CN113447899B - Method and system for mounting and testing vehicle-mounted millimeter wave radar - Google Patents
Method and system for mounting and testing vehicle-mounted millimeter wave radar Download PDFInfo
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Abstract
The invention provides a method and a system for mounting and testing a vehicle millimeter wave radar, wherein the method comprises the following steps: when triggering a starting calibration link, controlling a millimeter wave radar multiframe installed on the side edge of a vehicle to be tested to scan the surrounding environment; the vehicle to be tested keeps in a parking state; acquiring millimeter wave radar data obtained by multi-frame scanning feedback; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar; generating a movement track of the target dynamic obstacle according to the millimeter wave radar data; judging whether the installation of the millimeter wave radar is correct or not according to the action track, and generating and displaying a test result. The invention has low field requirement, can test the installation position and the gesture of the millimeter wave radar independently and independently, and is suitable for quick and simple test.
Description
Technical Field
The invention relates to the technical field of installation test of vehicle-mounted millimeter wave radars, in particular to an installation test method and system of a vehicle-mounted millimeter wave radar.
Background
Millimeter wave radar is mainly used in automotive autopilot solutions. The vehicle millimeter wave radar is widely used due to the characteristics of small volume, high precision, strong penetrating power and the like.
The millimeter wave radar works in a spherical coordinate system taking the millimeter wave radar as a spherical origin, so that deviation of the installation posture of the vehicle-mounted millimeter wave radar directly leads to deviation of radar detection range and target information, influences judgment of an active safety system on road condition environment, and reduces system safety performance and driving experience. Therefore, in order to ensure the accuracy of the test, the prior art can build a specific test shop, cannot test the installation position and the attitude of the radar used alone, is not suitable for quick and simple test, and therefore has limitations.
Disclosure of Invention
The invention aims to provide a method and a system for mounting and testing a vehicle-mounted millimeter wave radar, which have low field requirements, can test the mounting position and the attitude of the millimeter wave radar by self and independently, and are suitable for quick and simple testing.
The technical scheme provided by the invention is as follows:
the invention provides a method for mounting and testing a vehicle millimeter wave radar, which is characterized by comprising the following steps:
when triggering a starting calibration link, controlling a millimeter wave radar multiframe installed on the side edge of a vehicle to be tested to scan the surrounding environment; the vehicle to be tested keeps in a parking state;
Acquiring millimeter wave radar data obtained by multi-frame scanning feedback; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
generating a movement track of the target dynamic obstacle according to the millimeter wave radar data;
judging whether the installation of the millimeter wave radar is correct or not according to the action track, and generating and displaying a test result.
Further, the millimeter wave radar comprises at least one transmitting antenna and at least two receiving antennas; the step of generating the action track of the target dynamic barrier according to the millimeter wave radar data comprises the following steps:
acquiring an electromagnetic wave transmitting period, an electromagnetic wave receiving and transmitting frequency difference, a frequency modulation bandwidth and a transmitting electromagnetic wave wavelength from millimeter wave radar data acquired by scanning two adjacent frames;
according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth, calculating and obtaining the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period;
according to the relative distance and the wavelength of the emitted electromagnetic wave, calculating to obtain a relative included angle between the target dynamic obstacle and the millimeter wave radar along a straight line of the vehicle head and the vehicle tail;
According to the relative included angle, the relative distance and the installation position of the millimeter wave radar, calculating to obtain the coordinate value of the target dynamic obstacle on a vehicle-mounted coordinate system;
generating a movement track of the target dynamic barrier according to the relative included angle and the coordinate value obtained in each scanning frame interval time period;
the vehicle-mounted coordinate system is established by taking the center point of the vehicle to be detected as an origin.
