A millimeter wave radar rapid function detection method and device

Abstract

The present invention belongs to the field of radar detection, and relates to a method and device for rapid function detection of a millimeter-wave radar. The method detects the performance parameters of a millimeter-wave radar radio frequency front end through echo spectrum analysis, analyzes the health status of a radar signal chain and outputs a logic judgment value, so as to help quickly screen abnormal problems in signal propagation capability. On the basis of the output of the logic judgment value being 1, a virtual target tracking test is carried out, and a tracking confidence evaluation matrix is ​​constructed by integrating tracking accuracy, tracking efficiency, and clustering accuracy, and a performance function is fitted to control the tracking extreme value of radar target density. Then, an environmental interference test is carried out, and the degradation of target tracking performance is analyzed by comprehensively analyzing the tracking confidence attenuation, the false alarm rate increment, and the tracking convergence time, and the extreme value of radar interference intensity strain is clarified. By comparing the application scenario specifications and standards, it is determined whether the millimeter-wave radar function detection meets the standards, so as to achieve rapid function detection and provide comprehensive data support for radar performance evaluation.

Description

Technical Field

[0001] The present invention belongs to the field of radar detection, and in particular, relates to a method and a device for rapid function detection of a millimeter wave radar. Background Art

[0002] As a high-frequency target detection technology, millimeter-wave radar has achieved large-scale application in the fields of intelligent transportation, industrial automation, security monitoring, aerospace, etc. with its high frequency, high resolution and strong penetration characteristics. With the iteration of technology and the expansion of scenarios, its reliability and performance directly affect system safety, production efficiency and public safety. Therefore, the functional detection of millimeter-wave radar has become a core requirement to ensure stable operation.

[0003] In the prior art, there are also some solutions related to the function detection of millimeter-wave radars. For example, a millimeter-wave radar detection system with Chinese patent publication number CN219871755U includes: a host computer module for simulating a controller inside a car. A CAN module, through which the host computer module conducts wired data communication with the millimeter-wave radar to confirm the status of the millimeter-wave radar. A programmable power supply module, which can test the function of the millimeter-wave radar under different voltage states under the control of the host computer module. A current grading module, for collecting the actual current consumption of the millimeter-wave radar, and a temperature sensor module, for collecting the temperature of the surrounding environment. This solution can efficiently and accurately detect millimeter-wave radars in various types of test environments, such as voltage changes, temperature changes or durability. Through the data status and current consumption status during CAN communication, it can provide accurate reference data for R&D personnel to develop, adjust and analyze failures of products, so that the reliability of subsequent products can be improved.

[0004] Another Chinese patent publication number is CN112946595A, which is an interference test method and interference test system for millimeter wave radar. It monitors the test data of the millimeter wave radar through a host computer to detect the anti-interference function of the millimeter wave radar, which is conducive to reducing the test cost and improving the test efficiency. The specific implementation content includes: the interference device sends an electromagnetic interference signal to the millimeter wave radar. The host computer sends the original obstacle data to the millimeter wave radar through the first optical bridge and the second optical bridge, and the original obstacle data represents the obstacle data set by the host computer. The millimeter wave radar receives the original obstacle data and the electromagnetic interference signal, and based on the original obstacle data and the electromagnetic interference signal, sends test data to the host computer through the second optical bridge and the first optical bridge. The host computer receives the test data and compares the test data with the original obstacle data to determine whether the millimeter wave radar is normal.

[0005] Although the above scheme proposes some solutions related to millimeter-wave radar function detection, it also reflects the limitations of existing millimeter-wave radar function detection technology, which are specifically manifested as follows: 1. Although the existing technology has covered independent detection processes in terms of signal propagation, target tracking and environmental interference, it has not yet achieved full-link performance verification through effective logical series connection, and lacks a systematic testing system, resulting in the inability to meet the requirements of fast, comprehensive and accurate function detection before the application of millimeter-wave radar.

[0006] 2. Existing technologies generally conduct performance tests based on nominal working conditions, which are unable to reproduce the complex working conditions of gradual changes in target density and dynamic changes in interference intensity in actual applications, resulting in the detection results being unable to fully reflect the actual performance of the radar in a changing environment.

[0007] 3. In the performance evaluation of millimeter-wave radar, the existing technology is usually based on the performance level defined by performance, such as conventional indicators such as target detection rate and signal-to-noise ratio, but fails to fully consider the performance of millimeter-wave radar under high target density saturation limit and high-intensity interference strain limit, thereby limiting the in-depth understanding of the actual performance boundary and stability of millimeter-wave radar in complex environments. Summary of the invention

[0008] In view of this, in order to solve the problems raised in the above background technology, a millimeter wave radar rapid function detection method and device are proposed.

