monitoring the working status of the internal components during the test process, and timely discovering and handling problems.

[0064] like Figure 2 As shown, the moving platform includes a top moving platform 222 and a bottom moving platform 221. The target simulation device may also generally include: a bottom moving device, a top moving device and a translation control device 224. The bottom moving device is arranged on the inner side of the bottom wall of the shell 223, and is used to set the bottom moving platform 221, thereby driving the bottom moving platform 221 to translate; the top moving device is arranged on the inner side of the top wall of the shell 223, and is used to set the top moving platform 222, thereby driving the top moving platform 222 to translate; the translation control device 224, the translation control device 224 is respectively connected to the bottom moving device and the top moving device, and is configured to control the bottom moving device or the top moving device to translate, thereby adjusting the position of the moving platform. The bottom moving device and the top moving device are generally composed of a motor, a transmission mechanism, a guide rail 211 and other parts. The translation control device 224 may generally be as follows Figure 2 The control knob shown may also be an electric adjustment device, which may be connected to the mobile device one-to-one or centrally controlled. Those skilled in the art may decide the specific type and connection relationship of the translation control device 224 according to actual conditions.

[0065] In some other optional embodiments, the target simulation device may also generally include: a support plate 225 extending upward from the bottom of the housing 223 to a set height. A rangefinder 225 is provided on the support plate 225 and is used to measure the horizontal distance between the antenna of the test RF front end and the target radar under test. Since the support plate 225 is used to install the rangefinder 225 to ensure that the rangefinder 225 can align and measure the target radar under test, Figure 2In the test scenario shown, the height to which the support plate 225 extends can generally be the center height position of the RF front end 230 and the RF front end 240 in the horizontal direction, which can facilitate the alignment and measurement of the rangefinder 225. The rangefinder 225 can generally be a laser rangefinder, and those skilled in the art can determine the specific value of the set height and the specific type of the rangefinder according to actual conditions.

[0066] The radar device under test can also be slidably arranged on the guide rail 211, spaced apart from the target simulation device along the guide rail 211, and used to arrange the target radar 251 under test, so that the test distance can be adjusted by moving the target simulation device and the radar device under test on the guide rail 211. This installation method enables the radar device under test to move relative to the target simulation device on the guide rail 211, so as to conveniently adjust the test distance between the two. At the same time, a certain distance is maintained from the target simulation device, ensuring that during the test process, the signal emitted by the radar can accurately reach the target simulation device and receive the signal reflected from the target simulation device, thereby avoiding the influence of signal interference and attenuation on the test results.

[0067] The radar device under test also includes a clamp 252, which is arranged on the guide rail 211. The clamp 252 is used to clamp the target radar 251 under test and is configured to perform multi-dimensional adjustment on the target radar 251 under test, including vertical direction, pitch angle and horizontal rotation.

[0068] The test system also includes a radar information processing device, which is connected to the target radar under test and is used to process the test signal received by the target radar under test. The radar information processing device generally includes: a host computer, which is generally configured to determine the position of the test RF front end according to the test signal and calculate the frame ratio of the target radar under test to stably distinguish the test RF front end.

[0069] In some optional embodiments, the specific implementation process of the present scheme for 4D radar testing includes: two test RF front ends are respectively arranged on placement planes corresponding to different mobile platforms, that is, the test RF front end 230 is arranged on the placement plane corresponding to the bottom mobile platform 221, and the test RF front end 240 is arranged on the placement plane corresponding to the top mobile platform 222; the target radar under test is set to have its own height and the same height position as the center of the test RF front end 230 placed on the bottom mobile platform 221, and the target radar under test is configured to calculate the horizontal angle and the pitch angle formed by the center point of the two test RF front ends to the target radar under test.

[0070] During the test process, the top moving device and the bottom moving device are adjusted respectively through the translation control device 224, and the top moving platform 222 and the bottom moving platform 221 will move accordingly, thereby driving the test RF front end 240 on the plane where they are placed to move, so that the center points of the test RF front end 230 and the test RF front end 240 reach the required distance in the horizontal direction, so that the horizontal angle between the two test RF front ends and the target radar under test reaches the required angle.

[0071] An optional testing method includes:

[0072] Step S101: sending a signal to be tested through two test radio frequency front ends.

[0073] Step S102: receiving a signal to be tested according to the target radar under test, and distinguishing two test RF front ends according to the signal to be tested.

[0074] Step S103, recording the frame ratio of the target radar under test to stably distinguish between the two test RF front ends.