Further, the calculating the relative distance between the target dynamic obstacle and the nth antenna in a scanning frame interval time period according to the electromagnetic wave transmitting period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth includes the steps of:
substituting the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth into the following formula to calculate and obtain the relative time between the dynamic target reflected signal received by the nth antenna and the emission signal of the millimeter wave radar; the dynamic target reflected signal is reflected from the target dynamic obstacle;
substituting the relative time into the following formula to calculate and obtain the relative distance between the target dynamic barrier and the nth antenna;
Wherein Δt is the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar, T is the electromagnetic wave transmitting period, f' is the electromagnetic wave receiving and transmitting frequency difference, i.e. the frequency difference between the transmitted electromagnetic wave and the received electromagnetic wave, Δf is the frequency modulation bandwidth, d n And c is the light speed, which is the relative distance between the target dynamic obstacle and the nth antenna.
Further, the calculating, according to the relative distance and the wavelength of the emitted electromagnetic wave, the relative included angle between the target dynamic obstacle and the millimeter wave radar along the line where the vehicle head and the vehicle tail are located includes the steps of:
substituting the relative distance and the wavelength of the emitted electromagnetic wave into the following formula to calculate and obtain the phase angle between the at least two receiving antennas;
Δd＝d n -d n-1
substituting the phase angle into the following formula to calculate a relative included angle in a scanning frame interval time period;
wherein Δd is the relative distance difference, d n D is the relative distance between the target dynamic barrier and the nth antenna n-1 And lambda is the wavelength of the emitted electromagnetic wave for the relative distance between the target dynamic barrier and the (n-1) th antenna.
Further, the step of judging whether the installation of the millimeter wave radar is correct according to the action track, and generating and displaying a test result includes the steps of:
If the target dynamic barrier is in the preset monitoring area in the test period according to the action track determination, determining that the action track is matched with the preset test track, and outputting and displaying a first test result of correct installation of the millimeter wave radar;
if the target dynamic obstacle is not in the preset monitoring area or the action track is not matched with the preset test track in any scanning frame interval time period according to the action track, outputting and displaying a second test result of incorrect installation of the millimeter wave radar.
The invention also provides a system for mounting and testing the vehicle millimeter wave radar, which comprises:
the control module is used for controlling the millimeter wave radar multiframe installed on the side edge of the vehicle to be tested to scan the surrounding environment when triggering the starting calibration link; the vehicle to be tested keeps in a parking state;
the acquisition module is used for acquiring millimeter wave radar data obtained by multi-frame scanning feedback; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
the generation module is used for generating the action track of the target dynamic obstacle according to the millimeter wave radar data;
And the processing module is used for judging whether the installation of the millimeter wave radar is correct according to the action track, and generating and displaying a test result.
Further, the millimeter wave radar comprises at least one transmitting antenna and at least two receiving antennas; the generation module comprises:
the information extraction unit is used for obtaining an electromagnetic wave emission period, an electromagnetic wave receiving and transmitting frequency difference, a frequency modulation bandwidth and an emission electromagnetic wave wavelength from millimeter wave radar data obtained by scanning two adjacent frames;
the distance calculation unit is used for calculating and obtaining the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth;
the included angle calculation unit is used for calculating the relative included angle between the target dynamic obstacle and the millimeter wave radar on a straight line along the head and the tail according to the relative distance and the wavelength of the emitted electromagnetic wave;
the coordinate calculation unit is used for calculating coordinate values of the target dynamic obstacle on a vehicle-mounted coordinate system according to the relative included angle, the relative distance and the installation position of the millimeter wave radar;
The track generation unit is used for generating a movement track of the target dynamic obstacle according to the relative included angle and the coordinate value obtained in each scanning frame interval time period;
the vehicle-mounted coordinate system is established by taking the center point of the vehicle to be detected as an origin.
Further, the distance calculating unit includes:
the time calculation subunit is used for substituting the following formulas into the following formulas to calculate the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar according to the electromagnetic wave transmitting period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth; the dynamic target reflected signal is reflected from the target dynamic obstacle;
a distance calculating subunit, configured to calculate a relative distance between the target dynamic obstacle and the nth antenna according to the following formula substituted by the relative time;
wherein Δt is the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar, T is the electromagnetic wave transmitting period, f' is the electromagnetic wave receiving and transmitting frequency difference, i.e. the frequency difference between the transmitted electromagnetic wave and the received electromagnetic wave, Δf is the frequency modulation bandwidth, d n And c is the light speed, which is the relative distance between the target dynamic obstacle and the nth antenna.