[0009] The technical solution adopted by the present invention to solve its technical problems is: in the first aspect, the present invention provides a millimeter wave radar rapid function detection method, including: S1. Transmitting a multi-band modulated excitation signal by the millimeter wave radar, detecting the millimeter wave radar RF front-end performance parameters based on the echo spectrum analysis, parsing the radar signal chain health status and outputting the corresponding logic judgment value, if the logic judgment value is 1, jump to S2, if the logic judgment value is 0, jump to S4, and synchronously feedback that the millimeter wave radar function detection does not meet the standard.

[0010] S2. Generate a virtual target set based on the Doppler frequency shift signal in the digital domain, load the target density with a preset time step gradient, build a millimeter-wave radar tracking confidence evaluation matrix based on comprehensive tracking accuracy, tracking efficiency, and clustering accuracy, further fit the target tracking performance function of the millimeter-wave radar, and output the radar target density tracking extreme value.

[0011] S3. Create a dynamic interference scenario based on the radar target density tracking extreme value, analyze the relationship between interference intensity and target tracking performance degradation based on the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and output the radar interference intensity strain extreme value.

[0012] S4. Integrate the radar target density tracking extreme value and interference intensity strain extreme value to determine whether the millimeter wave radar function detection meets the standards and provide feedback.

[0013] In a second aspect, the present invention provides a millimeter wave radar rapid function detection device, including: a pre-test module, a tracking test module, an interference test module and a feedback module.

[0014] The pre-check module is connected to the tracking test module and the feedback module respectively, the tracking test module is connected to the interference test module, and the interference test module is connected to the feedback module.

[0015] The pre-check module transmits a multi-band modulated excitation signal through the millimeter-wave radar, detects the millimeter-wave radar RF front-end performance parameters based on the echo spectrum analysis, analyzes the health status of the radar signal chain and outputs the corresponding logic judgment value. If the logic judgment value is 1, it jumps to the tracking test module. If the logic judgment value is 0, it jumps to the feedback module and synchronously feedbacks that the millimeter-wave radar function detection does not meet the standards.

[0016] The tracking test module generates a virtual target set based on the digital domain Doppler frequency shift signal, loads the target density with a preset time step gradient, constructs a millimeter-wave radar tracking confidence evaluation matrix based on comprehensive tracking accuracy, tracking efficiency, and clustering accuracy, further fits the target tracking performance function of the millimeter-wave radar, and outputs the radar target density tracking extreme value.

[0017] The interference test module creates a dynamic interference scenario based on the extreme value of radar target density tracking, analyzes the relationship between interference intensity and target tracking performance degradation based on the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and outputs the radar interference intensity strain extreme value.

[0018] The feedback module integrates the radar target density tracking extreme value and the interference intensity strain extreme value to determine whether the millimeter wave radar function detection meets the standards and provide feedback.

[0019] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects: (1) The present invention uses an integrated detection system including signal function pre-check, virtual target tracking test, and dynamic environment interference test, which integrates multiple data dimensions and multiple detection conditions to achieve accurate judgment and feedback on millimeter-wave radar function detection, and effectively responds to radar performance evaluation needs in complex environments.

[0020] (2) The present invention uses spectrum analysis to achieve full-band detection of millimeter-wave radar RF front-end performance based on the echo signal, and then analyzes the health status of the radar signal chain, helping to quickly screen whether the radar has abnormal signal propagation capability problems in the early stage of detection, providing prerequisites for subsequent detection.

[0021] (3) Based on the performance of virtual target tracking tests, the present invention integrates the three dimensions of tracking accuracy, tracking efficiency, and clustering accuracy to construct a tracking confidence evaluation matrix and fit the target tracking performance function, accurately controlling the radar target density tracking extreme value to clarify the capability limit of millimeter-wave radar in target tracking.

[0022] (4) Based on the dynamic interference scenario test performance, the present invention analyzes the target tracking performance degradation of the millimeter-wave radar under the influence of interference intensity by comprehensively considering the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and quickly clarifies the performance limit of the millimeter-wave radar in the interference environment.

[0023] (5) The present invention tracks the extreme value of radar target density and the extreme value of interference intensity strain, and compares them with the standard of millimeter-wave radar application scenarios to determine whether the millimeter-wave radar function detection meets the standard, thereby realizing rapid function detection of millimeter-wave radar and providing more comprehensive data support for radar performance evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0025] Figure 1 This is a flowchart of a millimeter wave radar rapid function detection method provided by the first embodiment of the present invention.

