CN115015858A - Millimeter wave radar simulation test method, device, equipment and readable storage medium - Google Patents

Abstract

The invention provides a millimeter wave radar simulation test method, a device, equipment and a readable storage medium, wherein the millimeter wave radar simulation test method comprises the following steps: obtaining simulation data of a target object to be detected through a virtual millimeter wave radar; obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle; transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator; the millimeter wave radar to be tested obtains test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section; and comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested. By the aid of the method and the device, dynamic simulation test of the millimeter wave radar on the radar scattering cross section of the target object in real time is realized, and reliability of the millimeter wave radar simulation test is improved.

Description

Millimeter wave radar simulation test method, device, equipment and readable storage medium

technical field

The invention relates to the field of millimeter-wave radar simulation testing, in particular to a millimeter-wave radar simulation testing method, device, equipment and readable storage medium.

Background technique

In radar signal processing, Radar Cross Section (RCS) is a measure of the ability of a target to reflect radar signals in the direction of radar receiving. The RCS of a target is equal to the power reflected by the target per unit solid angle in the direction of the radar receiving antenna and the The ratio of the power density incident at the target. RCS is an index describing the essential characteristics of the target, which is mainly related to the shape, material, signal incident angle and radiation signal frequency of the target. When the external shape, material, incident frequency, etc. of the target remain unchanged, the change of the target motion state It will cause the change of the incident angle of the electromagnetic wave, which will cause the change of the target RCS value. On the contrary, the motion state characteristics of the target can be calculated according to the dynamic change of the target RCS value. Therefore, it is very important to obtain the target RCS value accurately in real time.

However, in the current simulation test of the millimeter-wave radar, the RCS value of the target cannot be obtained, or the method of RCS fixed value simulation is directly used. For example, the RCS of each type of target is respectively assigned as: 20dBsm for commercial vehicles, 15dBsm for trailers, 10dBsm for passenger cars, 8dBsm for tricycles, 7dBsm for old-fashioned scooters, 4dBsm for battery cars, and -6dBsm for pedestrians. The RCS changes during the movement of the target are simulated. Therefore, the RCS fixed value is used to simulate the influence of the test on the detection performance of the millimeter-wave radar, so that the simulation test results deviate from the real vehicle test.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a millimeter-wave radar simulation test method, device, equipment and readable storage medium, aiming to solve the problem that in the current millimeter-wave radar simulation test, the radar scattering cross section of the target cannot be dynamically obtained in real time, resulting in simulation The test results deviate from the technical problem of the real vehicle test.

In a first aspect, the present invention provides a millimeter-wave radar simulation test method, the millimeter-wave radar simulation test method includes:

In the simulation test environment, the simulation data of the target to be detected is obtained through the virtual millimeter wave radar, and the simulation data includes a first distance and a first angle;

obtaining a first radar cross section of the target to be detected based on the first distance and the first angle;

transmitting the first distance, the first angle and the first radar cross section to the millimeter wave radar target simulator;

The millimeter-wave radar target simulator simulates the target to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends an echo signal to the millimeter-wave radar to be tested;

The millimeter-wave radar to be tested receives the echo signal, and obtains test data of the target to be detected, where the test data includes a second distance, a second angle, and a second radar cross section;

The first distance, the first angle and the first radar scattering cross section are compared with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.

Optionally, in the simulation test environment, the simulation data of the target to be detected is obtained through a virtual millimeter-wave radar, and the simulation data includes the first distance and the first angle and includes:

In the simulation test environment, the installation pose of the virtual millimeter-wave radar on the virtual vehicle is configured according to the installation pose of the actual millimeter-wave radar on the real vehicle;

Through the virtual millimeter wave radar, simulation data of the target to be detected is obtained, and the simulation data includes a first distance and a first angle.

Optionally, the obtaining the first radar cross section of the target to be detected based on the first distance and the first angle includes:

If, based on the first distance and the first angle, a corresponding radar cross section is found in the radar cross section library, the radar cross section obtained by the query is used as the first radar cross section;

If the corresponding radar cross section is not found in the radar cross section library based on the first distance and the first angle, then based on the first distance and the first angle, a function method is used to obtain the first A radar cross section.

