Millimeter wave radar test system and millimeter wave radar test method

Abstract

The invention discloses a millimeter wave radar test system and a millimeter wave radar test method, and the system comprises a slide rail assembly which is provided with a simulation detection body which moves along a preset path limited by the slide rail assembly and is suitable for being detected by a millimeter wave radar to be tested; a radar data receiving unit adapted to capture radar test data detected by the millimeter wave radar; the test sensing equipment is used for detecting the simulation detection body to obtain theoretical data; the data processing unit is in communication connection with the test sensing equipment so as to receive theoretical data; and the cloud platform is in communication connection with the radar data receiving unit and the data processing unit, and the cloud platform is used for controlling the simulation detection body to move according to the radar test data and the theoretical data so as to carry out grade test on the millimeter wave radar. The millimeter wave radar test system provided by the invention has the advantages of simple operation, high flexibility and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent vehicle driving, and particularly to a test system and a test method for a millimeter-wave radar. Background Art

[0002] Intelligent driving vehicles are all equipped with millimeter-wave radar devices. The performance indicators of millimeter-wave radars include the detection distance, angle, speed, etc. of vehicles and pedestrians. The millimeter-wave radar test systems in related technologies require different site test equipment, and different equipment needs to be set up during the test process. The operation is complex and the intelligent detection performance and test evaluation of dummy vehicles and dummies cannot be carried out in real time. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, an object of the present invention is to provide a test system for a millimeter-wave radar, which has the advantages of simple operation and high flexibility.

[0004] The present invention also provides a test method for a millimeter-wave radar.

[0005] To achieve the above object, the present invention provides a test system for a millimeter-wave radar, which is characterized by comprising: a slide rail assembly, on which a simulated detection body is installed, and the simulated detection body moves along a predetermined path defined by the slide rail assembly and is adapted to be detected by a millimeter-wave radar to be tested; a radar data receiving unit, which is adapted to capture radar test data detected by the millimeter-wave radar; a test sensing device, which detects the simulated detection body to obtain theoretical data; a data processing unit, which is communicatively connected to the test sensing device to receive the theoretical data; and a cloud platform, which is communicatively connected to the radar data receiving unit and the data processing unit respectively, and the cloud platform is used to control the movement of the simulated detection body according to the radar test data and the theoretical data to perform a grading test on the millimeter-wave radar.

[0006] The test system of a millimeter-wave radar according to an embodiment of the present invention has a communication connection between the cloud platform and the radar data receiving unit and the data processing unit, enabling centralized control of the entire millimeter-wave radar test system. This centralized control method makes the operation simpler. The user only needs to manage and adjust the entire test process through the cloud platform, without the need to perform complex settings on each hardware component individually. At the same time, using cloud technology, different scenarios of millimeter-wave radar detection requirements can be constructed and adjusted in real time. This flexibility allows users to quickly create and modify test scenarios according to needs, without having to rebuild or physically change the device configuration, significantly improving the efficiency and adaptability of the test. The simulated detection object moves along the slide rail assembly and can be detected by the millimeter-wave radar to be tested, indicating that the test system of the millimeter-wave radar can adapt to different test requirements and conditions, enabling users to flexibly adjust and optimize the test points and improving the comprehensiveness of the test.

[0007] In addition, the test sensing device obtains theoretical data by detecting the simulated detection object, and the data processing unit is communicatively connected thereto to receive and process this theoretical data. This process is automated, enabling the operator to easily obtain the required data without complex manual intervention, thus simplifying the test process.

[0008] Therefore, the test system of the millimeter-wave radar according to an embodiment of the present invention has the advantages of simple operation and high flexibility.

[0009] In some embodiments of the present invention, the simulated detection object includes a simulated human and a simulated vehicle; the slide rail assembly includes a simulated human slide rail and a simulated vehicle slide rail; the simulated human moves along the path defined by the simulated human slide rail to be detected by the millimeter-wave radar and the test sensing device; the simulated vehicle moves along the path defined by the simulated vehicle slide rail to be detected by the millimeter-wave radar and the test sensing device.

[0010] In some embodiments of the present invention, the simulated human slide rail includes: a human speed test slide rail, a human distance test slide rail, and a human angle test slide rail; the simulated vehicle slide rail includes: a vehicle speed test slide rail, a vehicle distance test slide rail, and a vehicle angle test slide rail.

[0011] In some embodiments of the present invention, the human speed test slide rail and the vehicle speed test slide rail are both on the same straight line and are respectively located on opposite sides of the millimeter-wave radar; the human distance test slide rail and the vehicle distance test slide rail are on the same straight line and are respectively located on opposite sides of the millimeter-wave radar; the human angle test slide rail is connected to the farthest end of the human distance slide rail and is configured to be arc-shaped; the vehicle angle test slide rail is connected to the farthest end of the vehicle angle test slide rail and is configured to be arc-shaped.

[0012] In some embodiments of the present invention, the test perception device includes a test camera and a test lidar. The test camera detects data on the distance between the dummy and the test slide rail, the distance between the dummy vehicle and the test slide rail, the angle of the dummy vehicle with respect to the test slide rail, and the angle of the dummy with respect to the test slide rail. The test lidar tests data on the speed of the dummy with respect to the test slide rail and the speed of the dummy vehicle with respect to the test slide rail.

[0013] According to an embodiment of the second aspect of the present invention, a millimeter-wave radar test method is provided for a test system of a millimeter-wave radar. The test method includes: the cloud platform issues a test instruction for a first vehicle simulation condition, S1 controls the simulated dummy vehicle of the slide rail assembly to move under the first vehicle simulation condition to obtain first radar test data, and determines whether the first radar test data meets a first level; if so, the cloud platform issues a test instruction for a second vehicle simulation condition, S2 controls the simulated dummy vehicle of the slide rail assembly to move under the second vehicle simulation condition to obtain second radar test data, and determines whether the second radar test data meets a second level; if so, the cloud platform issues a test instruction for a first pedestrian simulation condition, S3 controls the simulated dummy of the slide rail assembly to move under the first pedestrian simulation condition to obtain third radar test data, and determines whether the third radar test data meets a third level; if so, the cloud platform issues a test instruction for a second pedestrian simulation condition, S4 controls the simulated dummy of the slide rail assembly to move under the second pedestrian simulation condition to obtain fourth radar test data, and determines whether the fourth radar test data meets a fourth level; if so, it meets the fourth level.

