A radar sensing test system and test method supporting dynamic target simulation
By generating simulated radar target motion trajectories and waveforms in a radar sensing test system and combining them with a verification module for performance verification, the problems of high testing costs and unrealistic target simulation in existing technologies are solved. This achieves a closed-loop system for dynamic target simulation and performance verification, reducing hardware investment and testing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- 智慧尘埃(成都)科技有限公司
- Filing Date
- 2026-05-06
- Publication Date
- 2026-06-05
AI Technical Summary
Existing radar signal simulators cannot simultaneously meet the dual testing requirements of communication and perception. Furthermore, existing technical solutions require the purchase of expensive equipment or additional hardware investment, resulting in high testing costs and an inability to realistically simulate scenarios where targets dynamically change with speed.
The first sensing device generates a simulated radar target's motion trajectory. The simulated target waveform is then sent to the second sensing device via a target waveform generation module and a signal transmission link. Performance verification is performed using a verification module, thereby achieving dynamic target simulation and reducing hardware development costs.
There is no need to develop dedicated radar target simulator hardware, which reduces the cost of field testing, improves the realism of target simulation and the comprehensiveness of test scenarios, and can realistically simulate the dynamic movement of targets in the detection space.
Smart Images
Figure CN122151013A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of radar equipment testing technology, and in particular to a radar sensing testing system and method that supports dynamic target simulation. Background Technology
[0002] In radar or integrated sensing devices, the distance, velocity, and angle of a target are determined by detecting the time delay, Doppler shift, and phase of the echo. Radar signal simulators simulate radar targets by generating signals with the time delay and frequency shift inherent in the echo. For radar equipment, radar signal simulators can be used for system-level testing and verification. However, the echo signals of integrated sensing devices include not only radar echo signals but also normal communication signals. Traditional radar signal simulators cannot simultaneously meet the dual testing requirements of communication and sensing.
[0003] To address the aforementioned problems, existing technologies have yielded relevant solutions, but all have shortcomings: Chinese patent CN118275994A discloses a radar multi-target simulation device. This device receives pulse signals from a radar transmitter, processes them with delay and Doppler frequency offset modulation, and then superimposes the data through multiple false target modulation modules to generate a simulated signal containing information about multiple targets. However, this technical solution has two major drawbacks: first, it can only simulate multi-target scenarios at fixed distances, with fixed time delay parameters for each target, making it unable to simulate target scenarios where distance dynamically changes with speed, resulting in insufficient realism and comprehensiveness in the target simulation; second, it requires the development of an additional dedicated radar signal transmission device, significantly increasing hardware and technology development costs, which is detrimental to large-scale application.
[0004] Chinese patent CN120498573A discloses a communication-integrated testing method and system based on a channel simulator. This solution utilizes a channel simulator to generate simulated signals with time delay and Doppler frequency shift functions, simultaneously achieving conventional communication performance testing and target simulation. Its advantage lies in the direct use of existing instruments, eliminating the need for additional dedicated equipment development. However, this solution requires the purchase of an expensive channel simulator, significantly increasing testing costs and hindering efforts to reduce testing investment during the R&D and production phases. Summary of the Invention
[0005] This invention provides a radar sensing test system and method that supports dynamic target simulation, thereby improving the realism of target simulation and reducing test costs.
[0006] This invention provides a radar sensing test system that supports dynamic target simulation, the system comprising: The first sensing device is configured to construct a simulated radar target's motion trajectory, generate a simulated target waveform based on the motion trajectory, and send the simulated target waveform to the second sensing device; The second sensing device is configured to receive the target analog waveform, parse the target analog waveform into a target detection result, and input the target detection result into the verification module; The verification module is configured to acquire the target detection result and compare the target detection result with a preset target motion trajectory to verify the radar perception performance of the second sensing device.
[0007] Furthermore, the first sensing device includes: The target waveform generation module is configured to construct a simulated radar target's motion trajectory and generate a simulated target waveform based on the motion trajectory; The signal transmission link is configured to send the target analog waveform to the second sensing device.
