Method for evaluating maximum operating distance of vehicle-mounted radar, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of radars, and discloses a method for evaluating the maximum operating distance of a vehicle-mounted radar, electronic equipment and a storage medium. The method comprises the following steps: acquiring a signal-to-noise ratio and distance relation curve of a total echo signal acquired when a radar detects detected targets at different distances, and marking the distance and the signal-to-noise ratio of each peak point in the curve in a preset distance section; converting the distance of each peak point into the distance of a db domain, and performing linear fitting on the distance and the signal-to-noise ratio of the peak point to obtain a fitting straight line; and subtracting the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and determining the distance corresponding to the target signal signal-to-noise ratio smaller than the signal-to-noise ratio threshold for the first time in the target signal signal-to-noise ratio straight line as the radar maximum operating distance. Therefore, the accuracy of the evaluated maximum operating distance of the radar is effectively improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of radar technology, and in particular to a method, electronic device, and storage medium for evaluating the maximum operating range of a vehicle-mounted radar. Background Art

[0002] With the widespread application of Advanced Driver Assistance System (ADAS) in the automotive field, millimeter wave radar, as a member of ADAS system sensors, has also attracted increasing attention. Millimeter wave radar can detect information such as the distance, speed and angle of the target, providing stable and reliable safety protection for the ADAS system.

[0003] Generally, when developing a millimeter-wave radar solution, we will constantly verify whether the distance index, speed index, and angle index meet the design requirements. Among them, the maximum range that the radar can detect is an important indicator of the distance. When the maximum range is actually tested in the field, the echo received by the radar not only includes the signal reflected by the test target, but also includes the signal reflected by other stationary objects around it, as well as the signal of ground multipath. Due to the presence of ground multipath signals in the echo, when the target distance exceeds a certain range, the target signal-to-noise ratio (SNR) will fluctuate with the range, such as Figure 1 As shown in the figure, the fluctuation of the target SNR will lead to serious inaccuracy in the evaluation of the maximum range indicator.

[0004] At present, most of the methods for evaluating the maximum range of radar in the field focus on using the Tracking algorithm to judge, that is, the distance when the target track is lost is the maximum range that the radar can detect. Figure 1 As shown in the figure, when the maximum effective distance is within 100, there is no problem in using Tracking to judge. However, as the effective distance increases, the impact of ground multipath will become more obvious, and the test target will be continuously lost in certain distance segments, especially when the corner reflector is used as the test target. At this time, the maximum effective distance evaluated is seriously unreliable. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a method, electronic device and storage medium for evaluating the maximum operating range of a vehicle-mounted radar, which can effectively improve the accuracy of the maximum operating range of the evaluated radar.

[0006] In order to solve the above technical problems, an embodiment of the present application provides a method for evaluating the maximum operating range of a vehicle-mounted radar, including:

[0007] Obtain the relationship curve between the signal-to-noise ratio and distance of the total echo signal collected when the radar detects the target at different distances, and mark the distance and signal-to-noise ratio of each peak point in the curve within a preset distance segment;

[0008] The distance of each peak point is converted into a distance in the db domain and then linearly fitted with the signal-to-noise ratio of the peak point to obtain a fitting straight line;

[0009] The ground multipath gain signal is subtracted from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold on the target signal signal-to-noise ratio straight line is determined as the maximum operating range of the radar.

[0010] Another aspect of the present application embodiment provides a device for evaluating the maximum operating range of a vehicle-mounted radar, including:

[0011] The acquisition module is used to obtain the signal-to-noise ratio and distance relationship curve of the total echo signal collected when the radar detects the target at different distances, and mark the distance and signal-to-noise ratio of each peak point in the curve within a preset distance segment;

[0012] A fitting module, used for converting the distance of each peak point into a distance in the db domain and performing a linear fit with the signal-to-noise ratio of the peak point to obtain a fitting straight line;

[0013] The first processing module is used to subtract the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and determine the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold on the target signal signal-to-noise ratio straight line as the maximum operating range of the radar.