[0014] In some embodiments of the present invention, under the first vehicle simulation condition, the cloud platform receives first theoretical data on the first vehicle simulation condition fed back by the test perception device, and determines whether the first radar test data meets the first level according to the first theoretical data; under the second vehicle simulation condition, the cloud platform receives second theoretical data on the second vehicle simulation condition fed back by the test perception device, and determines whether the second radar test data meets the second level according to the second theoretical data; under the third vehicle simulation condition, the cloud platform receives third theoretical data on the first pedestrian simulation condition fed back by the test perception device, and determines whether the third radar test data meets the third level according to the third theoretical data; under the third vehicle simulation condition, the cloud platform receives fourth theoretical data on the second pedestrian simulation condition fed back by the test perception device, and determines whether the fourth radar test data meets the fourth level according to the fourth theoretical data.

[0015] In some embodiments of the present invention, controlling a simulated dummy vehicle of a control slide rail assembly to move in a first vehicle simulation condition to obtain first radar test data, including: S1-1 driving the simulated dummy vehicle of the control slide rail assembly to move away from the millimeter-wave radar along the dummy vehicle distance test slide rail to obtain a test value of the maximum detection distance of the dummy vehicle; controlling the simulated dummy vehicle of the control slide rail assembly to move in a second vehicle simulation condition to obtain second radar test data, including: S2-1 driving the simulated dummy vehicle of the control slide rail assembly to move along the dummy vehicle angle test slide rail to obtain a test value of the maximum detection angle of the dummy vehicle; S2-2 driving the simulated dummy vehicle of the control slide rail assembly to move along the dummy vehicle speed test slide rail to obtain a test value of the dummy vehicle speed; controlling the simulated dummy vehicle of the control slide rail assembly to move in a first pedestrian simulation condition to obtain third radar test data, including: S3-1 driving the simulated dummy of the control slide rail assembly to move away from the millimeter-wave radar along the dummy distance test slide rail to obtain a test value of the maximum detection distance of the dummy; controlling the simulated dummy vehicle of the control slide rail assembly to move in a second pedestrian simulation condition to obtain fourth radar test data, including: S4-1 driving the simulated dummy of the control slide rail assembly to move along the dummy angle test slide rail to obtain a test value of the maximum detection angle of the dummy; S4-2 driving the simulated dummy of the control slide rail assembly to move along the dummy speed test slide rail to obtain a test value of the dummy speed.

[0016] In some embodiments of the present invention, the first theoretical data is the theoretical value of the maximum detection distance of the dummy vehicle. Judging whether the first radar test data meets the first level according to the first theoretical data includes: determining a first deviation between the test value of the maximum detection distance of the dummy vehicle and the theoretical value of the maximum detection distance of the dummy vehicle. If the first deviation is less than the first threshold, it is determined that the first radar test data meets the first level; the second theoretical data includes the theoretical value of the maximum detection distance of the dummy vehicle and the theoretical value of the speed of the dummy vehicle. Judging whether the second radar test data meets the second level according to the second theoretical data includes: determining a second deviation between the test value of the maximum detection angle of the dummy vehicle and the theoretical value of the maximum detection angle of the dummy vehicle, and determining a third deviation between the test value of the speed of the dummy vehicle and the theoretical value of the speed of the dummy vehicle. If the second deviation is less than the second threshold and the third deviation is less than the third threshold, it is determined that the second radar test data meets the second level; the third theoretical data is the theoretical value of the maximum detection distance of the dummy vehicle. Judging whether the third radar test data meets the third level according to the third theoretical data includes: determining a fourth deviation between the test value of the maximum detection distance of the dummy and the theoretical value of the maximum detection distance of the dummy. If the fourth deviation is less than the fourth threshold, it is determined that the third radar test data meets the third level; the fourth theoretical data includes the theoretical value of the maximum detection distance of the dummy and the theoretical value of the speed of the dummy. Judging whether the fourth radar test data meets the fourth level according to the fourth theoretical data includes: determining a fifth deviation between the test value of the maximum detection angle of the dummy and the theoretical value of the maximum detection angle of the dummy, and determining a sixth deviation between the test value of the speed of the dummy vehicle and the theoretical value of the speed of the dummy vehicle. If the fifth deviation is less than the fifth threshold and the sixth deviation is less than the sixth threshold, it is determined that the second radar test data meets the fourth level.

[0017] In some embodiments of the present invention, the test value of the speed of the dummy vehicle at least includes: the low-speed test value of the dummy vehicle, the medium-speed test value of the dummy vehicle, and the high-speed test value of the dummy vehicle. The theoretical value of the speed of the dummy vehicle at least includes the low-speed theoretical value of the dummy vehicle, the medium-speed theoretical value of the dummy vehicle, and the high-speed theoretical value of the dummy vehicle; the test value of the speed of the dummy at least includes: the low-speed test value of the dummy, the medium-speed test value of the dummy, and the high-speed test value of the dummy. The theoretical value of the speed of the dummy at least includes the low-speed theoretical value of the dummy, the medium-speed theoretical value of the dummy, and the high-speed theoretical value of the dummy.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a structural block diagram of a test system for a millimeter-wave radar according to an embodiment of the present invention; Figure 2 is a schematic structural diagram of a test system for a millimeter-wave radar according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of an initial state of a millimeter-wave radar test method according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a first vehicle simulation condition of a millimeter-wave radar test method according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of a second vehicle simulation condition of a millimeter-wave radar test method according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a first pedestrian simulation condition of a millimeter-wave radar test method according to an embodiment of the present invention; Figure 7 is a schematic structural diagram of a second pedestrian simulation condition of a millimeter-wave radar test method according to an embodiment of the present invention; Figure 8 is a flowchart of a millimeter-wave radar test method according to an embodiment of the present invention; Figure 9 is a flowchart of a condition movement according to an embodiment of the present invention.