[0026] Figure 2 This is a theoretical schematic diagram of analyzing the radar signal chain health status and outputting the corresponding logic decision value in step S1 of the first embodiment of the present invention.

[0027] Figure 3 This is a structural block diagram of a millimeter wave radar rapid function detection device provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Embodiment 1

[0030] See also Figure 1As shown, in the first embodiment of the present invention, a millimeter-wave radar rapid function detection method is provided, including: S1. A multi-band modulated excitation signal is emitted by a millimeter-wave radar, the millimeter-wave radar RF front-end performance parameters are detected based on the echo spectrum analysis, the radar signal chain health status is analyzed and the corresponding logic judgment value is output, if the logic judgment value is 1, jump to S2, if the logic judgment value is 0, jump to S4, and synchronously feedback that the millimeter-wave radar function detection does not meet the standard.

[0031] See also Figure 2 As shown, in a preferred embodiment of the present invention, the analysis of the radar signal chain health status and outputting the corresponding logic judgment value includes: using an I / Q demodulator to convert the echo signals of each frequency band received by the millimeter-wave radar into a fundamental wave I / Q data stream, quantitatively analyzing the RF front-end performance parameters corresponding to the echo signals of each frequency band through a preset first calculation rule, and comparing them with the threshold standard set for the RF front-end performance parameters. If the RF front-end performance parameters corresponding to the echo signals of each frequency band meet the standard, then the output radar signal chain health status logic judgment value is 1; if the RF front-end performance parameters corresponding to the echo signals of any frequency band do not meet the standard, then the output radar signal chain health status logic judgment value is 0, and the abnormal frequency band interval is located.

[0032] In a preferred embodiment of the present invention, the preset first calculation rule includes the following contents: performing discrete Fourier transform on the fundamental wave I / Q data stream to extract the power spectrum density of the frequency band echo signal, comparing it frequency point by frequency point with the standard power spectrum template, obtaining the root mean square error between the power spectrum density of the frequency band echo signal and the standard power spectrum template, and quantifying the transmission power stability index.

[0033] A symmetrical observation window is set near the baseband zero frequency, and the signal energy in the frequency domain interval is integrated. The normalized ratio of the integration result to the total energy of the full frequency band is used as the local oscillator leakage intensity index.

[0034] The power spectrum amplitudes of the second and third harmonics are extracted, and the power attenuation ratios of the second and third harmonics relative to the fundamental wave are calculated respectively to quantify the nonlinear distortion index.

[0035] It should be noted that the power attenuation ratio of the second and third harmonics relative to the fundamental wave is calculated by taking the ratio of the power spectrum amplitudes of the second harmonic and the third harmonic to the power spectrum amplitude of the fundamental wave.

[0036] The transmit power stability index, local oscillator leakage strength index and nonlinear distortion index are taken together as RF front-end performance parameters.

[0037] It should be noted that the specific quantification method of the above-mentioned transmission power stability index can be obtained by normalizing the root mean square error between the power spectrum density of the frequency band echo signal and the standard power spectrum template, and subtracting 1 from the normalization result.

[0038] The specific quantification method of the above nonlinear distortion index can be achieved by squaring the power attenuation ratio of the second and third harmonics relative to the fundamental wave and then summing them up, and converting the square sum into an equivalent effective value through a square root operation. The equivalent effective value is the nonlinear distortion index.

[0039] The embodiment of the present invention uses spectrum analysis to achieve full-band detection of the millimeter-wave radar RF front-end performance based on the echo signal, and then analyzes the health status of the radar signal chain, helping to quickly screen whether the radar has abnormal signal propagation capability problems in the early stage of detection, and providing prerequisites for subsequent detection.

[0040] S2. Generate a virtual target set based on the Doppler frequency shift signal in the digital domain, load the target density with a preset time step gradient, build a millimeter-wave radar tracking confidence evaluation matrix based on comprehensive tracking accuracy, tracking efficiency, and clustering accuracy, further fit the target tracking performance function of the millimeter-wave radar, and output the radar target density tracking extreme value.