[0075] Step S104: at the height position of any test RF front end, translate it in a direction perpendicular to the guide rail to make it closer to the other test RF front end until the frame number ratio of the target radar under test to distinguish the two test RF front ends is lower than the preset threshold, and record the first angle value corresponding to the horizontal angle between the two test RF front ends and the target radar under test in the horizontal direction at this time, wherein the horizontal direction is the direction perpendicular to the guide rail at the height position of the test RF front end itself.

[0076] Step S105, at the height position of any test RF front end itself, translate it in a direction perpendicular to the guide rail to move it away from the other test RF front end until the frame number ratio at which the target radar under test distinguishes the two test RF front ends reaches a preset threshold, and record the second angle value corresponding to the horizontal angle between the two test RF front ends and the target radar under test in the horizontal direction.

[0077] Step S106, substituting the first angle value and the second angle value into a preset formula to calculate the angle resolution of the radar of the measured target, wherein an optional example of the preset formula is (φ1+φ2) / 2. The person skilled in the art can select the corresponding calculation method to obtain the angle resolution according to the actual situation.

[0078] Through this method, the angular resolution of the target radar under test can be tested with the help of the test system of the present invention, and the size of the RF front end itself can be ignored. The distance between the target radar under test and the target simulation device will not be too large due to the size of the RF front end itself. It is also suitable for 3D millimeter-wave radar and 4D millimeter-wave radar detection, thereby reducing radar detection costs and space requirements.

[0079] And because the test RF front end 240 moves up to the top mobile platform 222, the vertical projection point O formed by its center point at the same height position of the test RF front end 230, and the horizontal angle φ formed by the center point of the test RF front end 230 and the target radar 251 under test will be reduced, thereby obtaining the required horizontal angle. Since there is a height difference between the test RF front end 230 and the test RF front end 240 in the vertical direction, this structure can simultaneously measure the resolution capability of the 4D radar in the pitch direction.

[0080] In some other optional embodiments, the test method for the measured target radar at the pitch angle may generally include:

[0081] Step S201, obtaining the pitch angle to be measured.

[0082] Step S202, calculating the target distance between the target radar under test and the test RF front end on the guide rail according to the height difference and the pitch angle to be measured.

[0083] Step S203, moving and adjusting the target simulation device and the radar device under test on the guide rail until the distance between the target radar under test and the test RF front end reaches the target distance.

[0084] Step S204: sending a signal to be tested through two test RF front ends.

[0085] Step S205, processing the signal to be tested received by the target radar under test, and judging whether the frame ratio of the target radar under test to stably distinguish the two test RF front ends reaches a preset threshold according to the processing result.

[0086] Step S206, when the judgment in step S205 is yes, it is determined that the target radar under test meets the test requirements.

[0087] In some further optional embodiments, the testing method of the target radar under test at the pitch angle may generally further include:

[0088] Step S301: sending a signal to be tested through two test radio frequency front ends.

[0089] Step S302: receiving a signal to be tested according to the target radar under test, and distinguishing two test RF front ends according to the signal to be tested.

[0090] Step S303, recording the frame ratio of the target radar under test that stably distinguishes the two test RF front ends in the vertical direction, wherein the vertical direction is a direction vertically perpendicular to the guide rail.

[0091] Step S304, move any test RF front end in the vertical direction to approach the other test RF front end or increase the distance between the target radar under test and the target simulation device, thereby reducing the pitch angle between the two test RF front ends and the target radar under test in the vertical direction, until the frame number proportion that the target radar under test distinguishes the two test RF front ends is lower than a preset threshold, and record the first pitch angle value corresponding to the pitch angle between the two test RF front ends and the target radar under test in the vertical direction at this time.

[0092] Step S305, move any test RF front end away from the other test RF front end in the vertical direction or reduce the distance between the target radar under test and the target simulation device, thereby increasing the pitch angle between the two test RF front ends and the target radar under test in the vertical direction, until the frame number ratio in which the target radar under test distinguishes the two test RF front ends reaches a preset threshold, and record the second pitch angle value corresponding to the pitch angle between the two test RF front ends and the target radar under test in the vertical direction at this time.

[0093] Step S306, substituting the first pitch angle value and the second pitch angle value into a preset formula to calculate the pitch angle resolution of the measured target radar, wherein an optional example of the preset formula is (φ1+φ2) / 2. The person skilled in the art can select the corresponding calculation method to obtain the angle resolution according to the actual situation.