Optionally, the obtaining the first radar cross section of the target to be detected by a function method based on the first distance and the first angle includes:

Based on the data set of the target to be detected, a fitting function is determined by performing curve fitting on the data set, and the data set records the correspondence between the distance, angle and radar cross section of the target to be detected;

Based on the first distance and the first angle, through the determined fitting function, the first radar scattering cross section of the target object to be detected is obtained.

Optionally, the simulation data of the target to be detected includes the ID of the target to be detected, and after the first distance, the first angle and the first radar scattering cross section are transmitted to the millimeter-wave radar target simulator, including the ID of the target to be detected. :

If it is detected that the target to be detected enters the field of view of the millimeter-wave radar to be tested, the target to be detected is locked based on the ID of the target to be detected, and the target simulator channel of the millimeter-wave radar is matched for the target to be detected;

If it is detected that the object to be detected leaves the field of view of the millimeter-wave radar to be tested, the object to be detected is unlocked based on the ID of the object to be detected, and the millimeter-wave radar target simulator channel occupied by the object to be detected is released, for the next new target to be detected.

In a second aspect, the present invention also provides a millimeter-wave radar simulation test device, the millimeter-wave radar simulation test device includes:

a first acquisition module, configured to obtain simulation data of the target to be detected through a virtual millimeter-wave radar in a simulation test environment, where the simulation data includes a first distance and a first angle;

a second obtaining module, configured to obtain the first radar cross section of the target to be detected based on the first distance and the first angle;

a transmission module, configured to transmit the first distance, the first angle and the first radar cross section to the millimeter wave radar target simulator;

The simulation module is used for the millimeter-wave radar target simulator to simulate the object to be detected according to the first distance, the first angle and the first radar scattering cross section, and send the echo signal to the millimeter-wave radar to be tested;

a test module, used for the millimeter-wave radar to be tested to receive echo signals to obtain test data of the target to be detected, where the test data includes a second distance, a second angle and a second radar cross section;

A comparison module, configured to compare the first distance, the first angle and the first radar cross section with the second distance, the second angle and the second radar cross section to obtain the simulation test result of the millimeter wave radar to be tested .

Optionally, the first acquisition module module is used for:

In the simulation test environment, the installation pose of the virtual millimeter-wave radar on the virtual vehicle is configured according to the installation pose of the actual millimeter-wave radar on the real vehicle;

Through the virtual millimeter wave radar, simulation data of the target to be detected is obtained, and the simulation data includes a first distance and a first angle.

Optionally, the second obtaining module is used for:

If, based on the first distance and the first angle, a corresponding radar cross section is found in the radar cross section library, the radar cross section obtained by the query is used as the first radar cross section;

If the corresponding radar cross section is not found in the radar cross section library based on the first distance and the first angle, then based on the first distance and the first angle, a function method is used to obtain the first A radar cross section.

In a third aspect, the present invention also provides a millimeter-wave radar simulation test device, the millimeter-wave radar simulation test device includes a processor, a memory, and a millimeter-wave radar stored in the memory and executed by the processor A simulation test program, wherein when the millimeter-wave radar simulation test program is executed by the processor, the steps of the above-mentioned millimeter-wave radar simulation test method are implemented.

In a fourth aspect, the present invention further provides a readable storage medium on which a millimeter-wave radar simulation test program is stored, wherein when the millimeter-wave radar simulation test program is executed by a processor, the above-mentioned The steps of the millimeter wave radar simulation test method described above.