[0008] Furthermore, the first sensing device also includes: The sensing waveform generation module is configured to generate sensing waveforms; The transmit link selection switch is configured to select one of the sensing waveforms or the target analog waveforms to switch to the signal transmit link in different operating modes.
[0009] Furthermore, the target waveform generation module includes: The parameter sequence generation and storage unit is configured to generate and store a time-varying parameter sequence corresponding to the motion trajectory; A waveform modulation unit is configured to modulate the sensed waveform based on the parameter sequence to generate a target simulated waveform; The timing adjustment unit is configured to provide modulation timing to the waveform modulation unit.
[0010] Furthermore, the parameter sequence includes at least one of the following: a distance parameter sequence, a velocity parameter sequence, and a beam parameter sequence between the simulated radar target and the simulated radar target detection point.
[0011] Furthermore, the waveform modulation unit includes at least one of the following sub-units: The time delay control subunit is configured to apply a corresponding time delay to the sensing waveform based on the distance parameter sequence; A Doppler modulation subunit is configured to apply a corresponding Doppler frequency shift to the sensed waveform based on the velocity parameter sequence; The beam control subunit is configured to apply corresponding target direction characteristics to the sensing waveform based on the beam parameter sequence.
[0012] Furthermore, the delay control subunit is configured to receive the distance parameter sequence and delay the sensing waveform based on the distance parameter sequence.
[0013] Furthermore, the Doppler modulation subunit includes a frequency control unit and a digitally controlled oscillator; The frequency control unit is configured to generate different Doppler frequency shift values based on the velocity parameter sequence; The numerically controlled oscillator is configured to apply a corresponding Doppler frequency shift value to the sensed waveform.
[0014] Furthermore, the target waveform generation module and the sensing waveform generation module share waveform configuration parameters; wherein, the waveform configuration parameters are configured to define the waveform characteristics of the sensing waveform and the target simulated waveform.
[0015] Furthermore, the radar sensing test system supporting dynamic target simulation also includes: The multiple target waveform generation modules generate multiple target simulated waveforms, which are then superimposed and transmitted to the second sensing device through the signal transmission link.
[0016] Furthermore, the second sensing device includes: The signal receiving link is configured to receive the target analog waveform, or to receive the target analog superimposed waveform obtained after superimposition processing; The target detection unit is configured to analyze the target simulated waveform or the target simulated superimposed waveform to obtain the target detection result.
[0017] On the other hand, this invention discloses a radar sensing test method that supports dynamic target simulation, the method comprising: A simulated radar target's motion trajectory is constructed using a first sensing device, and a simulated target waveform is generated based on the simulated radar target's motion trajectory; The target simulation waveform is analyzed into a target detection result using a second sensing device, and the target detection result is input into the verification module; The verification module is used to compare the target detection result with the preset target motion trajectory to verify the radar perception performance of the second sensing device.
[0018] Compared with the prior art, the present invention has at least the following technical effects: The first sensing device generates a simulated radar target trajectory, and based on this trajectory, generates a simulated target waveform which is sent to a second sensing device. The second sensing device receives and analyzes the waveform to obtain the target detection result. The verification module compares the detection result with a preset target trajectory, thus constructing a complete closed-loop system for target simulation and performance verification. This solution eliminates the need to develop dedicated radar target simulator hardware to test and verify the radar perception performance of the second sensing device, effectively reducing the manpower, equipment, and site costs of field testing. Furthermore, this invention also incorporates the generation of a simulated target waveform based on the trajectory, enabling the simulated waveform to reflect the target's dynamic motion state over time, thereby realistically simulating the target's dynamic motion process within the detection space and improving the realism of the target simulation and the comprehensiveness of the test scenario. Attached Figure Description
[0019] Figure 1 This is a simplified structural diagram of the radar sensing test system supporting dynamic target simulation in Embodiment 1 of the present invention; Figure 2 This is a simplified structural diagram of the target waveform generation module in Embodiment 1 of the present invention; Figure 3 This is a simplified flowchart illustrating the radar sensing test method in Embodiment 2 of the present invention. Detailed Implementation
[0020] The following description, with reference to schematic diagrams, illustrates a radar sensing test system and method supporting dynamic target simulation according to the present invention. Preferred embodiments of the invention are shown. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.