[0041] In a preferred embodiment of the present invention, the comprehensive tracking accuracy, tracking efficiency, and clustering accuracy are used to construct a millimeter-wave radar tracking confidence assessment matrix, including: according to the virtual target signal processing log of the millimeter-wave radar, extracting the point cloud data set, detection timestamp, tracking timestamp, and cutting tracking trajectory of each virtual target in each preset time step gradient, quantifying the tracking accuracy, tracking efficiency, and clustering accuracy of the millimeter-wave radar for the target density loaded by each preset time step gradient through a preset second calculation rule, constructing a basic indicator matrix with the target density loaded by each preset time step gradient as the row index and the tracking accuracy, tracking efficiency, and clustering accuracy as the column index, importing the normalized values ​​of the tracking accuracy, tracking efficiency, and clustering accuracy into the basic indicator matrix, performing a dot product operation with the preset weight matrix, and generating a millimeter-wave radar tracking confidence assessment matrix.

[0042] It should be noted that the above basic indicator matrix is Formula matrix, where Represents the number of rows, which can be specifically the number of times the target density is loaded with a gradient increase over the time step.

[0043] The above preset weight matrix is The matrix has row indices corresponding to the preset weights of tracking accuracy, tracking efficiency, and clustering accuracy. The preset weight values ​​are based on the actual application scenarios of millimeter-wave radar. Table 1 lists the example weight configurations of millimeter-wave radar in various typical application scenarios.

[0044] Table 1: Example weight configuration of millimeter wave radar in various typical application scenarios

[0045]

[0046] Therefore, according to the dot product operation of the basic indicator matrix and the preset weight matrix, the obtained millimeter wave radar tracking confidence evaluation matrix should be The specific elements are expressed as the tracking confidence evaluation index of the target density loaded by the millimeter-wave radar for each preset time step gradient.

[0047] In a preferred embodiment of the present invention, the preset second calculation rule includes the following contents: aligning the cutting tracking trajectory of each virtual target in each preset time step gradient with its standard injection trajectory through a dynamic time warping algorithm, taking the normalized root mean square error between the cutting tracking trajectory and its standard injection trajectory as the tracking error, taking the absolute difference between the tracking error and 1 as the tracking accuracy, and selecting the minimum tracking accuracy of the virtual target in each preset time step gradient as the tracking accuracy of the millimeter wave radar for the target density loaded by each preset time step gradient.

[0048] Get the response delay of the detection timestamp and tracking timestamp of each virtual target within each preset time step gradient ,in is the number of the gradient for each preset time step, , is the number of each virtual target, , an exponential decay normalization model is introduced to determine the tracking efficiency of each virtual target within each preset time step gradient, and the tracking efficiency of the millimeter-wave radar for the target density loaded by each preset time step gradient is obtained by mean calculation.

[0049] It should be noted that the calculation formula for the tracking efficiency of each virtual target within the above preset time step gradient is: ,in is the preset reference response delay, In order to preset the attenuation factor and characterize the baseline anti-interference capability of the radar to the increase of target density, it can be specifically obtained by fitting the measured response delay corresponding to each experimental tracking target density through the least squares method.

[0050] It is particularly noted that the exponential decay normalization model introduced in the above calculation formula is specifically expressed as ,here , , , its main feedback tracking efficiency shows a nonlinear relationship with the response delay, which is negatively correlated. That is, the increase of response delay causes the tracking efficiency to gradually decay in an exponential form.

[0051] As an example, if the response delay between the detection timestamp and the tracking timestamp of a virtual target within a preset time step gradient is 5s, the preset reference response delay is 3s, and the preset attenuation factor is 0.02, then the calculated result of the tracking efficiency of the virtual target within the preset time step gradient is 0.97.

[0052] Clustering is performed on the point cloud dataset of each virtual target within each preset time step gradient, and the output clustering result is compared with the standard injection distribution of the virtual target. The adjusted Rand index is applied to quantify the clustering accuracy of the target density loaded by the millimeter-wave radar for each preset time step gradient.

[0053] It should be noted that the above clustering process can be performed using a DBSCAN algorithm, a K-Means algorithm or a hierarchical clustering algorithm.

[0054] The above Rand Index is a similarity index for comparing two data partitions. Adjusting the Rand Index is to standardize the Rand Index so that its value range is within A value of 1 means that the clustering result is completely consistent with the actual situation, a value of 0 means that the clustering result is random, and a value of -1 means that the clustering result is completely opposite to the actual situation.

[0055] The specific calculation method of applying the adjusted Rand index to quantify clustering accuracy is: Assuming that data points, is the actual clustering result (i.e., the virtual target standard injection distribution), The algorithm outputs the clustering result, and obtains all data points in and In the case of belonging to the same cluster or different clusters, the number of point pairs in the true label and clustering result that belong to the same cluster is recorded as , the number of point pairs that belong to different clusters in the true label and clustering result is , the calculation formula of the adjusted Rand index is expressed as ,in are defined as intermediate quantities, It is used to count the sum of the combinations of the intersection samples of the real clusters and the clustering clusters. , Used to evaluate the expected consistency when random clustering, , To assess the maximum possible level of consistency, , The true label The number of samples in a cluster, The clustering result is The number of samples in a cluster, The true label Clusters and clustering results The number of intersection samples of clusters.