[0094] To make it more clear Figure 2 The calculation process of the test system shown in the figure is a specific example. Figure 3 As shown, Figure 3 Schematic diagram of the position of a test system for 4D millimeter wave radar target detection according to an embodiment of the present invention. Figure 3 The RF front end 1 is Figure 2 The test RF front end 230 in the RF front end 2 is Figure 2In the test RF front end 240, when the RF front end 2 moves to the placement plane of the top mobile platform 222, the position of the RF front end 2 moves up. At this time, if the horizontal angle between the two is calculated, it is only necessary to take the vertical projection point O formed by the center point of the RF front end 2 at the same height position of the RF front end 1 as the center point of the RF front end 2, and the size of the RF front end 1 and the RF front end 2 equipment itself can be ignored, thereby continuing to reduce the distance between BO, and thus obtaining the required horizontal angle φ = ∠BRO. Since there is a height difference between the RF front end 1 and the RF front end 2 in the vertical direction, this structure can also measure the resolution of the 4D radar in the pitch direction. In some optional embodiments, the 4D millimeter wave radar can distinguish between ground objects and overpasses at 150 meters. Generally, the bridge deck height is calculated as 6 meters, and tan∠ARO should be less than 0.04, but the general test RF front end height is about 76mm, that is, OA = 0.076m, if OR = 3m, then tan∠ARO = 0.025 is calculated, which meets the requirement of less than 0.04. If the resolution of a general 4D radar at an elevation angle is better than 2°, ∠ARO can be less than 1.5°. If this angle needs to be increased, there are two ways to adjust it. The first is to adjust the position of the target radar 251 on the guide rail 211 to make it close to the RF front end; the second is to increase the size of ∠ARO by adding a partition between the bottom moving platform 221 and the top moving platform 222 to increase the distance of OA.

[0095] pass Figure 2 The test system shown, on the one hand, can ignore the size of the test RF front-end device itself and continue to reduce the distance between the center points of the two, so that there is no need to increase the distance between the radar under test and the test RF front-end, so that smaller angles can be tested. On the other hand, pitch angle tests can be performed, thereby meeting the test requirements of 4D millimeter-wave radar in a limited space.

[0096] In addition, the test system of the present invention can meet the test requirements of 3D millimeter-wave radar while meeting the test requirements of 4D millimeter-wave radar. Figure 4 This is a schematic diagram of a test system for 3D millimeter-wave radar target detection according to an embodiment of the present invention. First, since the 3D radar cannot recognize the pitch angle in the vertical direction, the two test RF front ends are arranged horizontally on the placement plane of the same mobile station, thereby ensuring that the antennas of the two sets of test RF front ends are at the same horizontal height. At the same time, the target radar under test is set to have its own height and the center of the test RF front end at the same height position, and the target radar under test is configured to calculate the horizontal angle formed by the center point of the two test RF front ends to the target radar under test. In the test system configured in this way, the center point of the test RF front end and the target radar under test are in the same horizontal plane during the test, and their positional relationship is the same as that of the test RF front end. Figure 1The positional relationship shown in FIG is the same. Since the distance between the two test RF front ends is fixed, the angle φ can be calculated according to the distance D between the target radar 251 and the test RF front end antenna surface. In addition, the positions of the two test RF front ends in the horizontal direction can be adjusted to adjust the angle φ to adapt to multi-target tests under different angles. Therefore, by Figure 4 The test system shown can also meet the test requirements of 3D millimeter-wave radar.

[0097] Figure 5 FIG. 1 is a schematic diagram of a test system for radar target detection according to another embodiment of the present invention. Figure 5 The test system shown is Figure 2 and Figure 4 The difference is that the interference RF front end 260 and the replacement antenna are added. This design can test the anti-interference performance of the radar receiver, such as radar receiver blocking test. Figure 5 When the test system shown is tested, it is necessary to calibrate the power of the interference signal emitted by the interference RF front end 260 in advance, so one or more test RF front ends are respectively set on the placement planes corresponding to different mobile stations; the test system of the present invention can generally also include: an interference RF front end 260 and an alternative antenna.

[0098] The interference RF front end 260 is arranged on the placement plane where one of the test RF front ends is located, and is connected to a signal generator. The signal generator is configured to set the frequency of the test signal to the interference signal frequency point, and the interference RF front end 260 is configured to transmit the interference signal. The main task of the interference RF front end 260 is to transmit the interference signal. In actual radar application scenarios, radars are often subject to various external interferences, such as signal interference from other wireless devices. By transmitting interference signals, the test system can simulate the real interference environment, thereby evaluating the performance of the target radar under such interference conditions. The interference RF front end 260 is arranged on the placement plane where one of the test RF front ends is located. Such a layout design helps to simulate the scene where the interference signal and the target simulation signal exist at the same time in the same plane, making the test environment closer to the actual situation. It is connected to a signal generator, and the signal generator can accurately set the frequency of the test signal to the interference signal frequency point. In this way, the frequency of the interference signal can be flexibly adjusted according to different test requirements to simulate the interference signals emitted by various actual interference sources.