[0021] The invention is described more specifically by way of example in the following paragraphs with reference to the accompanying drawings. The advantages and features of the invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.
[0022] Example 1 Please refer to Figure 1 and Figure 2 This embodiment discloses a radar sensing test system that supports dynamic target simulation, the system comprising: The first sensing device is configured to construct a simulated radar target's motion trajectory, generate a target simulation waveform based on the motion trajectory, and send the target simulation waveform to the second sensing device.
[0023] The second sensing device is configured to receive the target analog waveform, parse the target analog waveform into a target detection result, and input the target detection result into the verification module.
[0024] The verification module is configured to acquire the target detection result and compare the target detection result with a preset target motion trajectory to verify the radar perception performance of the second sensing device.
[0025] In this embodiment, a simulated radar target motion trajectory is generated by a first sensing device, and a simulated target waveform is generated based on this trajectory. This simulated target waveform is then sent to a second sensing device, which receives and parses the waveform to obtain the target detection result. The verification module compares the detection result with a preset target motion trajectory, thus constructing a complete closed-loop system for target simulation and performance verification. This solution eliminates the need to develop dedicated radar target simulator hardware to test and verify the radar perception performance of the second sensing device, effectively reducing the manpower, equipment, and site costs of field testing. Furthermore, this invention also includes the generation of a simulated target waveform based on the target motion trajectory, enabling the simulated target waveform to reflect the target's dynamic motion state over time, thereby realistically simulating the target's dynamic motion process within the detection space and improving the realism of the target simulation and the comprehensiveness of the test scenario.
[0026] In this embodiment, the first sensing device serves as an analog source for generating the target analog waveform. The target simulation waveform is used to characterize the motion trajectory of the simulated radar target, which includes multi-dimensional trajectory information of the simulated radar target; the second sensing device is the device under test, which performs signal processing on the target simulation waveform to obtain the corresponding target detection result.
[0027] In this embodiment, the first sensing device and the second sensing device can be an integrated sensing base station device or a radar sensing device supporting dynamic target simulation, and both can be of the same model. The integrated sensing base station device possesses both traditional communication functions and environmental perception capabilities, enabling it to monitor information such as the speed, distance, and angle of moving targets. The first sensing device serves as the transmitter of the target simulation signal, and the second sensing device serves as the receiver of the target simulation signal. Both devices utilize the hardware links of existing integrated sensing devices or radar sensing test systems supporting dynamic target simulation, eliminating the need to develop dedicated radar target simulator hardware.
[0028] Furthermore, in this embodiment, the verification module can be a test computer or a host computer, which is connected to the second sensing device through a data interface. It is used to read the target detection results output by the second sensing device, compare and analyze the detection results with the preset target motion trajectory, and calculate key performance indicators such as distance error, velocity measurement error and angle measurement error, thereby completing the closed-loop test verification of radar perception performance.
[0029] Furthermore, in this embodiment, the verification module is also connected to the first sensing device via a data interface to transmit information such as control commands, radar waveforms, distance parameters, and speed parameters to the first sensing device.
[0030] In this embodiment, the simulated target waveform is a sensing and detection signal that simulates the reflection characteristics of a real radar target. Specifically, when the radar transmits a detection waveform that illuminates a real target, the target reflects the incident waveform back to the radar receiver. The reflected waveform exhibits characteristic changes such as time delay, frequency shift, and phase variation relative to the transmitted waveform. These changes correspond to the target's range, velocity, and azimuth information, respectively. The simulated target waveform is artificially constructed by applying preset time delay, Doppler frequency shift, and target direction characteristic modulation processing to the sensing waveform, thus creating a signal waveform with the aforementioned characteristic changes. This makes it equivalent to the real target's reflected waveform at the signal characteristic level, allowing it to be correctly interpreted as a target detection result by the radar receiving and processing algorithm of the second sensing device.