[0014] Another aspect of the present application provides an electronic device, including:

[0015] at least one processor; and,

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method for evaluating the maximum operating range of the vehicle-mounted radar as described above.

[0018] On the other hand, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for evaluating the maximum operating range of a vehicle-mounted radar as described above.

[0019] Compared with the related art, the embodiment of the present application obtains the signal-to-noise ratio and distance relationship curve of the total echo signal collected when the radar detects the measured target at different distances, and marks the distance and signal-to-noise ratio of each peak point in the curve within the preset distance segment; after converting the distance of each peak point into the distance in the db domain, linear fitting is performed with the signal-to-noise ratio of the peak point to obtain a fitting straight line; subtracting the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line, and the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold in the target signal signal-to-noise ratio straight line is determined as the maximum effective range of the radar. This scheme evaluates the maximum effective range of the radar through a fitting algorithm that includes ground multipath, first fitting the total echo signal SNR (measured target + ground multipath) received by the radar with the distance relationship curve, and then inferring the relationship between the measured target signal SNR and the distance, and then deriving the true maximum effective range of the radar, effectively improving the accuracy of the maximum effective range of the evaluated radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0021] Figure 1 It is the maximum range of the radar obtained by field evaluation in the prior art;

[0022] Figure 2 is a flow chart of a method for evaluating the maximum operating range of a vehicle-mounted radar provided in an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a test scenario of a radar reflection wave model provided according to an embodiment of the present application;

[0024] Figure 4 is the maximum radar range obtained according to the radar reflection wave model provided in the embodiment of the present application;

[0025] Figure 5 is a schematic diagram of the structure of a device for evaluating the maximum operating range of a vehicle-mounted radar provided in an embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, each embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in each embodiment of the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other without contradiction.

[0028] One embodiment of the present application relates to a method for evaluating the maximum range of a vehicle-mounted radar, such as Figure 2 As shown, the following steps are included.

[0029] Step 101: Obtain a curve of the relationship between the signal-to-noise ratio and distance of the total echo signal collected when the radar detects the target at different distances, and mark the distance and signal-to-noise ratio of each peak point in the curve within a preset distance segment.

[0030] Specifically, according to the current method of evaluating the maximum effective range of the radar in the field, for example, with the help of the Tracking algorithm, when the linear fitting relationship between the total echo signal signal-to-noise ratio SNR and the distance in the db domain is obtained through testing, the echo signal including the influence of ground multipath (ground echo signal) can be obtained first. Assuming that other interference signals other than the ground echo signal are ignored, the obtained total echo signal signal-to-noise ratio SNR (denoted as SNR_P) only includes the target echo signal signal-to-noise ratio SNR_T and the ground multipath echo signal gain.

[0031] In this step, the target to be measured is set at different distance segments from the radar, and then a total echo signal-to-noise ratio and distance relationship curve is constructed based on the total echo signal-to-noise ratio collected when the radar detects the target to be measured at different distances. The coordinates of each point on the curve correspond to a set of distance and signal-to-noise ratio.

[0032] Select a distance interval from the total echo signal signal-to-noise ratio and distance relationship curve as the preset distance segment where the maximum effective range of the search radar is located. Search and mark each peak point on the curve within this distance segment. For example, the first peak point in the preset distance segment is recorded as R_start (starting peak point), and each peak point on the curve is searched from R_start. The last peak point in the preset distance segment is recorded as R_end (ending peak point). At the same time, set k as the ground reflection coefficient; Thr as the SNR threshold value.

[0033] When marking the distance and signal-to-noise ratio of each peak point in the curve, R_start can be used to start searching for each peak point, and the distance at the i-th peak point is recorded as R(i) and the signal-to-noise ratio is SNR(i).

[0034] Step 102: Convert the distance of each peak point into a distance in the db domain and then perform a linear fit with the signal-to-noise ratio of the peak point to obtain a fitting straight line.