In the present invention, in the simulation test environment, the simulation data of the target to be detected is obtained through the virtual millimeter wave radar, and the simulation data includes the first distance and the first angle; based on the first distance and the first angle, the obtained The first radar scattering cross section of the target to be detected; the first distance, the first angle and the first radar scattering cross section are transmitted to the millimeter wave radar target simulator; the millimeter wave radar target simulator is based on the first distance, first An angle and a first radar scattering cross section are used to simulate the target to be detected, and send echo signals to the millimeter-wave radar to be tested; the millimeter-wave radar to be tested receives the echo signals and obtains the test data of the target to be detected. the data includes a second distance, a second angle, and a second radar cross section; comparing the first distance, the first angle, and the first radar cross section with the second distance, the second angle, and the second radar cross section , to obtain the simulation test results of the millimeter-wave radar to be tested. In the present invention, firstly, in the simulation test environment, the simulation data of the target object to be detected is obtained through the virtual millimeter wave radar, which is usually called "true value", and then the first distance and the first angle in the simulation data are used to obtain the first A radar cross section, which transmits the first distance, the first angle and the first radar cross section to the millimeter-wave radar target simulator, and the millimeter-wave radar target simulator simulates the target to be detected accordingly, and then sends the echo signal to the target to be detected. To test the millimeter-wave radar, after the millimeter-wave radar to be tested receives the echo signal, it can obtain the test data of the object to be detected, which is usually called "test value". , The first angle and the first radar scattering cross section are compared with the second distance, the second angle and the second radar scattering cross section, and the simulation test result of the millimeter wave radar to be tested can be obtained. The dynamic simulation test of the real-time radar cross section of the target improves the reliability of the millimeter wave radar simulation test.

Description of drawings

1 is a schematic diagram of the hardware structure of an embodiment of a millimeter-wave radar simulation test device according to the present invention;

2 is a schematic flowchart of an embodiment of a millimeter-wave radar simulation test method according to the present invention;

FIG. 3 is a schematic diagram of the refinement process of step S10 in FIG. 2;

FIG. 4 is a schematic diagram of the refinement process of step S20 in FIG. 2;

FIG. 5 is a schematic diagram of functional modules of an embodiment of a millimeter-wave radar simulation test apparatus according to the present invention.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

In a first aspect, an embodiment of the present invention provides a millimeter wave radar simulation test device.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of a hardware structure of an embodiment of a millimeter-wave radar simulation testing device according to the present invention. In this embodiment of the present invention, the millimeter wave radar simulation test device may include a processor 1001 (eg, a central processing unit, Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 can be a high-speed random access memory (random access memory, RAM), or can be a stable memory (non-volatile memory), such as disk memory, memory Optionally, 1005 may also be a storage device independent of the aforementioned processor 1001 . Those skilled in the art can understand that the hardware structure shown in FIG. 1 does not constitute a limitation of the present invention, and may include more or less components than those shown in the drawings, or combine some components, or arrange different components.

Continuing to refer to FIG. 1 , the memory 1005 as a computer storage medium in FIG. 1 may include an operating system, a network communication module, a user interface module, and a millimeter wave radar simulation test program. The processor 1001 can call the millimeter-wave radar simulation test program stored in the memory 1005, and execute the millimeter-wave radar simulation test method provided by the embodiment of the present invention.

In a second aspect, an embodiment of the present invention provides a millimeter-wave radar simulation test method.

In order to more clearly demonstrate the millimeter-wave radar simulation test method provided by the embodiment of the present application, an application scenario of the millimeter-wave radar simulation test method provided by the embodiment of the present application is first introduced.

The millimeter-wave radar simulation test method provided by the embodiment of the present application is applied to the simulation test of the performance of the millimeter-wave radar through the millimeter-wave radar test bench. Generally, the millimeter-wave radar test bench includes a millimeter-wave radar target simulator and a virtual simulation software. graphics workstation, upper computer, lower computer, etc.

In an embodiment, referring to FIG. 2, FIG. 2 is a schematic flowchart of an embodiment of a millimeter wave radar simulation test method according to the present invention. As shown in FIG. 2, the millimeter wave radar simulation test method includes:

Step S10, in the simulation test environment, obtain simulation data of the target object to be detected through a virtual millimeter wave radar, where the simulation data includes a first distance and a first angle.

In this embodiment, in the simulation test environment, the simulation data of the target to be detected is obtained through the virtual millimeter-wave radar in the simulation software, which is usually called "true value". According to the functions of different millimeter-wave radars and specific tests The obtained simulation data can include data such as distance, angle, speed and target type.