[0031] Furthermore, in this embodiment, the first sensing device includes: The target waveform generation module is configured to construct a simulated radar target's motion trajectory and generate a simulated target waveform based on the motion trajectory.
[0032] The signal transmission link is configured to send the target analog waveform to the second sensing device.
[0033] Furthermore, in this embodiment, the first sensing device further includes: The sensing waveform generation module is configured to generate sensing waveforms; In addition, a transmission link selection switch is configured to select one of the sensing waveforms or the target analog waveforms to switch to the signal transmission link under different operating modes.
[0034] The sensed waveform also serves as the input signal reference for the target waveform generation module to perform modulation processing.
[0035] In this embodiment, the sensing waveform is a radio frequency signal waveform generated by the sensing waveform generation module for detecting targets. The sensing waveform is a radio frequency signal modulated onto the working carrier frequency after up-conversion processing of the baseband waveform generated in the digital signal processing domain, and it carries the modulation information required for radar detection.
[0036] Specifically, in normal operating mode, the sensing waveform is radiated outward through the signal transmission link to detect real targets; in test mode, the transmission link selection switch is switched to the target waveform generation module. The target waveform generation module uses the sensing frame pulse as the timing reference, sequentially generates and reads the distance parameter value, velocity parameter value and beam parameter value corresponding to the current frame from the parameter sequence and storage unit, and performs corresponding time delay, Doppler frequency shift and target direction characteristic modulation processing on the sensing waveform to generate a target simulation waveform containing target features.
[0037] In this embodiment, the preset target motion trajectory can simulate various scenarios such as linear motion targets, curved motion targets, accelerated / decelerated motion targets, or stationary targets.
[0038] Furthermore, in this embodiment, please refer to Figure 2 The target waveform generation module includes: The parameter sequence generation and storage unit is configured to generate and store a time-varying parameter sequence corresponding to the motion trajectory.
[0039] A waveform modulation unit is configured to modulate the sensed waveform based on the parameter sequence to generate a target simulated waveform.
[0040] The timing adjustment unit is configured to provide modulation timing to the waveform modulation unit.
[0041] In this embodiment, a unified timing synchronization reference is provided by the timing adjustment unit, enabling the parameter sequence generation and storage unit and the waveform modulation unit to work collaboratively under the same time reference. This ensures that the modulation of parameters maintains temporal consistency and avoids signal distortion or target feature distortion caused by timing discrepancies. The parameter sequence generation and storage unit converts discrete motion trajectories into continuously changing parameter sequences, allowing the waveform modulation unit to track changes in the target's motion state in real time and generate dynamically evolving target simulation waveforms. This realistically simulates the continuous motion process of the target in the detection space, improving verification accuracy.
[0042] In a specific example, the motion trajectory includes at least one of the following: a distance parameter sequence, a velocity parameter sequence, and a beam parameter sequence between the simulated radar target and the simulated radar target detection point.
[0043] Specifically, the simulated radar target detection point refers to the spatial location of the second sensing device that performs radar detection in the target simulation test scenario, which serves as the benchmark for calculating and defining motion parameters such as distance, speed, and beam direction.
[0044] Of course, those skilled in the art can select different combinations of motion trajectory parameters according to the actual situation to simulate different types of target motion scenarios. For example, when only the ranging performance of the radar needs to be verified, only the range parameter sequence can be configured; when the complete target tracking performance of the radar needs to be verified, the range parameter sequence, velocity parameter sequence, and beam parameter sequence can be configured simultaneously to simulate the complex motion trajectory of the target in three-dimensional space. No specific limitations are imposed here.