Further, the included angle calculating unit includes:
a phase angle calculation subunit, configured to calculate a phase angle between the at least two receiving antennas according to the relative distance and the wavelength of the emitted electromagnetic wave by substituting the following formula;
Δd＝d n -d n-1
the included angle calculating subunit is used for substituting the following formula according to the phase angle to calculate and obtain the relative included angle in the interval time period of one scanning frame;
wherein Δd is the relative distance difference, d n D is the relative distance between the target dynamic barrier and the nth antenna n-1 And lambda is the wavelength of the emitted electromagnetic wave for the relative distance between the target dynamic barrier and the (n-1) th antenna.
Further, the processing module includes:
the judging and outputting unit is used for outputting a first test result of correct installation of the millimeter wave radar if the target dynamic obstacle is in a preset monitoring area and the action track is matched with the preset test track in the test period according to the action track;
the judging and outputting unit is further configured to output a second test result of incorrect installation of the millimeter wave radar if it is determined that the target dynamic obstacle is not in the preset monitoring area or the action track is not matched with the preset test track in any scanning frame interval period according to the action track;
And the display unit is used for displaying the first test result or the second test result.
The installation test method and the installation test system for the vehicle-mounted millimeter wave radar provided by the invention have low site requirements, can test the installation position and the gesture of the millimeter wave radar independently and independently, and are suitable for quick and simple tests.
Drawings
The above features, technical features, advantages and implementation manners of a method and a system for testing the installation of a vehicle-mounted millimeter wave radar will be further described below in a clear and understandable manner with reference to the accompanying drawings.
FIG. 1 is another interface schematic of an APP operation interface of the installation test of the present invention;
FIG. 2 is a schematic illustration of an APP operation interface for installation testing of the present invention;
FIG. 3 is another interface schematic of the APP operation interface of the installation test of the present invention;
FIG. 4 is another interface schematic of the APP operation interface of the installation test of the present invention;
FIG. 5 is another interface schematic of the APP operation interface of the installation test of the present invention;
fig. 6 is a schematic diagram of electromagnetic wave emission signals and reflection signals of a vehicle-mounted millimeter wave radar according to the present invention;
FIG. 7 is a schematic view of a scenario between a millimeter wave radar of the present invention and a target dynamic barrier;
FIG. 8 is a schematic illustration of the relative angle between a millimeter wave radar of the present invention and a target dynamic barrier;
fig. 9 is a schematic diagram of the relationship of the relative distance, relative included angle and xy-axis coordinates between the millimeter wave radar and the target dynamic barrier of the present invention;
FIG. 10 is another interface schematic of the APP operation interface of the installation test of the present invention;
FIG. 11 is another interface schematic of the APP operation interface of the installation test of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
In one embodiment of the present invention, as shown in fig. 1, a method for testing the installation of a vehicle millimeter wave radar includes the steps of:
s100, when triggering a starting calibration link, controlling a millimeter wave radar multiframe installed on the side edge of a vehicle to be tested to scan the surrounding environment; the vehicle to be tested keeps in a parking state;
specifically, an installer is assisted in accurately installing the millimeter wave radar, and a quick and effective test method is provided so that the performance of the millimeter wave radar after accurate installation can be optimized. Since the safety setting test is required to be performed before the vehicle leaves the factory, including CAN communication confirmation of the vehicle body, parameter setting of the radar, setting of the mounting position of the radar, calibration setting of the radar, and the like, and the safety setting test is required to be performed also for the vehicle after a period of use, radar mounting state detection becomes particularly important, and whether the radar is mounted in place or not directly influences the test condition of the safety setting test. For example, if the position installation of the vehicle-mounted millimeter wave radar is reversed or misplaced, the normal function of the vehicle-mounted millimeter wave radar may be affected. If the installation horizontal angle of the vehicle-mounted millimeter wave radar is larger than the error, the subsequent horizontal FOV detection visual angle of the vehicle to be detected can be influenced, and then the driving of the vehicle to be detected is caused to have a safety problem. If the installation vertical angle of the vehicle-mounted millimeter wave radar is larger than the error, the subsequent vertical FOV detection view angle of the vehicle to be detected can be influenced, and then the driving of the vehicle to be detected is caused to have a safety problem.