Step S20, based on the first distance and the first angle, obtain a first radar cross section of the target to be detected.

In this embodiment, through the first distance and the first angle, the first radar scattering cross section of the target to be detected is obtained, and the change of the target motion state (ie distance, angle) will cause the change of the incident angle of the electromagnetic wave, thereby causing the RCS value of the target to change. Change, because the first distance and the first angle are obtained by real-time measurement of the virtual millimeter-wave radar, so the first radar cross section of the target to be detected obtained here represents the real-time radar cross section of the target to be detected at the current attitude .

Step S30, transmitting the first distance, the first angle and the first radar cross section to the millimeter wave radar target simulator.

In this embodiment, the first distance, the first angle, and the first radar cross section are transmitted to the millimeter-wave radar target simulator through simulation software, and the lack of real-time target radar in the prior art is solved by transmitting the radar cross section in real time. The problem of real-time dynamic simulation of the radar scattering cross section of the target cannot be carried out.

Step S40, the millimeter-wave radar target simulator simulates the target to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends an echo signal to the millimeter-wave radar to be tested.

In this embodiment, based on the simulation function of the millimeter-wave radar target simulator, according to the received first distance, first angle and first radar scattering cross section, the real-time attitude of the target to be detected is simulated, and the corresponding echo The signal is sent to the millimeter-wave radar to be tested.

Step S50, the millimeter-wave radar to be tested receives the echo signal to obtain test data of the target to be detected, where the test data includes a second distance, a second angle and a second radar cross section.

In this embodiment, after the millimeter-wave radar to be tested receives the echo signal, the test data of the object to be detected can be obtained. The test data includes distance, angle and radar cross section. In addition, according to different millimeter-wave radars to be tested The test data can also include speed, target type, etc., so as to conduct a more comprehensive simulation test of the millimeter-wave radar to be tested.

Step S60, comparing the first distance, the first angle and the first radar cross section with the second distance, the second angle and the second radar cross section to obtain a simulation test result of the millimeter wave radar to be tested.

In this embodiment, the first distance and the first angle are obtained through a virtual millimeter-wave radar in a simulation test environment, and the first radar cross section is obtained through the first distance and the first angle measured in real time. In the simulation test, usually Called the "true value", the second distance, the second angle and the second radar cross section are the "test values" of the millimeter-wave radar to be tested. Compare the two to obtain the simulation test results of the millimeter-wave radar to be tested. , that is, the recognition accuracy of the target to be detected by the millimeter-wave radar to be tested in terms of distance, angle, and radar cross section.

In this embodiment, the first distance, the first angle, and the first radar cross section represent the "true values" of the target to be detected by the millimeter-wave radar to be tested, and the first radar cross section is based on the real-time first distance obtained from the first angle, which represents the real-time radar scattering cross section of the target to be detected. The millimeter-wave radar target simulator simulates the target to be detected in real time according to the "true value", and then sends the echo signal to the millimeter wave to be tested. Radar, after receiving the echo signal, the millimeter-wave radar to be tested can obtain the "test value" of the target to be detected. By comparing the "true value" with the "test value", the millimeter-wave radar to be tested can be known. With regard to the recognition performance of the target to be detected, this embodiment solves the problem of lack of real-time radar cross section in the current simulation test of the millimeter-wave radar, and realizes the real-time dynamic simulation test of the radar cross-section of the target by the millimeter-wave radar. The reliability of the millimeter-wave radar simulation test.

Further, in an embodiment, referring to FIG. 3 , FIG. 3 is a schematic diagram of a refinement process of step S10 in FIG. 2 , as shown in FIG. 3 , step S10 includes:

Step S101, in the simulation test environment, configure the installation posture of the virtual millimeter-wave radar on the virtual vehicle according to the installation posture of the actual millimeter-wave radar on the real vehicle;

Step S102 , obtain simulation data of the target to be detected through the virtual millimeter-wave radar, where the simulation data includes a first distance and a first angle.