[0020] Reference numerals: test system 1 of millimeter-wave radar, slide rail assembly 100, radar data receiving unit 200, test sensing device 300, data processing unit 400, cloud platform 500, test display large screen 600, motor 700, test controller 800, simulated detection body 110, simulated dummy 111, simulated dummy vehicle 112, dummy speed test slide rail 121, dummy distance test slide rail 122, dummy angle test slide rail 123, dummy vehicle speed test slide rail 131, dummy vehicle distance test slide rail 132, dummy vehicle angle test slide rail 133, test camera 310, test lidar 320. Detailed implementation manners

[0021] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0022] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0023] In the description of the present invention, the "first feature", "second feature" may include one or more of such features.

[0024] In the description of the present invention, the meaning of "a plurality" is two or more, and the meaning of "several" is one or more.

[0025] Next, a test system 1 of a millimeter-wave radar according to an embodiment of the present invention will be described with reference to the drawings.

[0026] As Figures 1-9 shown, the test system 1 of the millimeter-wave radar according to the embodiment of the present invention includes a slide rail assembly 100, a radar data receiving unit 200, a test sensing device 300, a data processing unit 400, and a cloud platform 500.

[0027] The slide rail assembly 100 is installed with a simulated detection body 110. The simulated detection body 110 moves along a predetermined path defined by the slide rail assembly 100 and is adapted to be detected by the millimeter-wave radar to be tested. The radar data receiving unit 200 is adapted to capture the radar test data detected by the millimeter-wave radar. The test sensing device 300 detects the simulated detection body 110 to obtain theoretical data. The data processing unit 400 is communicatively connected to the test sensing device 300 to receive the theoretical data. The cloud platform 500 is communicatively connected to the radar data receiving unit 200 and the data processing unit 400 respectively. The cloud platform 500 is used to control the movement of the simulated detection body 110 according to the radar test data and the theoretical data to perform a grading test on the millimeter-wave radar.

[0028] For example, the data processing unit 400 is arranged above the pole of the millimeter-wave radar test field, receives the values of the detection angle and detection distance transmitted by the test sensing device 300 as theoretical data and inputs them to the cloud platform 500, which is used for the cloud platform 500 to compare with the actual millimeter-wave radar test data transmitted by the radar data receiving unit 200 to judge the performance situation and whether to perform the next control operation. The cloud platform 500 receives the theoretical values calculated by the test sensing device for distance, angle, and speed fused by the data processing unit 400 and compares them with the actual test data fed back by the radar data receiving unit 200 to judge whether to perform the next step in the millimeter-wave radar test.

[0029] For the millimeter-wave radar test system 1 according to an embodiment of the present invention, the cloud platform 500 is communicatively connected to the radar data receiving unit 200 and the data processing unit 400, enabling centralized control of the entire millimeter-wave radar test system 1. This centralized control method makes the operation simpler. The user can manage and adjust the entire test process through the cloud platform 500 only, without the need to perform complex settings for each hardware component separately. At the same time, different millimeter-wave radar detection requirements for different scenarios can be constructed and adjusted in real time by using cloud technology. This flexibility allows users to quickly create and modify test scenarios according to needs, without the need to rebuild or physically change the device configuration, significantly improving the test efficiency and adaptability. The simulated detector 110 moves along the slide rail assembly 100 and can be detected by the millimeter-wave radar to be tested, indicating that the millimeter-wave radar test system 1 can adapt to different test requirements and conditions, enabling users to flexibly adjust and optimize the test points and improving the comprehensiveness of the test.

[0030] In addition, the test sensing device 300 obtains theoretical data by detecting the simulated detector, and the data processing unit 400 is communicatively connected thereto to receive and process these theoretical data. This process is automated, enabling the operator to easily obtain the required data without complex manual intervention, thus simplifying the test process.

[0031] Therefore, the millimeter-wave radar test system 1 according to an embodiment of the present invention has the advantages of simple operation and high flexibility.

[0032] In some embodiments of the present invention, as Figure 1 and Figure 2 shown, the simulated detector 110 includes a simulated dummy 111 and a simulated vehicle 112. The slide rail assembly 100 includes a simulated dummy slide rail 120 and a simulated vehicle slide rail 130. The simulated dummy 111 moves along the path defined by the simulated dummy slide rail 120 to be detected by the millimeter-wave radar and the test sensing device 300. The simulated vehicle 112 moves along the path defined by the simulated vehicle slide rail 130 to be detected by the millimeter-wave radar and the test sensing device 300.

[0033] In addition, the millimeter-wave radar can be arranged in multiple positions, front, back, left, and right, in the middle of the millimeter-wave radar test system 1. The No. 1 millimeter-wave radar is used to detect the distance and angle of the simulated dummy vehicle 112, the No. 2 radar is used to detect the speed of the simulated dummy vehicle 112, the No. 3 radar is used to detect the distance and angle of the simulated dummy 111, the No. 4 radar is used to detect the speed of the simulated dummy 111, and is connected to the millimeter-wave radar information input device through the CAN bus to input the actual test data to the radar data receiving unit 200. The test display screen 600 is arranged above the members of the millimeter-wave radar test field and is wirelessly connected to the cloud platform 500 to display the test results sent by the cloud platform 500 after the test. The test controller 800 is arranged at the center of the millimeter-wave radar test system 1 and is connected to the radar data receiving unit 200 to receive the test device control instructions issued by the cloud platform 500, and manipulates the motor 700 to perform the operation control of different test modes to realize the device implementation of different test scenarios. The motor 700 is connected to the test controller 800. Under the command control of the test controller 800, the operation slide rail assembly 100 extends and drives the simulated dummy vehicle 112 and the simulated dummy 111 to move on the slide rail assembly 100 for distance, angle, and speed tests.