[0056] The combination number symbols mentioned above , its actual mathematical meaning is the number of combinations of 2 elements selected from the specified number of samples, which is specifically defined as: Indicates that the real label Clusters and clustering results The number of combinations of selecting 2 samples from the intersection of clusters is equivalent to the standard combination number symbol or .

[0057] Indicates that the real label The number of combinations of selecting 2 samples from the number of samples in a cluster is equivalent to the standard combination number symbol or .

[0058] Indicates that from the clustering results The number of combinations of selecting 2 samples from the number of samples in a cluster is equivalent to the standard combination number symbol or .

[0059] Indicates the total number of samples (i.e. The number of combinations of selecting 2 samples from 1 data point.

[0060] The above explanation clarifies the calculation logic of the combination number and ensures that the calculation of the adjusted Rand index conforms to the mathematical definition. Although the standard notation for the combination number is usually written as (The subscript is the total number, the superscript is the selected number) and this article uses form, which is essentially equivalent to the standard combination number notation , the calculation logic is , this statement is hereby made to avoid ambiguity.

[0061] As an example, if , which means there are 2 clusters, cluster 0 has 2 samples, cluster 1 has 3 samples, , which means there are 2 clusters, cluster 0 has 1 sample, and cluster 1 has 4 samples. A contingency table is constructed to compare the matching relationship between the true label distribution (standard distribution) and the clustering results, as shown in Table 2.

[0062] Table 2: and Matching relationship

[0063]

[0064] Calculated by the formula , , , .

[0065] In a preferred embodiment of the present invention, the radar target density tracking extreme value is defined as a critical density value that satisfies the tracking confidence greater than or equal to a preset reasonable tracking confidence threshold and has the smallest absolute deviation from the preset reasonable tracking confidence threshold in the set of second-order derivative mutation points of the target tracking performance function of the millimeter-wave radar.

[0066] It should be noted that the above second-order derivative mutation point set includes the second-order derivative 0 point and the second-order derivative extreme value point.

[0067] According to the performance of the virtual target tracking test, the embodiment of the present invention integrates the three dimensions of tracking accuracy, tracking efficiency, and clustering accuracy to construct a tracking confidence assessment matrix and fit the target tracking performance function, accurately controlling the radar target density tracking extreme value to clarify the capability limit of millimeter-wave radar in target tracking.

[0068] S3. Create a dynamic interference scenario based on the radar target density tracking extreme value, analyze the relationship between interference intensity and target tracking performance degradation based on the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and output the radar interference intensity strain extreme value.

[0069] In a preferred embodiment of the present invention, the comprehensive tracking confidence attenuation, false alarm rate increment and tracking convergence time analyze the relationship between interference intensity and target tracking performance degradation, including: injecting a virtual target set equivalent to the radar target density tracking extreme value, triggering an interference mode at each preset time node according to the interference intensity timing enhancement principle, quantifying the tracking confidence attenuation, false alarm rate increment and tracking convergence time of the millimeter-wave radar for the virtual target set (referring to the virtual target set equivalent to the radar target density tracking extreme value) under the interference intensity corresponding to each preset time node based on a preset third calculation rule, determining the preset weights corresponding to the tracking confidence attenuation, false alarm rate increment and tracking convergence time according to the correlation between the interference intensity and the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and then obtaining the comprehensive tracking performance degradation degree of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node, thereby constructing a nonlinear fitting function of the interference intensity and the target tracking performance degradation, and analyzing the relationship between the interference intensity and the target tracking performance degradation.

[0070] It should be supplemented that the above-mentioned preset third calculation rule includes the following contents: the tracking confidence evaluation index of the target tracking performance function of the millimeter-wave radar fitted in step S2 under the extreme value condition of radar target density tracking is used as the initial tracking confidence evaluation index, and the tracking confidence evaluation index of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node is obtained, and the absolute value is subtracted from the initial tracking confidence to obtain the tracking confidence attenuation of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node.

[0071] When obtaining the interference-free intensity, the number of false alarm targets of the millimeter-wave radar for the virtual target set is calculated by ratio calculation with the preset reference number of false alarm targets, and the false alarm rate of the millimeter-wave radar for the virtual target set under the interference-free intensity is obtained, which is used as the initial false alarm rate. Similarly, the false alarm rate of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node is obtained, and it is subtracted from the initial false alarm rate to obtain the false alarm rate increment of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node.