In this embodiment, the installation posture of the virtual millimeter-wave radar on the virtual vehicle is configured according to the installation posture of the actual millimeter-wave radar on the real vehicle, and the consistency between the simulated scene and the real scene is maintained, and the first distance and the first angle are The relative distance and relative angle between the target to be detected and the virtual millimeter-wave radar. Since the millimeter-wave radar is usually installed in the middle of the front bumper of the vehicle, the first distance and the first angle here also represent the target to be detected. The relative distance and relative angle of the object and the virtual vehicle.

Further, in an embodiment, referring to FIG. 4 , FIG. 4 is a schematic diagram of the refinement process of step S20 in FIG. 2 . As shown in FIG. 4 , step S20 includes:

Step S201, if the corresponding radar cross section is queried in the radar cross section library based on the first distance and the first angle, the radar cross section obtained by the query is used as the first radar cross section;

Step S202, if the corresponding radar cross section is not found in the radar cross section library based on the first distance and the first angle, then based on the first distance and the first angle, the target to be detected is obtained by a function method the first radar cross section of the object.

In this embodiment, the radar cross section database is a database based on public data and collected through testing, which can also be understood as a database here, each of which records the corresponding relationship between the corresponding distance, angle and radar cross section. If the radar cross section corresponding to the first distance and the first angle is stored in the radar cross section library, the first radar cross section can be obtained directly by query, otherwise the function method is required to obtain the first radar cross section of the target to be detected. .

Further, in an embodiment, step S202 includes:

Based on the data set of the target to be detected, a fitting function is determined by performing curve fitting on the data set, and the data set records the correspondence between the distance, angle and radar cross section of the target to be detected;

Based on the first distance and the first angle, through the determined fitting function, the first radar scattering cross section of the target object to be detected is obtained.

In this embodiment, the data set is similar to the aforementioned radar cross section library, which is obtained based on public information and collected through tests. Each record in the data set records the corresponding relationship between the corresponding distance, angle and radar cross section. The curve Fitting refers to approximately depicting or comparing the functional relationship between the coordinates represented by discrete points on the plane with a continuous curve. Since the radar cross section corresponding to the current first distance and the first angle has not been queried, it is necessary to perform curve fitting based on the existing data, and determine the fitting function according to the shape of the curve, and then use the The determined fitting function is used to obtain the first radar cross section of the target to be detected.

Further, in an embodiment, the simulation data of the object to be detected includes the ID of the object to be detected, and after step S30, it includes:

If it is detected that the target to be detected enters the field of view of the millimeter-wave radar to be tested, the target to be detected is locked based on the ID of the target to be detected, and the target simulator channel of the millimeter-wave radar is matched for the target to be detected;

If it is detected that the object to be detected leaves the field of view of the millimeter-wave radar to be tested, the object to be detected is unlocked based on the ID of the object to be detected, and the millimeter-wave radar target simulator channel occupied by the object to be detected is released, for the next new target to be detected.

In this embodiment, under a possible situation, in the simulated test scenario, there are five targets (such as a, b, c, d, and e) within the detection range of the field of view of the millimeter-wave radar to be tested, and Our mmWave radar target simulator has only four channels (eg 1, 2, 3, 4), and each channel can only simulate one target. At this point, we need to lock the target to be detected when it enters, match it with the millimeter wave radar target simulator channel and bind it, unlock it when leaving, and release the target to be detected The millimeter-wave radar target simulator channel occupied by the object can avoid the target switching back and forth between the four channels of the millimeter-wave radar target simulator. The channel change of the same target between the millimeter-wave radar target simulators affects the millimeter-wave radar to be tested. The simulation test efficiency further affects the accuracy of the simulation test results.

In a third aspect, an embodiment of the present invention further provides a millimeter-wave radar simulation test device.

Referring to FIG. 5 , FIG. 5 is a schematic diagram of functional modules of an embodiment of a millimeter-wave radar simulation test apparatus according to the present invention.

