Radar autonomous performance test and evaluation method

Abstract

The invention belongs to the technical field of radar test, and discloses a radar autonomous performance test evaluation method. According to the invention, a test and evaluation architecture for the autonomous performance of the radar is provided, and autonomous performance verification in different stages of radar prototype design and development and system integration development can be realized; a test and evaluation method for the intelligent algorithm adopted by the radar is provided, and performance verification of reliability, generalization, interpretability and the like of the intelligent algorithm is realized through a data enhancement method; the invention provides a test evaluation method aiming at the autonomy levels of a radar subsystem and a system, designs a radar autonomous performance evaluation index system, and provides radar autonomous performance test subjects under different autonomy levels according to test scenes and autonomous performance index requirements under different autonomy levels.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of radar test and measurement, and particularly to a method for testing and evaluating the autonomous performance of a radar. Background Art

[0002] The autonomous performance test and evaluation of a radar system is a key link in the current development of radar technology. However, in the actual promotion process, a series of technical bottlenecks and challenges that need to be solved urgently are still faced: At the algorithm level, with the deep integration of artificial intelligence algorithms such as deep learning and reinforcement learning in the core functions of radar target recognition, environmental perception, decision-making control, etc., the degree of autonomy of the system has been significantly improved. However, correspondingly, there are obvious deficiencies in the existing test systems in terms of algorithm security, robustness, and interpretability: on the one hand, there is a lack of systematic test methods for security threats such as adversarial sample attacks and data pollution of intelligent algorithms; on the other hand, an interpretability evaluation mechanism for the algorithm decision-making process has not been established, making it difficult to meet the credibility requirements in high-reliability application scenarios.

[0003] At the test and verification level, the traditional radar test system mainly focuses on conventional indicators such as detection accuracy, resolution ability, and anti-jamming performance, and it is difficult to meet the evaluation requirements of autonomous radar systems. Specifically, it is manifested in three dimensions: first, the construction of the test scenario lacks full consideration of dynamic elements such as complex battlefield environments and multi-target interactions; second, the evaluation index system has not established quantitative standards covering key dimensions such as autonomous decision-making efficiency, task completion, and human-machine collaboration ability; third, there is a lack of systematic evaluation methodology support, especially the test and verification methods for new capabilities such as online learning ability and environmental adaptation ability are still in the exploratory stage.

[0004] The existence of these bottleneck problems not only restricts the accurate evaluation and continuous optimization of the autonomous performance of radar systems, but also affects to a certain extent the in-depth application of intelligent radar technology in military and civilian fields. Therefore, establishing a perfect autonomous performance test and evaluation system has become an urgent task to promote the development of radar technology towards intelligence and autonomy. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for testing and evaluating the autonomous performance of a radar. The content of the present invention focuses on the purpose of verifying the autonomous performance of a radar at different stages of radar prototype design and development and system integration and development. Through the test and verification of radar intelligent algorithms and the autonomous performance of the radar system, and based on the test and evaluation results, the algorithm and the system are iteratively optimized to achieve the purpose of deeply exploring and analyzing the autonomous performance of the radar.

[0006] To achieve the above object, the present invention provides a method for testing and evaluating the autonomous performance of a radar, including prototype test and evaluation and system test and evaluation; Prototype testing and evaluation, including the following steps: Step 1: Select the algorithm to be tested and build an algorithm test environment; Step 2: Prepare a basic test data set. Based on the basic test data set, use the data sample augmentation method to automatically generate new data samples and obtain an augmented test data set; Step 3: Use the augmented test data set as the input of the algorithm and start running the algorithm; Step 4: During the running of the algorithm, collect the algorithm output results and intermediate calculation results; Step 5: After the algorithm finishes running, analyze and evaluate the performance metrics of the algorithm to be tested based on the augmented test data set, algorithm output results, and intermediate calculation results. The performance metrics include robustness, generalization, security, and interpretability metrics; Step 6: Determine whether the performance of the algorithm to be tested meets the design requirements; If the requirements are not met, optimize the performance of the algorithm to be tested and repeat Steps 2 to 6; If the requirements are met, end the test; System testing and evaluation, including the following steps: Step 7: Test preparation; Step 8: Build a radar autonomous performance test and evaluation system; Step 9: Select the subsystems to be tested in turn from each radar autonomous subsystem and complete the autonomous performance test and evaluation of the subsystems; Step 10: Based on the autonomous performance test and evaluation results of each radar autonomous subsystem, complete the comprehensive evaluation of the radar system's autonomous performance; Step 11: Output the radar system autonomous performance test and evaluation report.