[0034] By using the simulated dummy 111 and the simulated dummy vehicle 112, the millimeter-wave radar test system 1 can simulate a variety of actual traffic scenarios. The millimeter-wave radar can be tested under different environmental conditions and traffic combinations, so as to effectively evaluate its detection and recognition capabilities in complex situations. Using the simulated dummy 111 and the simulated dummy vehicle 112 for testing enables the millimeter-wave radar test system 1 to cover a wider range of application scenarios, ensuring the reliability and safety of the millimeter-wave radar test system 1 in actual applications.

[0035] In some embodiments of the present invention, as Figure 1 and Figure 2 shown, the simulated dummy slide rail 120 includes a dummy speed test slide rail 121, a dummy distance test slide rail 122, and a dummy angle test slide rail 123. The simulated dummy vehicle slide rail 130 includes a dummy vehicle speed test slide rail 131, a dummy vehicle distance test slide rail 132, and a dummy vehicle angle test slide rail 133.

[0036] The dummy vehicle distance test slide rail 132 is arranged in front of the No. 1 millimeter-wave radar and can extend forward under the drive of the motor 700. The simulated dummy vehicle 112 moves forward along the dummy vehicle distance test slide rail 132 for testing the farthest detection distance of the millimeter-wave radar until the millimeter-wave radar detects and feedbacks the loss of the target for the simulated dummy vehicle 112, and the simulated dummy vehicle 112 stops moving. The distance where the simulated dummy vehicle 112 is located is the farthest detection distance of the millimeter-wave radar.

[0037] The false vehicle angle test slide rail 133 is arranged in front of the No. 1 millimeter-wave radar and can extend under the drive of the motor 700 to form an arc slide rail with the farthest detection distance as the radius. The simulated vehicle 112 moves along the false vehicle angle test slide rail 133 to both sides, which is used for testing the angle detection distance of the millimeter-wave radar until the millimeter-wave radar loses the feedback target for the movement angle of the simulated vehicle 112 on the arc track, and the simulated vehicle 112 stops moving. The angle where the simulated vehicle 112 is located is the maximum detection angle of the millimeter-wave radar.

[0038] The false vehicle speed test slide rail 131 is arranged in front of the No. 2 millimeter-wave radar and can extend to the length of the farthest detection distance under the drive of the motor 700. The simulated vehicle 112 moves forward at a random speed along the speed test slide rail, which is used for testing the speed accuracy of the millimeter-wave radar until the simulated vehicle 112 moves to the farthest end and the simulated vehicle 112 stops moving. The speed value detected by the millimeter-wave radar will be input to the radar data receiving unit 200.

[0039] The false person distance test slide rail 122 is arranged in front of the No. 3 millimeter-wave radar and can extend forward under the drive of the motor 700. The simulated person 111 moves forward along the false person distance test slide rail 122, which is used for testing the farthest detection distance of the millimeter-wave radar until the millimeter-wave radar loses the detection feedback target for the simulated person 111, and the simulated person 111 stops moving. The distance where the simulated person 111 is located is the farthest detection distance of the millimeter-wave radar.

[0040] The false person angle test slide rail 123 is arranged in front of the No. 3 millimeter-wave radar and can extend under the drive of the motor 700 to form an arc slide rail with the farthest detection distance as the radius. The simulated person 111 moves along the false person angle test slide rail 123 to both sides, which is used for testing the angle detection distance of the millimeter-wave radar until the millimeter-wave radar loses the feedback target for the movement angle of the simulated person 111 on the arc track, and the simulated person 111 stops moving. The angle where the simulated person 111 is located is the maximum detection angle of the millimeter-wave radar.

[0041] The false person speed test slide rail 121 is arranged in front of the No. 4 millimeter-wave radar and can extend to the length of the farthest detection distance under the drive of the motor 700. The simulated person 111 moves forward at a random speed along the false person speed test slide rail 121, which is used for testing the speed accuracy of the millimeter-wave radar until the simulated person 111 moves to the farthest end and the simulated person 111 stops moving. The speed value detected by the millimeter-wave radar will be input to the radar data receiving unit 200.

[0042] In some embodiments of the present invention, such as Figure 2 and Figure 7As shown, the dummy speed test slide rail 121 and the dummy vehicle speed test slide rail 131 are both on the same straight line and are respectively located on opposite sides of the millimeter-wave radar. The dummy distance test slide rail 122 and the dummy vehicle distance test slide rail 132 are on the same straight line and are respectively located on opposite sides of the millimeter-wave radar. The dummy angle test slide rail 123 is connected to the farthest end of the dummy distance test slide rail 122 and is configured to be arc-shaped. The dummy vehicle angle test slide rail 133 is connected to the farthest end of the dummy vehicle distance test slide rail 132 and is configured to be arc-shaped.

[0043] By arranging the dummy speed test slide rail 121 and the dummy vehicle speed test slide rail 131 with different target speeds and distances on the same straight line, the millimeter-wave radar can comprehensively evaluate the performance of the simulated dummy 111 and the simulated dummy vehicle 112 at different speeds and distances. At the same time, by setting the arc-shaped angle test slide rail, the detection ability of the millimeter-wave radar for targets at different angles can be detected. Setting the test slide rails of different targets on opposite sides of the millimeter-wave radar can reduce signal interference during the test and ensure the accuracy of the test results.