[0045] In a specific example, in order to achieve flexible configuration and dynamic updating of the above motion trajectory parameters, the parameter sequence generation and storage unit includes: a distance parameter storage module, a velocity parameter storage module, and a beam parameter storage module.
[0046] In a specific example, the distance parameter storage module is used to store multiple distance parameter values in the form of a parameter sequence to form a complete distance parameter sequence.
[0047] The speed parameter storage module is used to store multiple speed parameter values in the form of a parameter sequence to form a complete speed parameter sequence.
[0048] The beam parameter storage module is used to store multiple beam parameter values in the form of a parameter sequence to form a complete beam parameter sequence.
[0049] The parameter values in each parameter storage module are stored sequentially in chronological order. When triggered by a sensing frame pulse, the system reads the parameter values corresponding to the current frame from each storage module in sequence and sends them to the waveform modulation unit for modulation processing, thereby achieving the simulation effect of the target motion state changing dynamically over time.
[0050] In this embodiment, the waveform modulation unit includes at least one of the following sub-units: The delay control subunit is configured to apply a corresponding timing delay to the sensing waveform based on the distance parameter sequence.
[0051] The Doppler modulation subunit is configured to apply a corresponding Doppler frequency shift to the sensed waveform based on the velocity parameter sequence.
[0052] The beam control subunit is configured to apply corresponding target direction characteristics to the sensing waveform based on the beam parameter sequence.
[0053] In one specific example, the delay control subunit is configured to receive the distance parameter sequence and delay the sensed waveform based on the distance parameter sequence.
[0054] Specifically, the time delay control subunit calculates the corresponding round-trip time delay value τ=2R / c based on the distance parameter, where R is the distance parameter value and c is the electromagnetic wave propagation speed, and then applies a corresponding timing delay to the sensed waveform before outputting it. By applying a time delay corresponding to the distance to the sensed waveform through the time delay control subunit, the waveform received by the second sensing device has a time delay characteristic corresponding to that distance.
[0055] In another specific example, the Doppler modulation subunit includes a frequency control unit and a digitally controlled oscillator. The frequency control unit is configured to generate different Doppler frequency shift values based on the velocity parameter sequence.
[0056] The numerically controlled oscillator is configured to apply a corresponding Doppler frequency shift value to the sensed waveform.
[0057] Specifically, the frequency control unit receives velocity parameter values from the velocity parameter sequence and converts these values into corresponding Doppler frequency shift values based on the Doppler effect formula. A numerically controlled oscillator then generates a signal with a corresponding Doppler frequency shift value based on this Doppler frequency shift value, which is consistent with the frequency of the sensed waveform carrier.
[0058] In another specific example, the beam control subunit applies corresponding target direction characteristics to the sensed waveform based on the beam parameter sequence. Specifically, the beam control subunit receives beam parameter values from the beam parameter storage module, calculates the required target direction characteristics for each array element channel based on the relationship between the target azimuth angle and the antenna array geometry, and then applies the corresponding target direction characteristics to the sensed waveform of each channel, enabling the second sensing device to correctly resolve the target's azimuth information through beamforming or angle measurement algorithms after receiving the target simulated waveform.
[0059] Furthermore, in this embodiment, the target waveform generation module and the sensing waveform generation module share waveform configuration parameters; wherein, the waveform configuration parameters are configured to define the waveform characteristics of the sensing waveform and the target simulated waveform.
[0060] In this embodiment, since the sensing waveform generation module and the target waveform generation module are integrated within the same first sensing device, by sharing waveform configuration parameters, the target simulated waveform and the sensing waveform can have the same basic characteristics at the signal level, thereby improving the effectiveness of target simulation and the reliability of detection results. Furthermore, sharing waveform configuration parameters simplifies the system configuration process, avoids test failures due to parameter mismatches, and eliminates the need for additional command control, thus reducing system complexity.
[0061] In a specific example, the waveform configuration parameters include at least one of the following: carrier frequency, signal bandwidth, modulation scheme, pulse repetition period, frame length, number of subcarriers, cyclic prefix length, sampling rate, beam control parameters, and scan period.