[0035] Specifically, the distance R(i) and the signal-to-noise ratio SNR(i) of the total echo signal received by the radar at each peak point have a linear relationship in the db domain, and the distance at each peak point marked in the previous step can be converted to the db domain, and then the distance (db domain) corresponding to each peak point and the signal-to-noise ratio (converted to the db domain form by default) are linearly fitted to obtain a fitting straight line. The signal-to-noise ratio SNR_P of each point on the fitting straight line also includes the target echo signal signal-to-noise ratio SNR_T and the ground multipath echo signal gain.

[0036] Step 103: subtract the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and determine the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold on the target signal signal-to-noise ratio straight line as the maximum operating range of the radar.

[0037] Specifically, after the fitting straight line is obtained through the previous step, since the signal-to-noise ratio SNR_P corresponding to each point on the fitting straight line includes both the target echo signal signal-to-noise ratio SNR_T and the ground multipath echo signal gain, as long as the ground multipath echo signal gain is removed from the signal-to-noise ratio SNR_P of each point on the fitting straight line, the remaining is the target echo signal signal-to-noise ratio SNR_T. At this time, the corresponding relationship between the target echo signal signal-to-noise ratio SNR_T and the distance is used to finally determine the maximum range of the radar. For example, according to the preset SNR threshold value Thr, the first signal point less than Thr is determined in the full-segment target echo signal signal-to-noise ratio SNR_T of the fitting straight line, and then the distance corresponding to the signal point is determined as the maximum range of the radar.

[0038] In this embodiment, there is no limitation on the method for determining the gain of the ground multipath echo signal contained in the total echo signal.

[0039] In some embodiments, the ground multipath gain signal may be calculated using a pre-constructed radar reflection wave model, where the radar reflection wave model is composed of a target reflection wave signal model and a ground multipath reflection wave model.

[0040] Among them, the target reflection wave signal model is used to describe the model of the target echo signal received by the radar, while the ground multipath reflection wave model is used to describe the model of the ground echo signal received by the radar while receiving the target echo signal of the target. The sum of the echo signals of the two models can express the total echo signal received by the radar when detecting the target, and the model of the total echo signal is called the radar reflection wave model.

[0041] In this embodiment, the ground multipath gain signal is calculated by using a pre-constructed radar reflection wave model (a model of the radar receiving the total echo signal), and the radar reflection wave model includes a target reflection wave signal model (a model of the radar receiving the target echo signal) and a ground multipath reflection wave model (a model of the radar receiving the ground echo signal). Therefore, based on these two models, the ground multipath gain signal can be removed from the received total echo signal.

[0042] In this embodiment, the construction process and expression form of the radar reflection wave model are not limited.

[0043] like Figure 3 As shown, this embodiment provides a test scenario corresponding to the radar reflection wave model. In this test scenario, it is assumed that the height of the radar from the ground is H1, the height of the measured target from the ground is H2, and the lateral distance between the radar and the measured target is Y.

[0044] In some embodiments, constructing the radar reflection wave model may include the following steps:

[0045] For the target echo signal received by the radar, a target reflection wave signal model including the target reflection wave path R1 and the target reflection wave signal S1 is constructed:

[0046]

[0047]

[0048] For the radar receiving the ground echo signal, the ground multipath reflection wave model including the ground multipath reflection wave path R2 and the ground multipath reflection wave signal S2 is constructed:

[0049]

[0050]

[0051] Then the total echo signal S received by the radar is S=S1+S2;

[0052] Among them, H1 is the height of the radar from the ground, H2 is the height of the target from the ground, Y is the horizontal distance between the radar and the target, α1 is the signal amplitude of the target reflection wave signal S1, α2 is the signal amplitude of the ground multipath reflection wave signal S2, α2=kα1, k is the ground multipath reflection coefficient.