[0007] Furthermore, the test preparation in Step 7 includes the following steps: S1: For each radar autonomous subsystem, design test scenarios for different autonomy levels respectively; S2: For each radar autonomous subsystem, design its autonomous performance evaluation index system respectively; S3: For each radar autonomous subsystem, design the requirements for autonomous performance evaluation indexes under test scenarios for different autonomy levels respectively; S4: For each radar autonomous subsystem, design test subjects for different autonomy levels respectively.

[0008] Furthermore, the radar autonomous subsystems include anti-jamming, target detection, target tracking, target recognition, and health management.

[0009] Furthermore, the autonomy levels in the radar autonomous subsystems include machine-assisted A1, human-machine collaboration A2, and machine autonomy A3 from low to high.

[0010] Further, the radar autonomous performance test and evaluation system in step 8 includes test and evaluation equipment, signal simulation equipment, and intelligent algorithm test equipment.

[0011] Further, step 9 sequentially selects the sub-systems to be tested from each autonomous sub-system of the radar to complete the autonomous performance test and evaluation of the sub-system, including the following steps: S5: For the sub-system to be tested, initialize d = 1, and conduct the test and evaluation of the sub-system under the Ad autonomous level; S6: According to the Ad-level test subjects of the sub-system to be tested, the test and evaluation equipment batch generates autonomous performance test scenarios and outputs them to the signal simulation equipment; S7: The signal simulation equipment transmits the scenario signals to the radar under test in real time according to the autonomous performance test scenarios generated in step S6. The scenario signals include simulated target signals, electromagnetic environment signals, and fault signals; S8: The test and evaluation equipment synchronously collects test data in real time, analyzes and calculates the collected test data to obtain its autonomous performance indicators. The test data includes point track data, track data, and fault data output by the radar; S9: The test and evaluation equipment uses the built-in sub-system autonomous level evaluation model to obtain the autonomous score of the sub-system to be tested under the Ad level; S10: The test and evaluation equipment determines whether the autonomous score of the sub-system to be tested meets the autonomous performance score requirements of the Ad level. If it meets the requirements, go to step S11; otherwise, go to step S12; S11: If d < 3, then set d = d + 1, and repeat steps S6 - S10 to conduct the Ad-level autonomous test and evaluation of the sub-system to be tested; otherwise, determine the autonomous level of the sub-system to be tested as A3, and end the autonomous test and evaluation of the sub-system; S12: If d > 1, then determine the autonomous level of the sub-system to be tested as Ad-1, and end the autonomous test and evaluation of the sub-system; otherwise, the sub-system does not have autonomy, and end the autonomous test and evaluation of the sub-system.

[0012] Further, step 10 completes the comprehensive evaluation of the radar system's autonomous performance based on the autonomous performance test and evaluation results of each autonomous sub-system, including the following steps: S13: The test and evaluation equipment collects the autonomous scores of each sub-system to be tested generated in step 9; S14: The test and evaluation equipment uses the built-in system autonomous level evaluation model to fuse and process the autonomous scores of each sub-system to be tested to obtain the autonomous score of the radar system; S15: The test and evaluation equipment determines the scoring range of the autonomous level where the system autonomous score is located to obtain the autonomous level of the system.

[0013] Further, in step 11, an autonomous performance test and evaluation report of the radar system is output. The content of the autonomous performance test and evaluation report of the radar system includes the test results of the autonomous performance indicators of each autonomous subsystem of the radar at each autonomous level, the autonomous score, and the autonomous level, as well as the autonomous score and autonomous level of the radar system.