[0099] The substitute antenna is set at the position where the target radar is located, used to replace the target radar, and is connected to the spectrum analyzer through a mixer. The center of the substitute antenna corresponds to the main lobe of the antenna of the interference RF front end 260, and the spectrum analyzer is configured to calculate the path loss of the interference signal. The substitute antenna is set at the position where the target radar is originally located. The choice of this position ensures that it can accurately receive the interference signal emitted by the interference RF front end 260, just like the target radar receives the signal in actual work. It is connected to the spectrum analyzer through a mixer. This connection method enables the interference signal received by the substitute antenna to be frequency-converted through the mixer, and the received RF signal is converted into an intermediate frequency signal suitable for spectrum analyzer analysis. The spectrum analyzer is responsible for detailed analysis of the processed signal. The center of the substitute antenna corresponds to the main lobe of the antenna of the interference RF front end 260. This correspondence ensures the accuracy and effectiveness of receiving the interference signal. Because the main lobe of the antenna is the direction in which the antenna radiates or receives the strongest signal, the correspondence between the centers of the two can maximize the reception of the interference signal emitted by the interference RF front end 260. The spectrum analyzer is configured to calculate the path loss of the interference signal, which is an important parameter for evaluating the interference effect. Path loss reflects the energy loss of the interference signal during the propagation process from the transmitting end (interference RF front end 260) to the receiving end (alternative antenna). By calculating the path loss, the propagation characteristics of the interference signal in the test environment can be understood, and then the actual impact of the interference signal on the target radar under test can be evaluated.

[0100] Optionally, the calibration operation generally includes: 1. Fixing the position and angle of the interference RF front end 260. 2. At the radar end of the measured radar on the guide rail 211, replace the current measured radar with an alternative antenna. 3. Align the antenna main lobe direction of the interference RF front end 260 with the center of the alternative antenna. 4. The interference RF front end 260 is connected to the signal generator, and the alternative antenna is connected to the spectrum analyzer through a mixer. 5. The signal generator sets the signal frequency to the interference signal frequency, turns on the RF output, and observes the corresponding frequency power reading on the spectrum analyzer at this time. By removing the influence of the gain of the alternative antennas at both ends, the path loss of the interference signal can be obtained. 6. Remove the alternative antenna, replace it with the radar under test, and use the path loss obtained above to compensate for the output power of the signal source, and then test the interference signal.

[0101] After the calibration is completed, when used for 3D radar testing interference signals, the test RF front end 240 on the top mobile platform 222 is removed. When used for 4D radar testing interference signals, the test RF front end 240 on the top mobile platform 222 can be used, and the test method is the same as that of the 3D radar. However, the test RF front end 240 on the top mobile platform 222 can also be retained. At this time, it can be examined whether the 4D radar can successfully identify two targets with a small angle in the presence of interference signals.

[0102] The present invention greatly reduces the detection cost and space usage of 4D millimeter wave radar from the perspective of target detection performance. It can be upgraded on the basis of the 3D millimeter wave radar detection method, and is applicable to both 3D millimeter wave radar detection and 4D millimeter wave radar detection, achieving good compatibility, saving cost and space usage. It also realizes the compatibility of multiple test functions.

[0103] In other optional embodiments, in addition to the above-mentioned 3D and 4D radar angle test and anti-interference test, the test system of the present invention is also applicable to the detection distance of 3D or 4D millimeter wave radar, the range and accuracy test of target speed, etc. No further details will be given here, and those skilled in the art can adjust the number and position of the test RF front end according to actual conditions to perform corresponding tests.

[0104] It should be noted that the test system provided in the present invention is suitable for Figure 3 The dimensions of the test RF front end of the common target simulator described in . If the shape and size of the test RF front end are as follows Figure 6 As shown, H is greater than L, Tx and Rx antennas are distributed up and down, and L can be controlled within 52mm (assuming Figure 3 If the distance of the AR is 3m, then it is available for testing only the horizontal angle resolution of the 4D radar. And the two test RF front ends can be as follows Figure 4 The placement method does not require a two-layer platform. However, if you need to test the pitch angle resolution, you need to consider the size of H. If H can be controlled within 105mm (assuming Figure 3 If the distance of AR is 3m), you can use Figure 2 The above dimensions all need to correspond to the length of the guide rail 211. Therefore, in the actual test process, those skilled in the art can adjust the length of the guide rail 211 and the distance between the bottom mobile platform 221 and the top mobile platform 222 according to the actual situation under the premise of the same overall system architecture design to complete the radar test with test RF front ends of different shapes and sizes.