[0044] In some embodiments of the present invention, as Figure 1 and Figure 2 shown, the test sensing device 300 includes a test camera 310 and a test lidar 320. The test camera 310 detects data of the dummy distance test slide rail 122, the dummy vehicle distance test slide rail 132, the dummy vehicle angle test slide rail 133, and the dummy angle test slide rail 123. The test lidar 320 tests data of the dummy speed test slide rail 121 and the dummy vehicle speed test slide rail 131.

[0045] The test camera 310 is arranged above the millimeter-wave radar test field rod, uses a high-definition pixel image sensor, and real-time monitors the conditions of the dummy vehicle angle test slide rail 133, the dummy angle test slide rail 123, etc. used in the radar performance test. During the angle performance test, it serves as a true value device, calculates the numerical values of the movement angles of the simulated dummy vehicle 112 and the simulated dummy 111 relative to the radar based on the collected images, serves as the theoretical value of the detection angle of the millimeter-wave radar, and transmits the numerical values to the data processing unit 400 for comparing the theoretical value of the millimeter-wave radar with the measured value to determine whether the angle detection performance of the millimeter-wave radar meets the requirements.

[0046] The test lidar 320 is arranged above the pole of the millimeter-wave radar test field and uses 256-line laser wave scanning to detect the distance test slide rail 122 of the dummy used for real-time detection of radar performance test, the speed test slide rail 131 of the dummy vehicle, etc. As a true value device during the maximum distance performance test, the movement distance values of the simulated dummy vehicle 112 and the simulated dummy 111 are calculated based on the 3D scan data as the theoretical value of the maximum detection distance of the millimeter-wave radar, and the values are transmitted to the data processing unit 400 for comparing the theoretical value with the measured value of the millimeter-wave radar to determine whether the distance detection performance of the millimeter-wave radar meets the requirements The following describes a millimeter-wave radar test method according to an embodiment of the present invention, which is used for a test system 1 of a millimeter-wave radar

[0047] As Figure 8 shown, in the millimeter-wave radar test method according to an embodiment of the present invention, the test method includes that the cloud platform issues a test instruction for the first vehicle simulation condition, S1 controls the simulated dummy vehicle of the slide rail assembly to move under the first vehicle simulation condition to obtain first radar test data, and determines whether the first radar test data meets the first level. If so, the cloud platform issues a test instruction for the second vehicle simulation condition, S2 controls the simulated dummy vehicle of the slide rail assembly to move under the second vehicle simulation condition to obtain second radar test data, and determines whether the second radar test data meets the second level. If so, the cloud platform issues a test instruction for the first pedestrian simulation condition, S3 controls the simulated dummy of the slide rail assembly to move under the first pedestrian simulation condition to obtain third radar test data, and determines whether the third radar test data meets the third level. If so, the cloud platform issues a test instruction for the second pedestrian simulation condition, S4 controls the simulated dummy of the slide rail assembly to move under the second pedestrian simulation condition to obtain fourth radar test data, and determines whether the fourth radar test data meets the fourth level. If so, it meets the fourth level

[0048] Further, under the first vehicle simulation condition, the cloud platform receives the first theoretical data about the first vehicle simulation condition fed back by the test sensing device, and determines whether the first radar test data meets the first level according to the first theoretical data. Under the second vehicle simulation condition, the cloud platform receives the second theoretical data about the second vehicle simulation condition fed back by the test sensing device, and determines whether the second radar test data meets the second level according to the second theoretical data. Under the third vehicle simulation condition, the cloud platform receives the third theoretical data about the first pedestrian simulation condition fed back by the test sensing device, and determines whether the third radar test data meets the third level according to the third theoretical data. Under the third vehicle simulation condition, the cloud platform receives the fourth theoretical data about the second pedestrian simulation condition fed back by the test sensing device, and determines whether the fourth radar test data meets the fourth level according to the fourth theoretical data

[0049] Among them, the millimeter-wave radar information input device is connected to the millimeter-wave radar under test through the CAN bus, reads in real time the actual test distance, angle, speed and other information input by the millimeter-wave radar test, and transmits the test values to the cloud platform through 4G / 5G communication for the cloud platform to judge the test performance of the millimeter-wave radar.

[0050] Judge and control the test system of the millimeter-wave radar according to the millimeter-wave radar test method. That is, the performance of the millimeter-wave radar test is generally divided into four hierarchical processes. S1, S2, S3, and S4 are all relationships that are realized step by step. That is, if the previous-level test does not meet the requirements, the subsequent test instructions generally cannot be realized and run. Obtain the millimeter-wave radar test data for the motion conditions of the simulated dummy vehicle and the simulated dummy person respectively, and can comprehensively evaluate the simulated dummy person and the simulated dummy vehicle from multiple dimensions such as speed, distance, and angle.

[0051] By conducting tests and data feedback respectively under the first vehicle simulation condition, the second vehicle simulation condition, the first pedestrian simulation condition, and the second pedestrian simulation condition, it is possible to judge whether the radar test data meets the corresponding level requirements based on the comparison between the theoretical data and the radar test data.

[0052] In some embodiments of the present invention, control the simulated dummy vehicle of the slide rail assembly to move under the first vehicle simulation condition to obtain the first radar test data, including S1-1 driving the simulated dummy vehicle of the slide rail assembly to move along the dummy vehicle distance test slide rail away from the millimeter-wave radar to obtain the test value of the farthest detection distance of the dummy vehicle. Control the simulated dummy vehicle of the slide rail assembly to move under the second vehicle simulation condition to obtain the second radar test data, including S2-1 driving the simulated dummy vehicle of the slide rail assembly to move along the dummy vehicle angle test slide rail to obtain the test value of the maximum detection angle of the dummy vehicle. S2-2 Drive the simulated dummy vehicle of the slide rail assembly to move along the dummy vehicle speed test slide rail to obtain the test value of the dummy vehicle speed. Control the simulated dummy person of the slide rail assembly to move under the first pedestrian simulation condition to obtain the third radar test data, including S3-1 driving the simulated dummy person of the slide rail assembly to move along the dummy person distance test slide rail away from the millimeter-wave radar to obtain the test value of the farthest detection distance of the dummy person. Control the simulated dummy person of the slide rail assembly to move under the second pedestrian simulation condition to obtain the fourth radar test data, including S4-1 driving the simulated dummy person of the slide rail assembly to move along the dummy person angle test slide rail to obtain the test value of the maximum detection angle of the dummy person. S4-2 Drive the simulated dummy person of the slide rail assembly to move along the dummy person speed test slide rail to obtain the test value of the dummy person speed.