S200, millimeter wave radar data obtained by multi-frame scanning feedback is obtained; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
s300, generating a movement track of the target dynamic barrier according to the millimeter wave radar data;
s400, judging whether the installation of the millimeter wave radar is correct or not according to the action track, and generating and displaying a test result.
Specifically, when the calibration link is triggered and started, the control device (i.e., the terminal device used by the background tester, including the mobile phone, the computer or the server, etc.) controls the vehicle to be tested to keep a parking state, and it is required to know that only one millimeter wave radar can be installed on the left side edge of the vehicle to be tested, or only one millimeter wave radar can be installed on the right side edge of the vehicle to be tested, and of course, one millimeter wave radar can be installed on the left side edge and the right side edge of the vehicle to be tested respectively. Then, the control device controls one or two millimeter wave radars arranged on the side edge of the vehicle to be tested to scan the surrounding environment in a multi-frame mode, obtains millimeter wave radar data obtained through multi-frame scanning feedback from a millimeter wave radar arranged on the vehicle to be tested, so that after a movement track of the target dynamic obstacle is generated according to the millimeter wave radar data, whether the installation position and the installation angle of the millimeter wave radars on the vehicle to be tested are correct or not is judged according to the movement track, and finally, the control terminal outputs and displays a test result according to the judgment condition.
The invention has the advantages that a specific test workshop is not required to be built, the site requirement is low, the self-running and independent test on the installation position and the gesture of the millimeter wave radar can be realized through the millimeter wave radar installed on the vehicle and the target dynamic obstacle, and the invention is suitable for quick and simple test. According to the invention, a plurality of radar parameters can be set at one time, the reverse of the installation position and the dislocation detection can be prevented, the horizontal and vertical correction of the radar of the millimeter wave radar installed on the vehicle to be tested is realized, and the method can be used in the after-market because the field requirement is low (within 1.5 m), so that the popularization rate of the installation test of the vehicle-mounted millimeter wave radar is greatly improved.
According to one embodiment of the invention, a method for mounting and testing a vehicle-mounted millimeter wave radar comprises at least one transmitting antenna and at least two receiving antennas; the method comprises the following steps:
s100, when triggering a starting calibration link, controlling a millimeter wave radar multiframe installed on the side edge of a vehicle to be tested to scan the surrounding environment; the vehicle to be tested keeps in a parking state;
s200, millimeter wave radar data obtained by multi-frame scanning feedback is obtained; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
Specifically, this embodiment is an optimized embodiment of the foregoing embodiment, and the same parts as those of the foregoing embodiment in this embodiment are referred to the foregoing embodiment, and are not described herein in detail. According to the invention, an APP for the installation test of the vehicle-mounted millimeter wave radar is designed as shown in fig. 2, if a background tester clicks a start control button shown in fig. 2, a calibration starting link is triggered, and at the moment, the millimeter wave radar installed on the side edge of a vehicle to be tested scans the surrounding environment so as to enter a calibration flow.
Preferably, before triggering the starting calibration link, a preparation work for the installation test of the vehicle millimeter wave radar needs to be done, wherein one preparation work is that a background tester at the control device selects a radar option to input a radar control mode (a single mode and an all mode respectively) at an operation interface as shown in fig. 3, and selects which radar of the vehicle to be tested is in communication connection with the control device in the connecting device tab so as to acquire millimeter wave radar data from the selected millimeter wave radar. In addition, a background tester at the control apparatus manually inputs the vehicle parameters to be tested and the radar installation parameters at the operation interface as shown in fig. 3. The parameters of the vehicle to be tested include the length of the vehicle to be tested, the width of the vehicle to be tested, the front overhang of the vehicle to be tested (i.e. the horizontal distance between the center point of the front wheel of the vehicle to be tested and the front end of the vehicle to be tested), the wheelbase of the vehicle to be tested, etc. as shown in fig. 4. The radar installation parameters include the distance of the radar from the vehicle head (i.e., the distance between the vehicle head to be tested and the installed millimeter wave radar), the installation height of the vehicle millimeter wave radar, and the like.