[0014] Beneficial effects: The present invention provides a method for testing and evaluating the autonomous performance of a radar, proposes a test and evaluation architecture for the autonomous performance of the radar, and can realize the verification of the autonomous performance at different stages of the design and development of the radar prototype and the system integration and development; proposes a test and evaluation method for the intelligent algorithms used in the radar, and realizes the verification of the performance such as the reliability, generalization, and interpretability of the intelligent algorithms through the data enhancement method; proposes a test and evaluation method for the autonomous levels of the radar subsystems and the system, designs an autonomous performance evaluation index system, test scenarios and autonomous performance index requirements at different autonomous levels, and proposes the radar autonomous performance test subjects at different autonomous levels. Description of the Drawings

[0015] Figure 1 is the architecture diagram of the radar autonomous performance test and evaluation related to the embodiment of the present invention; Figure 2 is the flow chart of the radar prototype algorithm test and evaluation related to the embodiment of the present invention; Figure 3 is the flow chart of the radar system autonomous performance test and evaluation related to the embodiment of the present invention; Figure 4 is the flow chart of the radar subsystem autonomous performance test and evaluation related to the embodiment of the present invention. Detailed Embodiments

[0016] The following further describes the preferred mechanisms and implementation methods of the present invention in conjunction with the drawings and specific embodiments.

[0017] As Figures 1 to 4 shown, the embodiment of the present invention discloses a technical solution of a method for testing and evaluating the autonomous performance of a radar. Figure 1 For being Figure 1 is the architecture diagram of the radar autonomous performance test and evaluation related to the embodiment of the present invention; Figure 2 is the flow chart of the radar prototype algorithm test and evaluation related to the embodiment of the present invention; Figure 3 is the flow chart of the radar system autonomous performance test and evaluation related to the embodiment of the present invention; Figure 4 is the flow chart of the radar subsystem autonomous performance test and evaluation related to the embodiment of the present invention. Embodiment 1

[0018] A method for testing and evaluating the autonomous performance of a radar, which is divided into prototype testing and evaluation and system testing and evaluation according to the radar design and development process. Prototype testing and evaluation is used to test and evaluate the intelligent algorithms adopted by the radar during the prototype design and development stage; system testing and evaluation is used to test and evaluate the subsystems involved in each autonomous function of the radar and the autonomous performance of the system during the system integration and development stage.

[0019] The prototype testing and evaluation includes the following steps: Step 1: Select the algorithm to be tested and build an algorithm testing environment; Step 2: Prepare a basic test data set. Based on the basic test data set, use the data sample enhancement method to automatically generate new data samples to obtain an enhanced test data set; Step 3: Use the enhanced test data set as the input of the algorithm and start running the algorithm; Step 4: During the running of the algorithm, collect the output results and intermediate calculation results of the algorithm; Step 5: After the algorithm finishes running, based on the enhanced test data set, the algorithm output results and the intermediate calculation results, analyze and evaluate the performance indicators of the algorithm to be tested. The performance indicators include robustness, generalization, security, and interpretability indicators; Step 6: Determine whether the performance of the algorithm to be tested meets the design requirements; If the requirements are not met, optimize the performance of the algorithm to be tested and repeat steps 2 to 6; If the requirements are met, end the test; The system testing and evaluation includes the following steps: Step 7: Test preparation; Step 8: Build a radar autonomous performance test and evaluation system; Step 9: Sequentially select the subsystems to be tested from each autonomous subsystem of the radar and complete the autonomous performance test and evaluation of the subsystems; Step 10: Based on the autonomous performance test and evaluation results of each autonomous subsystem of the radar, complete the comprehensive evaluation of the autonomous performance of the radar system; Step 11: Output a radar system autonomous performance test and evaluation report.

[0020] In the embodiment of the present invention, the test preparation in step 7 includes the following steps: S1: For each autonomous subsystem of the radar, design test scenarios for different autonomous levels respectively; S2: For each autonomous subsystem of the radar, design its autonomous performance evaluation index system respectively; S3: For each autonomous subsystem of the radar, design the requirements for autonomous performance evaluation indexes under test scenarios for different autonomous levels respectively; S4: For each autonomous subsystem of the radar, design test items for different autonomy levels respectively.

[0021] In the embodiment of the present invention, the autonomous subsystems described in steps 7 and 9 include anti-interference, target detection, target tracking, target recognition, health management, etc.