In this embodiment, the millimeter wave radar simulation test device includes:

The first acquisition module 10 is configured to obtain simulation data of the target object to be detected through a virtual millimeter-wave radar in a simulation test environment, where the simulation data includes a first distance and a first angle;

The second obtaining module 20 is configured to obtain the first radar cross section of the target object to be detected based on the first distance and the first angle;

a transmission module 30, configured to transmit the first distance, the first angle and the first radar cross section to the millimeter wave radar target simulator;

The simulation module 40 is used for the millimeter-wave radar target simulator to simulate the object to be detected according to the first distance, the first angle and the first radar scattering cross section, and send the echo signal to the millimeter-wave radar to be tested;

The test module 50 is used for the millimeter-wave radar to be tested to receive the echo signal to obtain test data of the target to be detected, the test data including the second distance, the second angle and the second radar cross section;

The comparison module 60 is configured to compare the first distance, the first angle and the first radar cross section with the second distance, the second angle and the second radar cross section to obtain a simulation test of the millimeter wave radar to be tested result.

Further, in an embodiment, the first obtaining module 10 is used for:

In the simulation test environment, the installation pose of the virtual millimeter-wave radar on the virtual vehicle is configured according to the installation pose of the actual millimeter-wave radar on the real vehicle;

Through the virtual millimeter wave radar, simulation data of the target to be detected is obtained, and the simulation data includes a first distance and a first angle.

Further, in one embodiment, the second obtaining module 20 includes:

The query unit 201 is configured to, based on the first distance and the first angle, query the corresponding radar cross section in the radar cross section library, use the obtained radar cross section as the first radar cross section;

The function unit 202 is configured to obtain, through a function method, based on the first distance and the first angle, if the corresponding radar cross section is not found in the radar cross section library based on the first distance and the first angle The first radar cross section of the object to be detected.

Further, in one embodiment, the function unit 202 is used for:

Based on the data set of the target to be detected, a fitting function is determined by performing curve fitting on the data set, and the data set records the correspondence between the distance, angle and radar cross section of the target to be detected;

Based on the first distance and the first angle, through the determined fitting function, the first radar scattering cross section of the target object to be detected is obtained.

Further, in an embodiment, the millimeter-wave radar simulation test device further includes a channel matching module 70 for:

If it is detected that the target to be detected enters the field of view of the millimeter-wave radar to be tested, the target to be detected is locked based on the ID of the target to be detected, and the target simulator channel of the millimeter-wave radar is matched for the target to be detected;

If it is detected that the object to be detected leaves the field of view of the millimeter-wave radar to be tested, the object to be detected is unlocked based on the ID of the object to be detected, and the millimeter-wave radar target simulator channel occupied by the object to be detected is released, for the next new target to be detected.

The function implementation of each module in the above-mentioned millimeter-wave radar simulation test device corresponds to each step in the above-mentioned embodiment of the millimeter-wave radar simulation test method, and the functions and implementation process thereof will not be repeated here.

In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

A millimeter-wave radar simulation test program is stored on the readable storage medium of the present invention, wherein when the millimeter-wave radar simulation test program is executed by the processor, the steps of the above-mentioned millimeter-wave radar simulation test method are implemented.

For the method implemented when the millimeter-wave radar simulation test program is executed, reference may be made to the various embodiments of the millimeter-wave radar simulation test method of the present invention, which will not be repeated here.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or system comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or system. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system that includes the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

From the description of the above embodiments, those skilled in the art can clearly understand that the method of the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is better implementation. Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products are stored in a storage medium (such as ROM/RAM) as described above. , magnetic disk, optical disk), including several instructions to make a terminal device execute the method described in each embodiment of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection of the present invention.

Claims (10)

1. A millimeter wave radar simulation test method is characterized by comprising the following steps:

in a simulation test environment, obtaining simulation data of a target object to be detected through a virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle;

obtaining a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;

transmitting the first distance, the first angle and the first radar scattering cross section to a millimeter wave radar target simulator;

the millimeter wave radar target simulator simulates a target object to be detected according to the first distance, the first angle and the first radar scattering cross section, and sends a echo signal to the millimeter wave radar to be detected;

receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;

and comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.

2. The millimeter wave radar simulation test method according to claim 1, wherein in the simulation test environment, the obtaining of the simulation data of the target object to be detected by the virtual millimeter wave radar, the simulation data including the first distance and the first angle comprises:

in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;

and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.