Preferably, another preparation is to perform a null field process before triggering the calibration link, i.e. informing the test area where the vehicle to be tested is located of the need for clearance, so that other dynamic obstacles (people, animals or robots) and static obstacles (e.g. wall surfaces, doors, other parked vehicles) cannot exist in the test area besides the target dynamic obstacle. The test area comprises four opposite test blocks, and the four test blocks are connected to form a rectangle. Once the background tester clicks the start control button shown in fig. 2 or 5 and determines that the test area shown in fig. 2 or 5 is in a clear state before the clicking time of the start control button, a test start instruction is sent to inform the auxiliary tester to move in the test area according to a preset test track, or control the test robot to move in the test area according to the preset test track.
Because the background tester is not on site in the test area, how does the background tester learn whether the test area is in a headroom state and issue a test start instruction? It should be noted that, since the millimeter wave radar is installed on the side of the vehicle to be tested, the control device may determine whether the four test areas of the test area detect objects respectively according to the millimeter wave radar data acquired by scanning two adjacent frames, and if no object is detected by the four test areas, determine that the test area is in a clear state, so as to control the four test areas to display as a combination of a first preset color (for example, white or red) or a first preset icon (for example, circular or oval) as shown in fig. 5, so that a background tester can intuitively and simply know whether the test area is in the clear state.
S310, acquiring an electromagnetic wave transmitting period, an electromagnetic wave receiving and transmitting frequency difference, a frequency modulation bandwidth and a transmitting electromagnetic wave wavelength from millimeter wave radar data acquired by scanning two adjacent frames;
s320, according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth, calculating and obtaining the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period;
s320, according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth, calculating the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period, wherein the relative distance comprises the following steps:
s321, substituting the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth into the following formula to calculate and obtain the relative time between the dynamic target reflected signal received by the nth antenna and the emission signal of the millimeter wave radar; the dynamic target reflected signal is reflected from the target dynamic obstacle;
s322, substituting the relative time into the following formula, and calculating to obtain the relative distance between the target dynamic obstacle and the nth antenna;
wherein Deltat is the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar, T is the electromagnetic wave transmitting period, and f' is the electromagnetic wave receiving and transmitting period The frequency difference is the frequency difference between the transmitted electromagnetic wave and the received electromagnetic wave, Δf is the frequency modulation bandwidth, d n C is the light speed, which is the relative distance between the target dynamic barrier and the nth antenna;
specifically, as shown in fig. 6, the control device controls the millimeter wave radar to emit a group of electromagnetic waves with the frequency changed along with time in a frequency modulation manner, calculates the relative distance between the target dynamic barrier and the nth antenna by using the frequency difference between the radar wave and the radar echo and referring to the formula, and can continuously track and measure the relative distance between the target dynamic barrier and the nth antenna at different moments according to the electromagnetic waves with different groups of frequency changes.
S330, calculating a relative included angle between the target dynamic obstacle and the millimeter wave radar along a straight line where the headstock and the tailstock are located according to the relative distance and the wavelength of the emitted electromagnetic wave;
s330, according to the relative distance and the wavelength of the emitted electromagnetic wave, calculating to obtain the relative included angle between the target dynamic obstacle and the millimeter wave radar along the straight line of the vehicle head and the vehicle tail comprises the following steps:
s331, substituting the relative distance and the wavelength of the emitted electromagnetic wave into the following formula to calculate and obtain the phase angle between the at least two receiving antennas;
Δd＝d n -d n-1
Specifically, since the millimeter wave radar includes at least two groups of receiving and transmitting antennas, each group of receiving and transmitting antennas includes a transmitting antenna for transmitting electromagnetic waves and at least two receiving antennas for receiving electromagnetic waves, the control terminal can acquire at least two groups of millimeter wave radar data from the same millimeter wave radar in a scanning frame interval time period. For example, as shown in fig. 7, the control device may control the current millimeter wave radar to emit electromagnetic waves, and calculate a target dynamic obstacle based on millimeter wave radar data acquired from the current millimeter wave radarRelative distance d from 1 st antenna RX1 of current millimeter wave radar 1 Relative distance d between target dynamic obstacle and 2 nd antenna RX2 of current millimeter wave radar 2 ＝d 1 +Δd。
S332, substituting the phase angle into the following formula according to the phase angle, and calculating to obtain a relative included angle in a scanning frame interval time period;
wherein Δd is the relative distance difference, d n D is the relative distance between the target dynamic barrier and the nth antenna n-1 And lambda is the wavelength of the emitted electromagnetic wave, and omega is the phase angle, which is the relative distance between the target dynamic barrier and the (n-1) th antenna.