[0053] S1-1 is the test of the maximum detection distance of the millimeter-wave radar for the simulated dummy vehicle, S2-1 is the maximum detection angle of the millimeter-wave radar for the simulated dummy vehicle, S2-2 is the test of the detection speed accuracy of the millimeter-wave radar for the simulated dummy vehicle, S3-1 is the test of the maximum detection distance of the millimeter-wave radar for the simulated dummy person, S4-1 is the maximum detection angle of the millimeter-wave radar for the simulated dummy person, S4-1 is the test of the maximum speed accuracy of the millimeter-wave radar for the simulated dummy person. The cloud platform receives the test of the data processing unit fusion. The perception device compares the theoretical values of the distance, angle, and speed calculated with the actual test values fed back by the millimeter-wave radar to determine whether the millimeter-wave radar test proceeds to the next test.

[0054] In some embodiments of the present invention, as Figures 3-9 shown, the first theoretical data is the theoretical value of the maximum detection distance of the dummy vehicle. According to the first theoretical data, it is determined whether the first radar test data meets the first level, including determining the first deviation between the test value of the maximum detection distance of the dummy vehicle and the theoretical value of the maximum detection distance of the dummy vehicle. If the first deviation is less than the first threshold, it is determined that the first radar test data meets the first level. The second theoretical data includes the theoretical value of the maximum detection distance of the dummy vehicle and the theoretical value of the speed of the dummy vehicle. According to the second theoretical data, it is determined whether the second radar test data meets the second level, including determining the second deviation between the test value of the maximum detection angle of the dummy vehicle and the theoretical value of the maximum detection angle of the dummy vehicle, and determining the third deviation between the test value of the speed of the dummy vehicle and the theoretical value of the speed of the dummy vehicle. If the second deviation is less than the second threshold and the third deviation is less than the third threshold, it is determined that the second radar test data meets the second level. The third theoretical data is the theoretical value of the maximum detection distance of the dummy vehicle. According to the third theoretical data, it is determined whether the third radar test data meets the third level, including determining the fourth deviation between the test value of the maximum detection distance of the dummy person and the theoretical value of the maximum detection distance of the dummy person. If the fourth deviation is less than the fourth threshold, it is determined that the third radar test data meets the third level. The fourth theoretical data includes the theoretical value of the maximum detection distance of the dummy person and the theoretical value of the speed of the dummy person. According to the fourth theoretical data, it is determined whether the fourth radar test data meets the fourth level, including determining the fifth deviation between the test value of the maximum detection angle of the dummy person and the theoretical value of the maximum detection angle of the dummy person, and determining the sixth deviation between the test value of the speed of the dummy vehicle and the theoretical value of the speed of the dummy vehicle. If the fifth deviation is less than the fifth threshold and the sixth deviation is less than the sixth threshold, it is determined that the second radar test data meets the fourth level.

[0055] The cloud platform issues an instruction to start the test of the maximum distance of the simulated dummy vehicle. The test controller will control the motor to drive the simulated dummy vehicle to continuously extend along the test slide rail for distance, and at the same time, the motor drives the simulated dummy vehicle to continuously move forward along the test slide rail for distance until the millimeter-wave radar feedback indicates the loss of the simulated dummy vehicle signal and the simulated dummy vehicle cannot be detected. At this time, the dummy vehicle stops moving, and the millimeter-wave radar information storage device sends the maximum detection distance test value a to the cloud platform, which is compared with the theoretical value A of the maximum detection distance detected by the test lidar. When a - A < 1%, it is judged that the accuracy rate of the first radar test data passes, and the next step will be carried out; otherwise, the test is aborted.

[0056] The cloud platform issues an instruction to start the test of the detection angle and speed of the simulated dummy vehicle. The test controller will control the motor to extend the semi-circular test slide rail for the dummy vehicle angle with the outermost end of the movement of the simulated dummy vehicle as the radius, and drive the simulated dummy vehicle to slide on both sides of the test slide rail for the dummy vehicle angle until the millimeter-wave radar feedback indicates the loss of the simulated dummy vehicle signal and the simulated dummy vehicle cannot be detected. At this time, the dummy vehicle stops moving, and the millimeter-wave radar information storage device sends the maximum detection angle test value b to the cloud platform, which is compared with the theoretical value B of the maximum detection angle detected by the test camera. When b - B < 1%, it is judged that the accuracy rate of the angle test passes. At the same time, the test controller will control the motor to extend the test slide rail for the dummy vehicle speed with the outermost end of the movement of the simulated dummy vehicle as the distance, and drive the simulated dummy vehicle to slide on the test slide rail for the dummy vehicle speed at a random speed value. The millimeter-wave radar information storage device sends the dummy vehicle speed test value c to the cloud platform, which is compared with the theoretical value C of the dummy vehicle speed. When c - C < 1%, it is judged that the accuracy rate of the angle test passes. When both the angle and speed tests are satisfied, the next step will be carried out; otherwise, the test is aborted.