[0053] Specifically, when the distance difference between R1 and R2 is less than one range resolution unit (when Y>>H1+H2), the radar receives the target echo signal and the radar receives the ground echo signal will fall on the same rangegate, and the target reflection wave signal S1 and the ground multipath reflection wave signal S2 will be superimposed on each other. Since the echo phase of the radar received echo signal is related to the distance, the phase term is Where R is the two-way distance of the radar receiving the echo signal, and λ is the wavelength. Therefore, expressions (2) and (4) can be obtained.

[0054] For the radar reflection wave model constructed above, the only uncertainty is the ground multipath reflection coefficient k.

[0055] In some embodiments, determining the ground multipath reflection coefficient k includes: adjusting candidate values ​​of k multiple times, and selecting a target value from each candidate value as k; wherein, when the radar reflection wave model adopts the target value as k, a curve of the relationship between the signal-to-noise ratio of the radar received total echo signal and the distance obtained by simulating the radar reflection wave model is consistent with a curve of the relationship between the signal-to-noise ratio of the radar received total echo signal and the distance measured.

[0056] Specifically, in order to practice the usability of the radar reflection wave model, it is important to determine the ground multipath reflection coefficient k. According to the mathematical representation model of the radar reflection wave model established above, by continuously adjusting the size of k, the test scenario of the radar receiving the echo signal is simulated. Assuming that H1 and H2 are both set to 0.65m, the radar wavelength is 0.0039m, and when the ground is set to be fully reflective (that is, the ground multipath reflection coefficient is k = 1), the relationship between the total echo signal SNR received by the radar and the distance is as follows: Figure 4 shown.

[0057] Depend on Figure 1 and Figure 4 By comparison, it can be seen that the simulation results are consistent with the measured results, that is, the radar reflection wave model constructed in this embodiment meets the requirements of the actual test scene when the ground multipath reflection coefficient k=1.

[0058] It should be noted that, for different test scenarios, the most accurate k value can also be temporarily determined based on the consistency of the measured value and the simulation value in the scenario to meet the conditions of different test scenarios.

[0059] In some embodiments, determining the ground multipath reflection coefficient k=1 is applicable to most test scenarios.

[0060] In some embodiments, the ground multipath gain signal is calculated by a pre-constructed radar reflection wave model, including: based on the ground multipath reflection coefficient k, and the default setting Y>>H1+H2, the ratio of the target reflection wave signal S1 to the ground multipath reflection wave signal S2 in the total echo signal S received by the radar is determined to be 1:k; the ground multipath gain signal is determined to be 1 / (1+k) times the total echo signal S received by the radar, and the corresponding gain in the db domain is db(1+k).

[0061] Specifically, by simulating the radar reflection wave model to obtain the ground multipath reflection coefficient k, and setting Y>>H1+H2, it can be seen that the difference between the target reflection wave signal S1 and the ground multipath reflection wave signal S2 is only in the ratio of the signal amplitude, and the target reflection wave signal S1 is regarded as a full reflection wave signal (reflection coefficient is 1), and the reflection coefficient of the ground multipath reflection wave signal S2 is k. Therefore, in the total echo signal S received by the radar, the ratio of the target reflection wave signal S1 to the ground multipath reflection wave signal S2 is 1:k. That is, the ground multipath gain signal is k / (1+k) times the total echo signal S received by the radar, and the corresponding gain in the db domain is db(1+k).

[0062] Correspondingly, in some embodiments, the ground multipath gain signal is subtracted from the signal-to-noise ratio of each point on the above-mentioned fitting straight line to obtain the target signal signal-to-noise ratio straight line, including: subtracting the gain db(1+k) of the ground multipath gain signal in the db domain from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line.

[0063] Specifically, after obtaining the fitting straight line of the signal-to-noise ratio and distance corresponding to the total echo signal received by the radar, the gain db(1+k) of the ground multipath gain signal in the db domain can be directly subtracted from the signal-to-noise ratio at each point on the fitting straight line to obtain the target signal signal-to-noise ratio, thereby forming a target signal signal-to-noise ratio straight line for the entire range. From the target signal signal-to-noise ratio straight line, the first signal point less than Thr is sought, and then the distance corresponding to the signal point is determined as the maximum operating range of the radar.