[0022] In the embodiment of the present invention, the autonomy levels described in step 7 from low to high include A1 (machine assistance), A2 (human-machine collaboration), and A3 (machine autonomy).

[0023] In the embodiment of the present invention, the autonomous performance test and evaluation system described in step 8 includes test and evaluation equipment, signal simulation equipment, and intelligent algorithm test equipment.

[0024] In the embodiment of the present invention, step 9 includes the following steps: S5: For the subsystem under test, initialize d = 1, and conduct the test and evaluation of the subsystem under test at the Ad autonomy level; S6: According to the test items of the Ad level of the subsystem under test, the test and evaluation equipment batch-generates autonomous performance test scenarios and outputs them to the signal simulation equipment; S7: According to the autonomous performance test scenarios generated in step S6, the signal simulation equipment transmits scenario signals such as simulated targets, electromagnetic environments, and faults to the radar under test in real time. The scenario signals include simulated target signals, electromagnetic environment signals, and fault signals; S8: The test and evaluation equipment synchronously collects test data in real time, analyzes and calculates the collected test data to obtain its autonomous performance indicators. The test data includes point track data, track data, and fault data output by the radar; S9: The test and evaluation equipment uses the built-in subsystem autonomy level evaluation model to obtain the autonomy score of the subsystem under test at the Ad level; S10: The test and evaluation equipment determines whether the autonomy score of the subsystem under test meets the autonomous performance score requirements of the Ad level. If it meets the requirements, go to step S11; otherwise, go to step S12; S11: If d < 3, let d = d + 1, and repeat steps S6 - S10 to conduct the autonomous test and evaluation of the subsystem under test at the Ad level; otherwise, the autonomy level of the subsystem under test is determined to be A3, and the autonomous test and evaluation of this subsystem ends; S12: If d > 1, the autonomy level of the subsystem under test is determined to be Ad - 1, and the autonomous test and evaluation of this subsystem ends; otherwise, the subsystem under test does not have autonomy, and the autonomous test and evaluation of this subsystem ends.

[0025] In the embodiment of the present invention, step 10 includes the following steps: S13: The test and evaluation device collects the autonomy scores of each DUT subsystem generated in step 9; S14: The test and evaluation device performs fusion processing on the autonomy scores of each DUT subsystem by using the built-in system autonomy level evaluation model to obtain the autonomy score of the radar system; S15: The test and evaluation device determines the score range of the autonomy level where the system autonomy score is located to obtain the autonomy level of the system.

[0026] In the embodiment of the present invention, the radar system autonomy test and evaluation report described in step 11 includes the test results, autonomy scores, and autonomy levels of the autonomous performance indicators of each autonomous subsystem of the radar at each autonomy level, the autonomy score and autonomy level of the radar system. Embodiment 2

[0027] The radar autonomous performance test and evaluation method in this embodiment is basically the same as that in Embodiment 1, except that: The following describes in detail an example embodiment according to the present invention with reference to the accompanying drawings, and further elaborates on the present invention. It should be understood that the specific embodiments described herein are only a part of the embodiments of the present invention, and the present invention is not limited by the example embodiments described herein. Based on the embodiments described in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] A radar autonomous performance test and evaluation architecture according to an embodiment of the present invention is as Figure 1 shown, including prototype test and evaluation and system test and evaluation.

[0029] The prototype test and evaluation process according to an embodiment of the present invention is as Figure 2 shown. Taking the test and evaluation of the health management algorithm in the radar prototype as an example, the steps are as follows: In step 1, select the DUT algorithm as the health management algorithm based on the BP neural network; build the algorithm test environment as a high-performance server required for the operation of the health management algorithm. In step 2, prepare the basic test data set as the device state parameter data samples under various faults of the radar, with 5000 samples. Based on the basic test data set, use methods such as adversarial attacks and metamorphic relations to enhance the data samples of the basic test data set, automatically generate new data samples, and obtain the enhanced test data set with 50000 samples. Then, enter step S5.

[0030] In step 3, use the enhanced test data set as the input of the algorithm and start running the health management algorithm. Then, enter step 4.