[0057] The cloud platform will issue an instruction to start the test of the maximum detection distance of the dummy. The test controller will control the motor to drive the test slide rail for the dummy distance to continuously extend forward, and at the same time, the motor drives the simulated dummy to continuously move forward along the test slide rail for the dummy distance until the millimeter-wave radar feedback indicates the loss of the simulated dummy signal and the simulated dummy cannot be detected. At this time, the simulated dummy stops moving, and the millimeter-wave radar information storage device sends the maximum detection distance test value d of the dummy to the cloud platform, which is compared with the theoretical value D of the maximum detection distance of the dummy detected by the test lidar. When d - D < 1%, it is judged that the accuracy rate of the maximum distance test of the simulated dummy passes, and the next step will be carried out; otherwise, the test is aborted.

[0058] The cloud platform will issue an instruction to start testing the detection angle and speed of the simulated dummy. The test controller will control the motor to extend the semi-circular angle test slide rail for the dummy at the outermost end of the simulated dummy's movement as the radius, driving the simulated dummy to slide on both sides of the dummy angle test slide rail until the millimeter-wave radar feedback indicates the loss of the simulated dummy signal and it can no longer detect the simulated dummy. At this time, the movement of the simulated dummy stops. The millimeter-wave radar information storage device will send the maximum detection angle test value e of the dummy to the cloud platform, and compare it with the theoretical value E of the maximum detection angle of the dummy detected by the test camera. When e - E < 1%, it is determined that the angle test accuracy rate passes. At the same time, the test controller will control the motor to extend the dummy speed test slide rail at the outermost end of the dummy's movement as the distance, driving the simulated dummy to slide on the dummy speed test slide rail at a random speed value. The millimeter-wave radar information storage device will send the dummy speed test value f to the cloud platform and compare it with the theoretical value F of the dummy speed. When f - F < 1%, it is determined that the angle test accuracy rate passes. When both the angle and speed tests are satisfied, it is determined that the performance test of the millimeter-wave radar passes, and the display screen will show "Pass", otherwise it will show "Test Failed".

[0059] In some embodiments of the present invention, the dummy vehicle speed test values at least include the dummy vehicle low-speed test value, the dummy vehicle medium-speed test value, and the dummy vehicle high-speed test value, and the theoretical values of the dummy vehicle speed at least include the dummy vehicle low-speed theoretical value, the dummy vehicle medium-speed theoretical value, and the dummy vehicle high-speed theoretical value. The dummy speed test values at least include the dummy low-speed test value, the dummy medium-speed test value, and the dummy high-speed test value, and the theoretical values of the dummy speed at least include the dummy low-speed theoretical value, the dummy medium-speed theoretical value, and the dummy high-speed theoretical value. For example, the simulated dummy vehicle can move forward along the dummy vehicle speed test slide rail at a random speed of 30, 60, or 90 kph, and the simulated dummy can move forward along the dummy speed test slide rail at a random speed of 3, 5, or 10 kph. The test camera calculates the theoretical values of the speeds of the simulated dummy and the simulated dummy vehicle by real-time monitoring of their movements and based on the collected images.

[0060] Comparing multiple dummy vehicle speed test values with the theoretical values of the dummy vehicle speed can detect possible errors in the millimeter-wave radar's measurement of the simulated dummy vehicle speed. Similarly, comparing the dummy speed test values with the theoretical values of the dummy speed can also detect errors in the millimeter-wave radar's detection of the simulated dummy speed.

[0061] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0062] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A millimeter wave radar test system, characterized in that: include: A slide rail assembly, the slide rail assembly being equipped with a simulated detection body, the simulated detection body moving along a predetermined path defined by the slide rail assembly and being suitable for being detected by a millimeter wave radar to be tested; a radar data receiving unit, the radar data receiving unit being adapted to capture radar test data detected by a millimeter wave radar; A test sensing device, wherein the test sensing device detects the simulated detection body to obtain theoretical data; A data processing unit, the data processing unit is communicatively connected with the test sensing device to receive the theoretical data; A cloud platform, wherein the cloud platform is communicatively connected to the radar data receiving unit and the data processing unit respectively, and the cloud platform is used to control the movement of the simulated detection body according to the radar test data and the theoretical data to perform a level test on the millimeter wave radar.

2. The millimeter wave radar test system according to claim 1, characterized in that: The simulation detection body includes a simulation dummy and a simulation dummy vehicle; the slide rail assembly includes a simulation dummy slide rail and a simulation dummy vehicle slide rail; The simulated dummy moves along a path defined by the simulated dummy slide rail to be detected by the millimeter wave radar and the test sensing device; The simulated dummy vehicle moves along a path defined by the simulated dummy vehicle slide rail to be detected by the millimeter wave radar and the test sensing device.

3. The millimeter wave radar test system according to claim 2, characterized in that: The simulated dummy slide rails include: a dummy speed test slide rail, a dummy distance test slide rail and a dummy angle test slide rail; The simulated dummy car slide rail comprises: a dummy car speed test slide rail, a dummy car distance test slide rail and a dummy car angle test slide rail.

4. The millimeter wave radar test system according to claim 3, characterized in that: The dummy speed test slide rail and the dummy vehicle speed test slide rail are both on the same straight line and are respectively located on opposite sides of the millimeter wave radar; The dummy distance test slide rail and the dummy vehicle distance test slide rail are on the same straight line and are respectively located on opposite sides of the millimeter wave radar; The dummy angle test slide rail is connected to the farthest end of the dummy distance test slide rail and is configured in an arc shape; the dummy vehicle angle test slide rail is connected to the farthest end of the dummy vehicle distance test slide rail and is configured in an arc shape.

5. The millimeter wave radar test system according to claim 4, characterized in that: The test sensing device includes a test camera and a test laser radar, wherein the test camera detects data of the dummy distance test slide rail, the dummy vehicle distance test slide rail, the dummy vehicle angle test slide rail, and the dummy angle test slide rail; The test laser radar tests the data of the dummy speed test slide rail and the dummy vehicle speed test slide rail.