[0064] Compared with the related art, the embodiment of the present application obtains the signal-to-noise ratio and distance relationship curve of the total echo signal collected when the radar detects the measured target at different distances, and marks the distance and signal-to-noise ratio of each peak point in the curve within the preset distance segment; after converting the distance of each peak point into the distance in the db domain, linear fitting is performed with the signal-to-noise ratio of the peak point to obtain a fitting straight line; subtracting the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line, and the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold in the target signal signal-to-noise ratio straight line is determined as the maximum effective range of the radar. This scheme evaluates the maximum effective range of the radar through a fitting algorithm that includes ground multipath, first fitting the total echo signal SNR (measured target + ground multipath) received by the radar with the distance relationship curve, and then inferring the relationship between the measured target signal SNR and the distance, and then deriving the true maximum effective range of the radar, effectively improving the accuracy of the maximum effective range of the evaluated radar.

[0065] Another embodiment of the present invention relates to a device for evaluating the maximum operating range of a vehicle-mounted radar, which can be applied to perform the method for evaluating the maximum operating range of a vehicle-mounted radar as described above. Figure 5 As shown, the device comprises:

[0066] The acquisition module 11 is used to obtain the signal-to-noise ratio and distance relationship curve of the total echo signal collected when the radar detects the target at different distances, and mark the distance and signal-to-noise ratio of each peak point in the curve within a preset distance segment;

[0067] A fitting module 12, configured to convert the distance of each peak point into a distance in the db domain and then perform a linear fit with the signal-to-noise ratio of the peak point to obtain a fitting straight line;

[0068] The first processing module 13 is used to subtract the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and determine the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold on the target signal signal-to-noise ratio straight line as the maximum operating range of the radar.

[0069] In some embodiments, the above-mentioned device also includes: a second processing module, used to calculate the ground multipath gain signal through a pre-constructed radar reflection wave model, and the radar reflection wave model is composed of a target reflection wave signal model and a ground multipath reflection wave model.

[0070] In some embodiments, the above device further includes: a model building module, used to build the radar reflection wave model, including:

[0071] For the radar receiving the target echo signal, a target reflected wave signal model including the target reflected wave path R1 and the target reflected wave signal S1 is constructed:

[0072]

[0073]

[0074] For the radar receiving the ground echo signal, the ground multipath reflection wave model including the ground multipath reflection wave path R2 and the ground multipath reflection wave signal S2 is constructed:

[0075]

[0076]

[0077] Then the total echo signal S received by the radar is S=S1+S2;

[0078] Among them, H1 is the height of the radar from the ground, H2 is the height of the target from the ground, Y is the horizontal distance between the radar and the target, α1 is the signal amplitude of the target reflection wave signal S1, α2 is the signal amplitude of the ground multipath reflection wave signal S2, α2=kα1, k is the ground multipath reflection coefficient.

[0079] In some embodiments, the model building module is further used to determine the ground multipath reflection coefficient k, including:

[0080] Adjusting the candidate values ​​of k multiple times, and selecting a target value from each candidate value as the k;

[0081] Among them, when the radar reflection wave model adopts the target value as the k, the radar received total echo signal signal-to-noise ratio and distance relationship curve obtained by simulating the radar reflection wave model is consistent with the measured radar received total echo signal signal-to-noise ratio and distance relationship curve.

[0082] In some embodiments, the determined ground multipath reflection coefficient k=1.

[0083] In some embodiments, the first processing module 13 is further used to:

[0084] The ground multipath gain signal is obtained by using a pre-built radar reflection wave model, including:

[0085] Based on the ground multipath reflection coefficient k and the default setting Y>>H1+H2, it is determined that the ratio of the target reflected wave signal S1 to the ground multipath reflected wave signal S2 in the total echo signal S received by the radar is 1:k;

[0086] The ground multipath gain signal is determined to be 1 / (1+k) times the total echo signal S received by the radar, and the corresponding gain in the db domain is db(1+k).