[0072] When the interference mode is triggered at each preset time node, the tracking confidence evaluation index of the millimeter-wave radar for the virtual target set at each unit time node is continuously recorded from each preset time node to the next preset time node. The unit time node with the earliest timing and the tracking confidence evaluation index reaching the benchmark setting threshold is found, and the time difference between the unit time node and the preset time node is used as the tracking convergence time of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to the preset time node.

[0073] It should be noted that the specific analysis process for determining the preset weights corresponding to the tracking confidence attenuation, the false alarm rate increment and the tracking convergence time based on the correlation between the interference intensity and the tracking confidence attenuation, the false alarm rate increment and the tracking convergence time is as follows: applying the Spearman rank correlation coefficient to obtain the correlation coefficient between the interference intensity and the tracking confidence attenuation, the false alarm rate increment and the tracking convergence time, taking the sum of the correlation coefficients as the denominator, taking the correlation coefficients as the numerator to carry out ratio operations, and taking the correlation coefficient ratio as the corresponding parameter preset weight.

[0074] It should be noted that the above-mentioned acquisition of the comprehensive tracking performance degradation degree of the millimeter-wave radar for the virtual target set under the corresponding interference intensity at each preset time node, and the specific analysis process of constructing the nonlinear fitting function of interference intensity and target tracking performance degradation is as follows: the cumulative value of the tracking confidence attenuation, the false alarm rate increment and the tracking convergence time multiplied by their corresponding preset weights is used as the comprehensive tracking performance degradation degree, so as to obtain the comprehensive tracking performance degradation degree of the millimeter-wave radar under the influence of the interference intensity, and substitute it into a rectangular coordinate system with the interference intensity as the horizontal coordinate and the comprehensive tracking performance degradation degree as the vertical coordinate to form a scatter plot, and combine the kernel density estimation to identify the data distribution characteristics, which include monotonicity (degradation The nonlinear least squares method is used to optimize the nonlinear function parameters and further calculate the goodness of fit indicators (such as determination coefficient, root mean square error, etc.) and physical verification indicators (such as interference intensity strain extreme value and its limiting performance residual, tracking performance attenuation rate) of each candidate nonlinear function. The optimal nonlinear function is selected based on the goodness of fit indicators and physical verification indicators as the nonlinear fitting function of interference intensity and target tracking performance degradation.

[0075] In a preferred embodiment of the present invention, the radar interference intensity strain extreme value is defined as the interference intensity obtained by inversely solving the nonlinear fitting function corresponding to the preset comprehensive tracking performance degradation degree warning threshold.

[0076] According to the dynamic interference scenario test performance, the embodiment of the present invention comprehensively analyzes the target tracking performance degradation of the millimeter-wave radar under the influence of interference intensity by comprehensively considering the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and quickly clarifies the performance limit of the millimeter-wave radar in the interference environment.

[0077] S4. Integrate the radar target density tracking extreme value and interference intensity strain extreme value to determine whether the millimeter wave radar function detection meets the standards and provide feedback.

[0078] In a preferred embodiment of the present invention, the judgment condition for the millimeter-wave radar function detection to meet the standard is that the radar target density tracking extreme value and the interference intensity strain extreme value are both greater than or equal to the benchmark value set for the corresponding indicator of the millimeter-wave radar application scenario.

[0079] It should be noted that the above radar target density tracking extreme value and interference intensity strain extreme value are both maximum values.

[0080] The embodiment of the present invention tracks the extreme value of radar target density and the extreme value of interference intensity strain, and compares it with the standard of millimeter-wave radar application scenario specifications to determine whether the millimeter-wave radar function detection meets the standard, thereby realizing rapid function detection of millimeter-wave radar and providing more comprehensive data support for radar performance evaluation.

[0081] The embodiment of the present invention uses an integrated detection system that includes signal function pre-check, virtual target tracking test, and dynamic environment interference test, and integrates multiple data dimensions and multiple detection conditions to achieve accurate judgment and feedback on millimeter-wave radar function detection, effectively responding to radar performance evaluation needs in complex environments.

[0082] Embodiment 2

[0083] like Figure 3 As shown, a second embodiment of the present invention provides a millimeter wave radar rapid function detection device, including: a pre-test module, a tracking test module, an interference test module and a feedback module.

[0084] The pre-check module is connected to the tracking test module and the feedback module respectively, the tracking test module is connected to the interference test module, and the interference test module is connected to the feedback module.