6. A millimeter wave radar testing method, characterized in that: A test system for millimeter wave radar, the test method comprising: The cloud platform issues a test instruction for the first vehicle simulation working condition, and S1 controls the simulated dummy vehicle of the slide rail assembly to move in the first vehicle simulation working condition to obtain the first radar test data and determine whether the first radar test data meets the first level; if so, The cloud platform issues a test instruction for the second vehicle simulation working condition, and S2 controls the simulated dummy vehicle of the slide rail assembly to move in the second vehicle simulation working condition to obtain the second radar test data and determine whether the second radar test data meets the second level; if so, The cloud platform issues a test instruction for the first pedestrian simulation condition, and S3 controls the simulated dummy of the slide rail assembly to move in the first pedestrian simulation condition to obtain the third radar test data and determine whether the third radar test data meets the third level; if yes, The cloud platform issues a test instruction for the second pedestrian simulation working condition, and S4 controls the simulated dummy of the slide rail assembly to move in the second pedestrian simulation working condition to obtain the fourth radar test data, and determines whether the fourth radar test data meets the fourth level. If so, it meets the fourth level.

7. The millimeter wave radar testing method according to claim 6, characterized in that: Under the first vehicle simulation working condition, the cloud platform receives first theoretical data about the first vehicle simulation working condition fed back by the test perception device, and determines whether the first radar test data meets the first level according to the first theoretical data; Under the second vehicle simulation working condition, the cloud platform receives second theoretical data about the second vehicle simulation working condition fed back by the test perception device, and determines whether the second radar test data meets the second level according to the second theoretical data; Under the third vehicle simulation working condition, the cloud platform receives third theoretical data about the first pedestrian simulation working condition fed back by the test perception device, and determines whether the third radar test data meets the third level according to the third theoretical data; Under the third vehicle simulation condition, the cloud platform receives fourth theoretical data about the second pedestrian simulation condition fed back by the test perception device, and determines whether the fourth radar test data meets the fourth level based on the fourth theoretical data.

8. The millimeter wave radar testing method according to claim 7, characterized in that: Controlling the simulated dummy vehicle of the slide rail assembly to move in a first vehicle simulation working condition to obtain first radar test data, including: S1-1 driving the simulated dummy vehicle of the slide rail assembly to move along the dummy vehicle distance test slide rail in a direction away from the millimeter wave radar to obtain a maximum detection distance test value of the dummy vehicle; Controlling the simulated dummy vehicle of the slide rail assembly to move in a second vehicle simulation working condition to obtain second radar test data, including: S2-1 driving the simulated dummy vehicle of the slide rail assembly to move along the dummy vehicle angle test slide rail to obtain a dummy vehicle maximum detection angle test value; S2-2 driving the simulated dummy vehicle of the slide rail assembly to move along the dummy vehicle speed test slide rail to obtain a dummy vehicle speed test value; Controlling the simulated dummy vehicle of the slide rail assembly to move in the first pedestrian simulation working condition to obtain the third radar test data, including: S3-1 driving the simulated dummy of the slide rail assembly to move along the dummy distance test slide rail in a direction away from the millimeter wave radar to obtain the dummy's farthest detection distance test value; The simulated dummy vehicle of the control rail assembly moves in a second pedestrian simulation condition to obtain the fourth radar test data, including: S4-1 drives the simulated dummy of the control rail assembly to move along the dummy angle test rail to obtain the dummy maximum detection angle test value; S4-2 drives the simulated dummy of the control rail assembly to move along the dummy speed test rail to obtain the dummy speed test value.

9. The millimeter wave radar testing method according to claim 8, characterized in that: The first theoretical data is a theoretical value of the farthest detection distance of the fake car. Judging whether the first radar test data meets the first level according to the first theoretical data includes: determining a first deviation between the farthest detection distance test value of the fake car and the theoretical value of the farthest detection distance of the fake car, and determining that the first radar test data meets the first level if the first deviation is less than a first threshold; The second theoretical data includes a theoretical value of a maximum detection angle of a dummy car and a theoretical value of a speed of the dummy car. Judging whether the second radar test data meets the second level according to the second theoretical data includes: determining a second deviation between a test value of the maximum detection angle of the dummy car and a theoretical value of the maximum detection angle of the dummy car, determining a third deviation between a test value of the speed of the dummy car and a theoretical value of the speed of the dummy car, and if the second deviation is less than a second threshold value, and the third deviation is less than a third threshold value, determining that the second radar test data meets the second level; The third theoretical data is a theoretical value of the farthest detection distance of the dummy, and judging whether the third radar test data meets the third level according to the third theoretical data includes: determining a fourth deviation between the test value of the farthest detection distance of the dummy and the theoretical value of the farthest detection distance of the dummy, and determining that the third radar test data meets the third level if the fourth deviation is less than a fourth threshold; The fourth theoretical data include a theoretical value of the maximum detection distance of the dummy and a theoretical value of the dummy speed. Judging whether the fourth radar test data meets the fourth level based on the fourth theoretical data includes: determining a fifth deviation between the test value of the maximum detection angle of the dummy and the theoretical value of the maximum detection angle of the dummy, determining a sixth deviation between the test value of the dummy speed and the theoretical value of the dummy speed, if the fifth deviation is less than the fifth threshold value, and the sixth deviation is less than the sixth threshold value, then determining that the second radar test data meets the fourth level.

10. The millimeter wave radar testing method according to claim 7, characterized in that: The dummy car speed test value includes at least: a dummy car low speed test value, a dummy car medium speed test value and a dummy car high speed test value, and the dummy car speed theoretical value includes at least a dummy car low speed theoretical value, a dummy car medium speed theoretical value and a dummy car high speed theoretical value; The dummy speed test value includes at least: a dummy low speed test value, a dummy medium speed test value and a dummy high speed test value, and the theoretical value of the dummy speed includes at least a dummy low speed theoretical value, a dummy medium speed theoretical value and a dummy high speed theoretical value.

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