[0105] At this point, those skilled in the art should recognize that, although multiple exemplary embodiments of the present invention have been shown and described in detail herein, many other variations or modifications that conform to the principles of the present invention can still be directly determined or derived based on the content disclosed in the present invention without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should be understood and recognized as covering all these other variations or modifications.

Claims

1. A radar target detection test system, characterized in that: include: A base having a guide rail arranged in the length direction thereof; A target simulation device is slidably disposed on the guide rail, and the target simulation device includes a plurality of movable platforms arranged along the height direction of the target simulation device, and the movable platforms are configured to translate in a direction perpendicular to the guide rail at their height positions; one or more test radio frequency front ends, optionally disposed on the mobile station and configured to transmit and receive test signals; The radar device under test can also be slidably arranged on the guide rail, spaced apart from the target simulation device along the guide rail, and used to arrange the target radar under test, so that the test distance can be adjusted by moving the target simulation device and the radar device under test on the guide rail.

2. The radar target detection test system according to claim 1, characterized in that: The target simulation device also includes: A shell body, wherein a space for arranging the mobile station and the test radio frequency front end is defined inside the shell body, and the shell body is provided with an opening on a side opposite to the radar device under test.

3. The radar target detection test system according to claim 2, characterized in that: The target simulation device also includes: A support plate extending upward from the bottom of the housing to a set height; A rangefinder, arranged on the support plate, for measuring the horizontal distance between the antenna of the test RF front end and the target radar under test; A target simulator is connected to the test radio frequency front end and is used to generate and process the test signal and transmit and receive the test signal through the test radio frequency front end.

4. The radar target detection test system according to claim 2, characterized in that: The mobile station includes a top mobile station and a bottom mobile station; The target simulation device also includes: A bottom moving device, arranged on the inner side of the bottom wall of the shell, and used to set the bottom moving platform, thereby driving the bottom moving platform to move horizontally; The top moving device is arranged on the inner side of the top wall of the shell and is used to set the top moving platform, thereby driving the top moving platform to move horizontally.

5. The radar target detection test system according to claim 4, characterized in that: The target simulation device also includes: A translation control device is connected to the bottom moving device and the top moving device respectively, and is configured to control the bottom moving device or the top moving device to translate, thereby adjusting the position of the moving platform.

6. The radar target detection test system according to claim 4, characterized in that: The two test radio frequency front ends are respectively arranged on placement planes corresponding to different mobile stations; The target radar under test is set to have its own height at the same height position as the center of the test RF front end placed on the bottom mobile platform, and the target radar under test is configured to calculate the horizontal angle and the pitch angle formed by the center points of the two test RF front ends to the target radar under test.

7. The radar target detection test system according to claim 1, characterized in that: The two test radio frequency front ends are arranged horizontally on the placement plane of the same mobile station; The target radar under test is set to have its own height at the same height position as the center of the test RF front end, and the target radar under test is configured to calculate the horizontal angle formed by the center point of the two test RF front ends to the target radar under test.

8. The radar target detection test system according to claim 1, characterized in that: One or more of the test radio frequency front ends are respectively arranged on placement planes corresponding to different mobile stations; The test system further comprises: An interference RF front end is arranged on a placement plane where one of the test RF front ends is located, and is connected to a signal generator, wherein the signal generator is configured to set the frequency of the test signal as the interference signal frequency point, and the interference RF front end is configured to transmit an interference signal; A replacement antenna is arranged at the position where the target radar under test is located, used to replace the target radar under test, and is connected to a spectrum analyzer through a mixer. The center of the replacement antenna corresponds to the antenna main lobe of the interfering RF front end. The spectrum analyzer is configured to calculate the path loss of the interfering signal.

9. The radar target detection test system according to claim 1, characterized in that: The radar device under test also includes: A fixture is arranged on the guide rail, the fixture is used to clamp the target radar under test, and is configured to perform multi-dimensional adjustment on the target radar under test, wherein the multi-dimensional adjustment includes vertical direction, pitch angle and horizontal rotation; The base also includes: wave absorbing materials, which are arranged on both sides of the guide rail in the base to reduce the reflection of radar waves.

10. The radar target detection test system according to claim 1, characterized in that: Also includes: A radar information processing device, the radar information processing device is connected to the measured target radar and is used to process the test signal received by the measured target radar; The radar information processing device includes: a host computer, which is configured to determine the position of the test radio frequency front end according to the test signal, and calculate the frame ratio of the tested target radar to stably distinguish the test radio frequency front end.

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