3. The millimeter wave radar simulation test method according to claim 1, wherein the obtaining of the first radar scattering cross section of the target object to be detected based on the first distance and the first angle comprises:

if the corresponding radar scattering cross section is inquired in the radar scattering cross section library based on the first distance and the first angle, the inquired radar scattering cross section is used as a first radar scattering cross section;

and if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, obtaining a first radar scattering cross section of the target object to be detected through a function method based on the first distance and the first angle.

4. The millimeter wave radar simulation test method according to claim 3, wherein the obtaining of the first radar scattering cross section of the target object to be detected by a function method based on the first distance and the first angle comprises:

determining a fitting function by performing curve fitting on a data set based on the data set of the target object to be detected, wherein the data set records the corresponding relation among the distance, the angle and the radar scattering cross section of the target object to be detected;

and obtaining a first radar scattering cross section of the target object to be detected through the determined fitting function based on the first distance and the first angle.

5. The millimeter wave radar simulation test method according to claim 1, wherein the simulation data of the target object to be detected includes a target object ID to be detected, and after the transmitting the first distance, the first angle, and the first radar scattering cross section to the millimeter wave radar target simulator, the method includes:

if the target object to be detected enters the field angle of the millimeter wave radar to be detected, locking the target object to be detected based on the ID of the target object to be detected, and matching a channel of the millimeter wave radar target simulator for the target object to be detected;

and if the target object to be detected is detected to leave the field angle of the millimeter wave radar to be detected, unlocking the target object to be detected based on the ID of the target object to be detected, and releasing a channel of the millimeter wave radar target simulator occupied by the target object to be detected for the next new target object to be detected.

6. The millimeter wave radar simulation test device is characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring simulation data of a target object to be detected in a simulation test environment through a virtual millimeter wave radar, and the simulation data comprises a first distance and a first angle;

the second acquisition module is used for acquiring a first radar scattering cross section of the target object to be detected based on the first distance and the first angle;

the transmission module is used for transmitting the first distance, the first angle and the first radar scattering cross section to the millimeter wave radar target simulator;

the simulation module is used for the millimeter wave radar target simulator to simulate a target object to be detected according to the first distance, the first angle and the first radar scattering cross section and send a return signal to the millimeter wave radar to be detected;

the test module is used for receiving the echo signal by the millimeter wave radar to be tested to obtain test data of the target object to be tested, wherein the test data comprises a second distance, a second angle and a second radar scattering cross section;

and the comparison module is used for comparing the first distance, the first angle and the first radar scattering cross section with the second distance, the second angle and the second radar scattering cross section to obtain a simulation test result of the millimeter wave radar to be tested.

7. The millimeter-wave radar simulation test device of claim 6, wherein the first obtaining module is configured to:

in a simulation test environment, configuring the installation pose of the virtual millimeter wave radar on the virtual vehicle according to the installation pose of the actual millimeter wave radar on the actual vehicle;

and obtaining simulation data of the target object to be detected through the virtual millimeter wave radar, wherein the simulation data comprises a first distance and a first angle.

8. The millimeter-wave radar simulation test device of claim 6, wherein the second obtaining module is configured to:

if the corresponding radar scattering cross section is inquired in a radar scattering cross section library based on the first distance and the first angle, taking the inquired radar scattering cross section as a first radar scattering cross section;

and if the corresponding radar scattering cross section is not inquired in the radar scattering cross section library based on the first distance and the first angle, obtaining a first radar scattering cross section of the target object to be detected through a function method based on the first distance and the first angle.

9. A millimeter wave radar simulation test device comprising a processor, a memory, and a millimeter wave radar simulation test program stored on the memory and executable by the processor, wherein the millimeter wave radar simulation test program, when executed by the processor, implements the steps of the millimeter wave radar simulation test method of any of claims 1 to 5.

10. A readable storage medium having stored thereon a millimeter wave radar simulation test program, wherein the millimeter wave radar simulation test program when executed by a processor implements the steps of the millimeter wave radar simulation test method of any of claims 1 to 5.

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