[0031] In step 4, during the operation of the algorithm, the fault diagnosis results output by the health management algorithm and the intermediate neuron calculation results are collected. Thereafter, step 5 is entered.

[0032] In step 5, after the algorithm operation ends, based on the enhanced test data set, the algorithm output results, and the intermediate calculation results, the performance of the algorithm under test, such as robustness, generalization, security, interpretability, etc., is analyzed and evaluated, including indicators such as accuracy, precision, recall rate, average robustness, attack success rate, neuron coverage rate, etc. Thereafter, step 6 is entered.

[0033] In step 6, it is judged whether the performance of the algorithm under test meets the design requirements. After multiple rounds of iterative testing and performance optimization of the health management algorithm, when the performance of the health management algorithm reaches the design requirements, an algorithm test report is output, and the test ends.

[0034] The system test and evaluation process according to the embodiment of the present invention is as Figure 3 shown, including the following steps: In step 7, test preparation is carried out, including the following steps: S1: For each autonomous subsystem of the radar, test scenarios for different autonomy levels are designed respectively; the autonomy levels include A1 (machine-assisted), A2 (human-machine collaboration), and A3 (machine autonomy) from low to high. Taking the health management subsystem as an example, the test scenarios designed for different autonomy levels are shown in Table 1.

[0035]

[0036] S2: For each autonomous subsystem of the radar, an autonomous performance evaluation index system is designed respectively. Taking the health management subsystem as an example, the autonomous performance evaluation index system designed for it is shown in Table 2.

[0037]

[0038] S3: For each autonomous subsystem of the radar, the requirements for autonomous performance evaluation indexes in test scenarios for different autonomy levels are designed respectively. Taking the health management subsystem as an example, the requirements for autonomous performance evaluation indexes in test scenarios for different autonomy levels designed for it are shown in Table 3.

[0039]

[0040] S4: For each autonomous subsystem of the radar, test subjects for different autonomy levels are designed respectively. Taking the health management subsystem as an example, the test subjects designed for it at level A1 are shown in Table 4.

[0041]

[0042] After the test preparation is completed, step 8 is entered.

[0043] In step 8, a radar autonomous performance test and evaluation system is built, including test and evaluation equipment, signal simulation equipment, and intelligent algorithm test equipment. Thereafter, step 9 is entered.

[0044] In step 9, the subsystems under test are sequentially selected from each autonomous subsystem of the radar to complete the autonomous performance test and evaluation of the subsystems. The process of the autonomous performance test and evaluation of the subsystems is as Figure 4 shown. Taking the health management subsystem as an example, the steps are as follows: In step S5, for the health management subsystem under test, d = 1 is initialized, and the test and evaluation of the health management subsystem at the A1 autonomy level are carried out. Thereafter, step S6 is entered.

[0045] In step S6, according to the test subjects of the A1 level of the health management subsystem shown in Table 4, the test and evaluation equipment batch generates autonomous performance test scenarios and outputs them to the signal simulation equipment. Thereafter, step S7 is entered.

[0046] In step S7, the signal simulation equipment real-time simulates the fault scenario signals to the radar under test according to the autonomous performance test scenarios generated in step S6. Thereafter, step S8 is entered.

[0047] In step S8, the test and evaluation equipment real-time synchronously collects the fault test data output by the radar, and analyzes and calculates the collected data to obtain autonomous performance indicators such as its fault diagnosis accuracy rate and the proportion of the number of times of manual-assisted fault diagnosis. In an embodiment of the present invention, the fault diagnosis accuracy rate measured in the A1 level test scenario of the health management subsystem is 95%, and the proportion of the number of times of manual-assisted fault diagnosis is 40%. Thereafter, step S9 is entered.

[0048] In step S9, the test and evaluation equipment uses the built-in autonomous level evaluation model of the subsystem to obtain the autonomous score of the health management subsystem at the Ad autonomous level. In an embodiment of the present invention, the autonomous score of the health subsystem at the A1 autonomous level is 0.9. Thereafter, step S10 is entered.

[0049] In step S10, the test and evaluation equipment determines whether the autonomous score of the health management subsystem meets the autonomous performance score requirements of the Ad level. In an embodiment of the present invention, the autonomous score (0.9) of the health management subsystem at the A1 level meets the autonomous performance score requirements of the A1 level. Thereafter, step S11 is entered.