[0062] In this embodiment, the radar sensing test system supporting dynamic target simulation further includes: multiple target waveform generation modules, wherein the target simulation waveforms generated by the multiple target waveform generation modules are superimposed and then transmitted to the second sensing device through the signal transmission link.
[0063] The amplitude weights of each target simulation waveform can be configured independently before superposition to simulate targets with different radar cross sections. The composite waveform after superposition is normalized to prevent signal overflow.
[0064] In this embodiment, the distance, velocity, and direction parameters of each target simulation waveform can be configured independently. Furthermore, the number of target waveform generation modules and the corresponding number of generated target simulation waveforms can be flexibly configured according to actual testing requirements. For example, when only single-target detection performance of the radar needs to be verified, one target waveform generation module can be configured to generate a single target simulation waveform; when multi-target detection and resolution performance of the radar needs to be verified, multiple target waveform generation modules can be configured to generate multiple target simulation waveforms and perform superposition processing. The specific number of target waveform generation modules depends on the multi-target processing capability of the radar sensing test system supporting dynamic target simulation and the complexity of the test scenario, and is not specifically limited here.
[0065] In this embodiment, the second sensing device includes: The signal receiving link is configured to receive the target analog waveform, or to receive the target analog superimposed waveform obtained after superposition processing. The target detection unit is configured to parse the target analog waveform or the target analog superimposed waveform to obtain the target detection result.
[0066] In a specific example, the target detection unit analyzes the target simulated waveform or the target simulated superimposed waveform by: the target detection unit extracts time delay information through pulse compression to obtain the target distance, extracts Doppler frequency shift through spectrum analysis to obtain the target velocity, extracts phase difference information through array signal processing to obtain the target azimuth angle, and integrates the above information into the target detection result output.
[0067] Example 2 Based on the same inventive concept, this embodiment discloses a radar sensing test method that supports dynamic target simulation, implemented using the radar sensing test system supporting dynamic target simulation described in Embodiment 1. Please refer to [link / reference]. Figure 3 The method includes: S1. A simulated radar target's motion trajectory is constructed using a first sensing device, and a simulated target waveform is generated based on the simulated radar target's motion trajectory; S2. The target simulation waveform is analyzed into a target detection result using a second sensing device, and the target detection result is input into the verification module; S3. The verification module is used to compare the target detection result with the preset target motion trajectory to verify the radar perception performance of the second sensing device.
[0068] Specifically, in step S1, generating the target simulated waveform includes: using the sensing frame pulse as a timing reference, the target waveform generation module sequentially generates and reads the distance parameter value, velocity parameter value, and beam parameter value corresponding to the current frame from the parameter sequence and the storage unit, and modulates the sensing waveform through the time delay control subunit, Doppler modulation subunit, and beam control subunit in the waveform modulation unit to generate a target simulated waveform containing target distance, velocity, and direction characteristics, and sends it to the second sensing device through the signal transmission link.
[0069] Specifically, in step S2, the second sensing device receives the target analog waveform through the signal receiving link, and the target detection unit analyzes and processes the waveform according to the normal sensing process to output the target detection result.
[0070] In step S3, the verification module obtains the target detection results output by the second sensing device, compares the detected target distance, speed and orientation information with the preset target motion trajectory, and calculates key performance indicators such as positioning error, speed measurement error and angle measurement error, thereby completing the closed-loop test verification of radar perception performance.
[0071] Using the above method, no additional radar signal simulators or channel simulators are required during the testing process. Only one test computer and two integrated sensing devices under test or a radar sensing test system that supports dynamic target simulation are needed to complete the dynamic target detection function test, which greatly reduces the testing and verification cost.
[0072] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
Claims
1. A radar sensing test system supporting dynamic target simulation, characterized in that, The system includes: The first sensing device is configured to construct a simulated radar target's motion trajectory, generate a simulated target waveform based on the motion trajectory, and send the simulated target waveform to the second sensing device; The second sensing device is configured to receive the target analog waveform, parse the target analog waveform into a target detection result, and input the target detection result into the verification module; The verification module is configured to acquire the target detection result and compare the target detection result with a preset target motion trajectory to verify the radar perception performance of the second sensing device.