Specifically, at least two receiving antennas are required for estimating the included angle between the millimeter wave radar and the target dynamic obstacle, and the transmitting antenna TX transmits an electromagnetic wave signal, and the electromagnetic wave signal is reflected by the target dynamic obstacle to obtain a dynamic target reflected signal as shown in fig. 6, and since the dynamic target reflected signal can be received by the first receiving antenna RX1 and the 2 nd antenna RX2 respectively. The relative distance d between the target dynamic obstacle and the 1 st antenna RX1 of the current millimeter wave radar can be obtained through the calculation flow 1 And a relative distance d between the target dynamic obstacle and the 2 nd antenna RX2 of the current millimeter wave radar 2 ＝d 1 +Δd, which indicates that a phase difference is additionally generated between two receiving antennas on the same millimeter wave radar due to the installation interval distance. Assuming that the dynamic target reflected signals received by two receiving antennas on the same millimeter wave radar are parallel as shown in fig. 8, then since Δd=d 1 sin (θ), and therefore,the relative included angle between the target dynamic obstacle and the millimeter wave radar in a scanning frame interval period along the straight line of the head and the tail can be deduced.
S340, calculating coordinate values of the target dynamic barrier on a vehicle-mounted coordinate system according to the relative included angle, the relative distance and the installation position of the millimeter wave radar;
s350, generating a movement track of the target dynamic barrier according to the relative included angle and the coordinate value obtained in each scanning frame interval time period;
the vehicle-mounted coordinate system is established by taking the central point of the vehicle to be detected as an origin;
specifically, after preparing for the installation test of the vehicle-mounted millimeter wave radar according to the above procedure, the control device acquires millimeter wave radar data of at least two frames from the millimeter wave radar installed on the side of the vehicle to be tested, then calculates the relative included angle and the relative distance according to the millimeter wave radar data of at least two frames, and calculates the azimuth angle and the coordinate value of the target dynamic obstacle in the test area by referring to the calculation formula.
Since the installation position of the millimeter wave radar on the vehicle to be tested is fixed, after the control device calculates the relative included angle and the relative distance between the target dynamic obstacle and the millimeter wave radar in the interval time period of one scanning frame through the process, the relative included angle and the relative distance are substituted into a formula x=cos (theta) X s to calculate an X-axis coordinate value of the target dynamic obstacle on the vehicle-mounted coordinate system, and the relative included angle and the relative distance are substituted into the formula x=sin (theta) X s to calculate a Y-axis coordinate value of the target dynamic obstacle on the vehicle-mounted coordinate system. Finally, the control equipment generates a movement track of the target dynamic obstacle according to the azimuth angle and the coordinate values (including X-axis coordinate values and Y-axis coordinate values) of the target obstacle on the vehicle-mounted coordinate system relative to the vehicle to be detected, which are obtained in each scanning frame interval time period.
Preferably, because other barriers may appear in the test area at any time in the test process, a reflective coding strip (i.e. a strip-shaped sticker formed by the reflective material and the non-reflective material adjacently according to a preset arrangement and combination sequence) may be arranged on the target dynamic barrier, so that the control device can effectively distinguish identities of the barriers in the test area.
S410, if the target dynamic barrier is in the preset monitoring area in the test period according to the action track, and the action track is matched with the preset test track, outputting and displaying a first test result of correct installation of the millimeter wave radar;
s420, if it is determined that the target dynamic barrier is not in the preset monitoring area or the action track is not matched with the preset test track in any scanning frame interval time period according to the action track, outputting and displaying a second test result of incorrect installation of the millimeter wave radar.