[0050] In step S11, since d < 3, then let d = d + 1 = 2, and repeat steps S6 - S10 to conduct the autonomy test and evaluation of the health management subsystem at level A2. In an embodiment of the present invention, in the A2 - level test scenario of the health management subsystem, the correct rate of fault diagnosis is measured as 91%, the proportion of manual - assisted fault diagnosis times is 35%, and using the subsystem autonomy level evaluation model, its autonomy performance score is 1.6, which does not meet the autonomy performance score requirements of the health management subsystem at level A2. After that, enter step S12.

[0051] In step S12, since d = 2, which satisfies d > 1, the autonomy level of the health management subsystem is determined as A1, and the autonomy test and evaluation of the health management subsystem ends.

[0052] After completing the autonomy performance test and evaluation of all subsystems, enter step 10.

[0053] In step 10, based on the autonomy performance test and evaluation results of each autonomous subsystem, complete the comprehensive evaluation of the radar system's autonomy performance, including the following steps: In step S13, the test and evaluation device collects the autonomy scores of each tested subsystem generated in step 9. In an embodiment of the present invention, the test and evaluation device collects the autonomy scores of the radar target detection, target tracking, target recognition, and health management subsystems as 1.7, 2.1, 2.3, 1.6, and 1.9 respectively. After that, enter step S14.

[0054] In step S14, the test and evaluation device uses the built - in system autonomy level evaluation model to fuse - process the autonomy scores of each tested subsystem to obtain the autonomy score of the radar system. In an embodiment of the present invention, the test and evaluation device uses the built - in system autonomy level evaluation model to obtain the autonomy score of the radar system as 1.95. After that, enter step S15.

[0055] In step S15, the test and evaluation device judges the scoring range of the autonomy level where the system autonomy score is located to obtain the autonomy level of the system. In an embodiment of the present invention, the system autonomy score of this radar is within the autonomy scoring range of level A2 but does not meet the autonomy scoring requirements of level A3. Based on this, its autonomy level is obtained as A2. After that, enter step 11.

[0056] In step 11, output the radar system autonomy performance test and evaluation report. The content includes the test results, autonomy scores, and autonomy levels of the autonomy performance indicators of each autonomous subsystem of the radar at each autonomy level, the autonomy score and autonomy level of the radar system.

[0057] The present invention provides a method for testing and evaluating the autonomous performance of a radar, proposes a test and evaluation architecture for the autonomous performance of the radar, and can realize the verification of the autonomous performance in different stages of the design and development of the radar prototype and the system integration and development; proposes a test and evaluation method for the intelligent algorithms adopted by the radar, and realizes the performance verification of the reliability, generalization, interpretability, etc. of the intelligent algorithms through data augmentation methods; proposes a test and evaluation method for the autonomy levels of the radar subsystems and the system, designs a radar autonomous performance evaluation index system, test scenarios and autonomous performance index requirements under different autonomy levels, and proposes radar autonomous performance test subjects under different autonomy levels.

[0058] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A radar autonomous performance test and evaluation method, characterized in that: Including prototype test evaluation and system test evaluation; Prototype test evaluation includes the following steps: Step 1: Select the algorithm to be tested and build the algorithm testing environment; Step 2: Prepare a basic test data set. Based on the basic test data set, use the data sample enhancement method to automatically generate new data samples to obtain an enhanced test data set. Step 3: Take the enhanced test data set as the input of the algorithm and start running the algorithm; Step 4: During the algorithm operation, collect the algorithm output results and intermediate calculation results; Step 5: After the algorithm runs, analyze and evaluate the performance indicators of the tested algorithm based on the enhanced test data set, algorithm output results, and intermediate calculation results. The performance indicators include robustness, generalization, security, and interpretability indicators; Step 6: Determine whether the performance of the algorithm under test meets the design requirements; If the requirements are not met, the performance of the algorithm under test is optimized and steps 2 to 6 are repeated; If the requirements are met, the test ends; System test evaluation includes the following steps: Step 7: Test preparation; Step 8: Build a radar autonomous performance test and evaluation system; Step 9: Select the subsystems to be tested from the autonomous subsystems of the radar in turn, and complete the autonomous performance test and evaluation of the subsystems; Step 10: Based on the autonomous performance test and evaluation results of each autonomous subsystem of the radar, complete the comprehensive evaluation of the autonomous performance of the radar system; Step 11: Output the radar system autonomous performance test evaluation report.