2. The radar sensing test system supporting dynamic target simulation as described in claim 1, characterized in that, The first sensing device includes: The target waveform generation module is configured to construct a simulated radar target's motion trajectory and generate a simulated target waveform based on the motion trajectory; The signal transmission link is configured to send the target analog waveform to the second sensing device.
3. The radar sensing test system supporting dynamic target simulation as described in claim 2, characterized in that, The first sensing device further includes: The sensing waveform generation module is configured to generate sensing waveforms; The transmit link selection switch is configured to select one of the sensing waveforms or the target analog waveforms to switch to the signal transmit link in different operating modes.
4. The radar sensing test system supporting dynamic target simulation as described in claim 3, characterized in that, The target waveform generation module includes: The parameter sequence generation and storage unit is configured to generate and store a time-varying parameter sequence corresponding to the motion trajectory; A waveform modulation unit is configured to modulate the sensed waveform based on the parameter sequence to generate a target simulated waveform; The timing adjustment unit is configured to provide modulation timing to the waveform modulation unit.
5. The radar sensing test system supporting dynamic target simulation as described in claim 4, characterized in that, The parameter sequence includes at least one of the following: a distance parameter sequence, a velocity parameter sequence, and a beam parameter sequence between the simulated radar target and the simulated radar target detection point.
6. The radar sensing test system supporting dynamic target simulation as described in claim 5, characterized in that, The waveform modulation unit includes at least one of the following sub-units: The time delay control subunit is configured to apply a corresponding time delay to the sensing waveform based on the distance parameter sequence; A Doppler modulation subunit is configured to apply a corresponding Doppler frequency shift to the sensed waveform based on the velocity parameter sequence; The beam control subunit is configured to apply corresponding target direction characteristics to the sensing waveform based on the beam parameter sequence.
7. The radar sensing test system supporting dynamic target simulation as described in claim 6, characterized in that: The delay control subunit is configured to receive the distance parameter sequence and delay the sensing waveform based on the distance parameter sequence.
8. The radar sensing test system supporting dynamic target simulation as described in claim 6, characterized in that: The Doppler modulation subunit includes a frequency control unit and a numerically controlled oscillator; The frequency control unit is configured to generate different Doppler frequency shift values based on the velocity parameter sequence; The numerically controlled oscillator is configured to apply a corresponding Doppler frequency shift value to the sensed waveform.
9. The radar sensing test system supporting dynamic target simulation as described in claim 6, characterized in that: The target waveform generation module and the sensing waveform generation module share waveform configuration parameters; wherein, the waveform configuration parameters are configured to define the waveform characteristics of the sensing waveform and the target simulated waveform.
10. The radar sensing test system supporting dynamic target simulation as described in any one of claims 2-9, characterized in that, The radar sensing test system supporting dynamic target simulation includes: The multiple target waveform generation modules generate multiple target simulated waveforms, which are then superimposed and transmitted to the second sensing device through the signal transmission link.
11. The radar sensing test system supporting dynamic target simulation as described in claim 10, characterized in that, The second sensing device includes: The signal receiving link is configured to receive the target analog waveform, or to receive the target analog superimposed waveform obtained after superimposition processing; The target detection unit is configured to analyze the target simulated waveform or the target simulated superimposed waveform to obtain the target detection result.
12. A radar sensing test method supporting dynamic target simulation, characterized in that, The method includes: A simulated radar target's motion trajectory is constructed using a first sensing device, and a simulated target waveform is generated based on the simulated radar target's motion trajectory; The target simulation waveform is analyzed into a target detection result using a second sensing device, and the target detection result is input into the verification module; The verification module is used to compare the target detection result with the preset target motion trajectory to verify the radar perception performance of the second sensing device.