[0087] In some embodiments, the first processing module 13 is used to subtract the gain db(1+k) of the ground multipath gain signal in the db domain from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line.

[0088] Compared with the related art, in the device provided in this embodiment, the acquisition module obtains the signal-to-noise ratio and distance relationship curve of the total echo signal collected when the radar detects the measured target at different distances, and marks the distance and signal-to-noise ratio of each peak point in the curve within the preset distance segment; the fitting module converts the distance of each peak point into the distance in the db domain and then performs linear fitting with the signal-to-noise ratio of the peak point to obtain a fitting straight line; the first processing module subtracts the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line, and the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold in the target signal signal-to-noise ratio straight line is determined as the maximum effective range of the radar. This scheme evaluates the maximum effective range of the radar through a fitting algorithm that includes ground multipath, first fits the total echo signal SNR (measured target + ground multipath) received by the radar with the distance relationship curve, and then infers the relationship between the measured target signal SNR and the distance, and then obtains the true maximum effective range of the radar, effectively improving the accuracy of the maximum effective range of the evaluated radar.

[0089] Another embodiment of the present invention relates to an electronic device, such as Figure 6 As shown, it includes at least one processor 202; and a memory 201 that is communicatively connected to the at least one processor 202; wherein the memory 201 stores instructions that can be executed by the at least one processor 202, and the instructions are executed by the at least one processor 202 so that the at least one processor 202 can execute any of the above method embodiments.

[0090] Among them, the memory 201 and the processor 202 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects one or more processors 202 and various circuits of the memory 201 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, are not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 202 is transmitted on a wireless medium through an antenna, and further, the antenna also receives data and transmits the data to the processor 202.

[0091] The processor 202 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 201 can be used to store data used by the processor 202 when performing operations.

[0092] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements any of the above method embodiments when executed by a processor.

[0093] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0094] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for evaluating the maximum range of a vehicle-mounted radar, characterized in that: include: Obtain the relationship curve between the signal-to-noise ratio and distance of the total echo signal collected when the radar detects the target at different distances, and mark the distance and signal-to-noise ratio of each peak point in the curve within a preset distance segment; The distance of each peak point is converted into a distance in the db domain and then linearly fitted with the signal-to-noise ratio of the peak point to obtain a fitting straight line; The ground multipath gain signal is subtracted from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold on the target signal signal-to-noise ratio straight line is determined as the maximum operating range of the radar.

2. The method according to claim 1, characterized in that Also includes: The ground multipath gain signal is calculated by a pre-constructed radar reflection wave model, wherein the radar reflection wave model is composed of a target reflection wave signal model and a ground multipath reflection wave model.

3. The method according to claim 2, characterized in that Constructing the radar reflection wave model includes: For the radar receiving the target echo signal, a target reflected wave signal model including the target reflected wave path R1 and the target reflected wave signal S1 is constructed: For the radar receiving the ground echo signal, the ground multipath reflection wave model including the ground multipath reflection wave path R2 and the ground multipath reflection wave signal S2 is constructed: Then the total echo signal S received by the radar is S=S1+S2; Among them, H1 is the height of the radar from the ground, H2 is the height of the target from the ground, Y is the horizontal distance between the radar and the target, α1 is the signal amplitude of the target reflection wave signal S1, α2 is the signal amplitude of the ground multipath reflection wave signal S2, α2=kα1, k is the ground multipath reflection coefficient.

4. The method according to claim 3, characterized in that Determining the ground multipath reflection coefficient k comprises: Adjusting the candidate values ​​of k multiple times, and selecting a target value from each candidate value as the k; Among them, when the radar reflection wave model adopts the target value as the k, the radar received total echo signal signal-to-noise ratio and distance relationship curve obtained by simulating the radar reflection wave model is consistent with the measured radar received total echo signal signal-to-noise ratio and distance relationship curve.