2. The radar autonomous performance test and evaluation method according to claim 1, characterized in that: Test preparation in step 7 includes the following steps: S1: Design test scenarios for different autonomy levels for each autonomous subsystem of the radar; S2: Design an autonomous performance evaluation index system for each autonomous subsystem of the radar; S3: Design the autonomous performance evaluation index requirements for different autonomy level test scenarios for each autonomous subsystem of the radar; S4: Design test subjects for different autonomy levels for each autonomous subsystem of the radar.

3. The radar autonomous performance test and evaluation method according to claim 1 or 2, characterized in that: Radar autonomy subsystem, including anti-interference, target detection, target tracking, target identification, and health management.

4. The radar autonomous performance test and evaluation method according to claim 2, characterized in that: The autonomy levels in the radar autonomy subsystem include machine-assisted A1, human-machine collaborative A2, and machine autonomous A3 from low to high.

5. The radar autonomous performance test and evaluation method according to claim 1, characterized in that: The radar autonomous performance test and evaluation system in step 8 includes test and evaluation equipment, signal simulation equipment, and intelligent algorithm test equipment.

6. The radar autonomous performance test and evaluation method according to claim 5, characterized in that: Step 9: Select the subsystems to be tested from the radar's autonomous subsystems in turn to complete the autonomous performance test and evaluation of the subsystems. The following steps are involved: S5: For the subsystem under test, initialize d=1 and conduct test evaluation of the subsystem under test at the Ad autonomy level; S6: According to the Ad level test subjects of the subsystem under test, the test and evaluation equipment generates autonomous performance test scenarios in batches and outputs them to the signal simulation equipment; S7: The signal simulation device transmits the scenario signal to the radar under test in real time according to the autonomous performance test scenario generated in step S6, where the scenario signal includes a simulated target signal, an electromagnetic environment signal, and a fault signal; S8: The test evaluation equipment collects test data synchronously in real time, analyzes and calculates the collected test data to obtain its autonomous performance indicators, where the test data includes point trace data, track data, and fault data output by the radar; S9: The test evaluation device uses the built-in subsystem autonomy level evaluation model to obtain the autonomy score of the tested subsystem at the Ad level; S10: The test evaluation device determines whether the autonomy score of the tested subsystem meets the Ad level autonomous performance score requirement. If so, the process proceeds to step S11; otherwise, the process proceeds to step S12; S11: If d<3, set d=d+1, repeat steps S6-S10, and perform the Ad level autonomy test and evaluation of the subsystem under test; otherwise, the autonomy level of the subsystem under test is determined to be A3, and the autonomy test and evaluation of the subsystem is terminated; S12: If d>1, the autonomy level of the subsystem under test is determined to be Ad-1, and the autonomy test evaluation of the subsystem is terminated; otherwise, the subsystem under test does not have autonomy, and the autonomy test evaluation of the subsystem is terminated.

7. The radar autonomous performance test and evaluation method according to claim 1, characterized in that: Step 10: Based on the autonomous performance test evaluation results of each autonomous subsystem, complete the comprehensive evaluation of the autonomous performance of the radar system, including the following steps: S13: The test evaluation device collects the autonomy scores of each tested subsystem generated in step 9; S14: The built-in system autonomy level evaluation model used by the test evaluation equipment integrates the autonomy scores of each subsystem under test to obtain the autonomy score of the radar system; S15: The test evaluation device determines the autonomy level scoring range of the system autonomy score, and obtains the autonomy level of the system.

8. The radar autonomous performance test and evaluation method according to claim 1, characterized in that: In step 11, a radar system autonomous performance test evaluation report is output. The content of the radar system autonomous performance test evaluation report includes the autonomous performance index test results, autonomy scores and autonomy levels of each autonomous subsystem of the radar at each autonomy level, and the autonomy score and autonomy level of the radar system.

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