[0085] The pre-check module transmits a multi-band modulated excitation signal through the millimeter-wave radar, detects the millimeter-wave radar RF front-end performance parameters based on the echo spectrum analysis, analyzes the health status of the radar signal chain and outputs the corresponding logic judgment value. If the logic judgment value is 1, it jumps to the tracking test module. If the logic judgment value is 0, it jumps to the feedback module and synchronously feedbacks that the millimeter-wave radar function detection does not meet the standards.

[0086] The tracking test module generates a virtual target set based on the digital domain Doppler frequency shift signal, loads the target density with a preset time step gradient, constructs a millimeter-wave radar tracking confidence evaluation matrix based on comprehensive tracking accuracy, tracking efficiency, and clustering accuracy, further fits the target tracking performance function of the millimeter-wave radar, and outputs the radar target density tracking extreme value.

[0087] The interference test module creates a dynamic interference scenario based on the extreme value of radar target density tracking, analyzes the relationship between interference intensity and target tracking performance degradation based on the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and outputs the radar interference intensity strain extreme value.

[0088] The feedback module integrates the radar target density tracking extreme value and the interference intensity strain extreme value to determine whether the millimeter wave radar function detection meets the standards and provide feedback.

[0089] An embodiment of the present invention provides a millimeter-wave radar rapid function detection device, whose implementation principle and technical effects are the same as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0090] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A millimeter wave radar rapid function detection method, characterized in that: include: S1. Transmit a multi-band modulated excitation signal through the millimeter-wave radar, detect the performance parameters of the millimeter-wave radar RF front-end based on the echo spectrum analysis, analyze the health status of the radar signal chain and output the corresponding logic judgment value. If the logic judgment value is 1, jump to S2; if the logic judgment value is 0, jump to S4, and synchronously feedback that the millimeter-wave radar function detection does not meet the standard; S2. Generate a virtual target set based on the digital domain Doppler frequency shift signal, load the target density with a preset time step gradient, build a millimeter wave radar tracking confidence evaluation matrix based on comprehensive tracking accuracy, tracking efficiency, and clustering accuracy, further fit the target tracking performance function of the millimeter wave radar, and output the radar target density tracking extreme value; S3. Create a dynamic interference scenario based on the radar target density tracking extreme value, analyze the relationship between interference intensity and target tracking performance degradation based on the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and output the radar interference intensity strain extreme value; S4. Integrate the radar target density tracking extreme value and interference intensity strain extreme value to determine whether the millimeter wave radar function detection meets the standard and provide feedback; According to the virtual target signal processing log of the millimeter wave radar, the point cloud data set, detection timestamp, tracking timestamp and cutting tracking trajectory of each virtual target within each preset time step gradient are extracted; The cutting tracking trajectory of each virtual target in each preset time step gradient is aligned with its standard injection trajectory through the dynamic time warping algorithm, the tracking accuracy is calculated by the normalized root mean square error between the cutting tracking trajectory and its standard injection trajectory, and the minimum tracking accuracy of the virtual target in each preset time step gradient is selected as the tracking accuracy; Obtain the response delay of the detection timestamp and tracking timestamp of each virtual target within each preset time step gradient, introduce an exponential decay normalization model, determine the tracking efficiency of each virtual target within each preset time step gradient, and obtain the tracking efficiency through mean calculation; Perform clustering on the point cloud data set of each virtual target within each preset time step gradient, compare the output clustering results with the standard injection distribution of the virtual target, and apply the adjusted Rand index to quantify the clustering accuracy; A basic indicator matrix is ​​constructed with the target density loaded by the gradient of each preset time step as the row index and tracking accuracy, tracking efficiency, and clustering accuracy as the column index. The normalized values ​​of tracking accuracy, tracking efficiency, and clustering accuracy are imported into the basic indicator matrix, and a dot product operation is performed with the preset weight matrix to generate a millimeter-wave radar tracking confidence assessment matrix.

2. The millimeter wave radar rapid function detection method according to claim 1, characterized in that: The method of analyzing the health status of a radar signal chain and outputting a corresponding logic judgment value includes: using an I / Q demodulator to convert echo signals of each frequency band received by a millimeter-wave radar into a fundamental wave I / Q data stream, quantitatively analyzing the radio frequency front-end performance parameters corresponding to the echo signals of each frequency band through a preset first calculation rule, and comparing them with the threshold value standard set for the radio frequency front-end performance parameters. If the radio frequency front-end performance parameters corresponding to the echo signals of each frequency band meet the standard, then the logic judgment value of the health status of the radar signal chain is output as 1; if the radio frequency front-end performance parameters corresponding to the echo signals of any frequency band do not meet the standard, then the logic judgment value of the health status of the radar signal chain is output as 0, and the abnormal frequency band interval is located.