5. The method according to claim 4, characterized in that The determined ground multipath reflection coefficient k=1.

6. The method according to claim 3, characterized in that The calculating the ground multipath gain signal by using a pre-constructed radar reflection wave model comprises: Based on the ground multipath reflection coefficient k and the default setting Y>>H1+H2, it is determined that the ratio of the target reflected wave signal S1 to the ground multipath reflected wave signal S2 in the total echo signal S received by the radar is 1:k; The ground multipath gain signal is determined to be k / (1+k) times the total echo signal S received by the radar, and the corresponding gain in the db domain is db(1+k).

7. The method according to claim 6, characterized in that Subtracting the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line, including: The gain db(1+k) of the ground multipath gain signal in the db domain is subtracted from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line.

8. A device for evaluating the maximum operating range of a vehicle-mounted radar, characterized in that: include: The acquisition module is used to obtain the signal-to-noise ratio and distance relationship curve of the total echo signal collected when the radar detects the target at different distances, and mark the distance and signal-to-noise ratio of each peak point in the curve within a preset distance segment; A fitting module, used for converting the distance of each peak point into a distance in the db domain and performing a linear fit with the signal-to-noise ratio of the peak point to obtain a fitting straight line; The first processing module is used to subtract the ground multipath gain signal from the signal-to-noise ratio of each point on the fitting straight line to obtain a target signal signal-to-noise ratio straight line, and determine the distance corresponding to the target signal signal-to-noise ratio that is first less than the signal-to-noise ratio threshold on the target signal signal-to-noise ratio straight line as the maximum operating range of the radar.

9. The device according to claim 8, characterized in that Also includes: The second processing module is used to calculate the ground multipath gain signal through a pre-constructed radar reflection wave model, wherein the radar reflection wave model is composed of a target reflection wave signal model and a ground multipath reflection wave model.

10. The device according to claim 9, characterized in that: Also includes: A model building module, used to build the radar reflection wave model, includes: For the radar receiving the target echo signal, a target reflected wave signal model including the target reflected wave path R1 and the target reflected wave signal S1 is constructed: For the radar receiving the ground echo signal, the ground multipath reflection wave model including the ground multipath reflection wave path R2 and the ground multipath reflection wave signal S2 is constructed: Then the total echo signal S received by the radar is S=S1+S2; Among them, H1 is the height of the radar from the ground, H2 is the height of the target from the ground, Y is the horizontal distance between the radar and the target, α1 is the signal amplitude of the target reflection wave signal S1, α2 is the signal amplitude of the ground multipath reflection wave signal S2, α2=kα1, k is the ground multipath reflection coefficient.

11. The device according to claim 10, characterized in that: The model building module is also used to determine the ground multipath reflection coefficient k, including: Adjusting the candidate values ​​of k multiple times, and selecting a target value from each candidate value as the k; Among them, when the radar reflection wave model adopts the target value as the k, the radar received total echo signal signal-to-noise ratio and distance relationship curve obtained by simulating the radar reflection wave model is consistent with the measured radar received total echo signal signal-to-noise ratio and distance relationship curve.

12. The device according to claim 11, characterized in that The determined ground multipath reflection coefficient k=1.

13. The device according to claim 10, characterized in that: The second processing module is used to: Based on the ground multipath reflection coefficient k and the default setting Y>>H1+H2, it is determined that the ratio of the target reflected wave signal S1 to the ground multipath reflected wave signal S2 in the total echo signal S received by the radar is 1:k; The ground multipath gain signal is determined to be 1 / (1+k) times the total echo signal S received by the radar, and the corresponding gain in the db domain is db(1+k).

14. The device according to claim 13, characterized in that The first processing module is used to subtract the gain db(1+k) of the ground multipath gain signal in the db domain from the signal-to-noise ratio of each point on the fitting straight line to obtain the target signal signal-to-noise ratio straight line.

15. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for estimating the maximum operating range of a vehicle-mounted radar according to any one of claims 1 to 7.

16. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for evaluating the maximum operating range of a vehicle-mounted radar according to any one of claims 1 to 7 is implemented.

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