3. A millimeter wave radar rapid function detection method according to claim 2, characterized in that: The preset first calculation rule includes the following contents: performing discrete Fourier transform on the fundamental wave I / Q data stream to extract the power spectrum density of the frequency band echo signal, comparing it with the standard power spectrum template frequency by frequency point, obtaining the root mean square error between the power spectrum density of the frequency band echo signal and the standard power spectrum template, and quantifying the transmit power stability index; A symmetrical observation window is set near the baseband zero frequency, and the signal energy in the frequency domain interval corresponding to the symmetrical observation window is integrated, and the normalized ratio of the integration result to the total energy of the full frequency band is used as the local oscillator leakage intensity index; Extract the power spectrum amplitude of the second harmonic and the third harmonic, calculate the power attenuation ratio of the second and third harmonics relative to the fundamental wave, and quantify the nonlinear distortion index; The transmit power stability index, local oscillator leakage strength index and nonlinear distortion index are taken together as RF front-end performance parameters.

4. The millimeter wave radar rapid function detection method according to claim 1, characterized in that: The radar target density tracking extreme value is defined as the critical density value in the set of second-order derivative mutation points of the target tracking performance function of the millimeter-wave radar, which satisfies the tracking confidence greater than or equal to the preset reasonable tracking confidence threshold and has the smallest absolute deviation from the preset reasonable tracking confidence threshold.

5. The millimeter wave radar rapid function detection method according to claim 1, characterized in that: The comprehensive tracking confidence attenuation, false alarm rate increment and tracking convergence time analyze the relationship between interference intensity and target tracking performance degradation, including: injecting a virtual target set equivalent to the radar target density tracking extreme value, triggering an interference mode at each preset time node according to the interference intensity timing enhancement principle, quantifying the tracking confidence attenuation, false alarm rate increment and tracking convergence time of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node based on a preset third calculation rule, determining the preset weights corresponding to the tracking confidence attenuation, false alarm rate increment and tracking convergence time according to the correlation between the interference intensity and the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and then obtaining the comprehensive tracking performance degradation degree of the millimeter-wave radar for the virtual target set under the interference intensity corresponding to each preset time node, thereby constructing a nonlinear fitting function of the interference intensity and the target tracking performance degradation, and analyzing the relationship between the interference intensity and the target tracking performance degradation.

6. A millimeter wave radar rapid function detection method according to claim 5, characterized in that: The radar interference intensity strain extreme value is defined as the interference intensity obtained by inversely solving the nonlinear fitting function corresponding to the preset comprehensive tracking performance degradation warning threshold.

7. The millimeter wave radar rapid function detection method according to claim 1, characterized in that: The judgment condition for whether the millimeter-wave radar function detection meets the standard is that the radar target density tracking extreme value and the interference intensity strain extreme value are both greater than or equal to the benchmark value set for the corresponding indicator of the millimeter-wave radar application scenario.

8. A millimeter wave radar rapid function detection device, used to perform the steps in the method according to any one of claims 1 to 7, characterized in that: include: The pre-test module transmits a multi-band modulated excitation signal through the millimeter-wave radar, detects the performance parameters of the millimeter-wave radar RF front-end based on the echo spectrum analysis, analyzes the health status of the radar signal chain and outputs the corresponding logic judgment value. If the logic judgment value is 1, it jumps to the tracking test module. If the logic judgment value is 0, it jumps to the feedback module and synchronously feedbacks that the millimeter-wave radar function detection does not meet the standard; The tracking test module generates a virtual target set based on the digital domain Doppler frequency shift signal, loads the target density with a preset time step gradient, builds a millimeter-wave radar tracking confidence evaluation matrix based on comprehensive tracking accuracy, tracking efficiency, and clustering accuracy, further fits the target tracking performance function of the millimeter-wave radar, and outputs the radar target density tracking extreme value; The interference test module creates a dynamic interference scenario based on the extreme value of radar target density tracking, analyzes the relationship between interference intensity and target tracking performance degradation based on the tracking confidence attenuation, false alarm rate increment and tracking convergence time, and outputs the radar interference intensity strain extreme value; The feedback module integrates the radar target density tracking extreme value and the interference intensity strain extreme value to determine whether the millimeter wave radar function detection meets the standards and provide feedback.

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