Specifically, because the positions of the four test blocks of the test area are fixed, and the vehicle to be tested is in a parking state, the vehicle-mounted coordinate system is established by taking the center point of the vehicle to be tested as the origin, the center point of the vehicle to be tested and the four test blocks are relatively fixed, and further the control equipment can acquire the fixed azimuth angles and the fixed coordinate values of the four test blocks.
After the control equipment calculates the azimuth angle and the coordinate value of the target dynamic barrier in the test area through the flow, the azimuth angle and the coordinate value of the target dynamic barrier in the test area can be compared and matched with the fixed azimuth angle and the fixed coordinate value of the current test block, and if the matching result is overlapped or overlapped, the detection of the target dynamic barrier passing through the current test block is indicated. Because millimeter wave radar data is time-stamped, the control device can acquire the passing time of the target dynamic obstacle passing through the four test blocks respectively, and then control the display of the four test blocks to be switched to a combination of a second preset color (for example, green or black) or a second preset icon (for example, triangle or trapezoid) according to the passing time, so that a background tester can intuitively and simply know whether the target dynamic obstacle is detected in the test area.
Illustratively, the control device obtains millimeter wave radar data as shown in table 1.
| Angle of | Speed of speed | Distance of | |||
| mclt[16] | vmx[60.66 | 37.25] | 4.2m | ||
| e0 | a：-27.2398 | v：0.00 | r：3.00 | h：180.0 | m：52.7 |
| e1 | a：-33.5574 | v：0.00 | r：4.87 | h：180.0 | m：57.7 |
| e2 | a：1.3433 | v：0.00 | r：6.37 | h：-12.0 | m：88.8 |
| e3 | a：-16.8897 | v：0.00 | r：9.74 | h：180.0 | m：58.8 |
| e4 | a：-8.0778 | v：0.00 | r：10.90 | h：-63.0 | m：65.3 |
| e5 | a：-14.1111 | v：0.00 | r：11.24 | h：180.0 | m：56.9 |
| e6 | a：-12.5055 | v：0.00 | r：14.99 | h：180.0 | m：54.3 |
| e7 | a：-3.9185 | v：0.00 | r：16.11 | h：180.0 | m：54.4 |
| e8 | a：7.6387 | v：0.00 | r：16.86 | h：180.0 | m：51.3 |
| e9 | a：-29.8991 | v：0.00 | r：19.49 | h：180.0 | m：49.1 |
| e10 | a：-2.0144 | v：0.00 | r：20.24 | h：180.0 | m：52.0 |
| e11 | a：-4.2548 | v：0.00 | r：22.11 | h：180.0 | m：45.6 |
| e12 | a：-5.1522 | v：0.00 | r：23.23 | h：-49.0 | m：71.8 |
| e13 | a：-3.4702 | v：0.00 | r：24.36 | h：180.0 | m：59.5 |
| e14 | a：-5.0400 | v：0.00 | r：26.61 | h：180.0 | m：39.9 |
| e15 | a：-3.8064 | v：0.00 | r：29.98 | h：180.0 | m：35.2 |
Table 1, millimeter wave radar data
The control device may perform conversion calculation according to the millimeter wave radar data of table 1 according to the above embodiment to obtain azimuth angles and coordinate values of the target obstacle on the vehicle-mounted coordinate system at different times. If the control device can obtain the passing time of the target dynamic barrier passing through the four test blocks respectively, the display of the four test blocks is controlled to be switched to the second preset color according to the passing time. If the switching sequence of the four test blocks from the first preset color to the second preset color is 1- > 2- > 3- > 4, it is indicated that the target dynamic barrier is in the preset monitoring area and the action track matches the preset test track during the test period, so the control device will display the first test result of the millimeter wave radar with correct installation on the operation interface as shown in fig. 10 (i.e. pass as shown in fig. 10). Of course, if the switching sequence of the four test blocks from the first preset color to the second preset color is 4→3→2→1, then it is indicated that during the test period, the target dynamic obstacle is in the preset monitoring area, but the action track is not matched with the preset test track, so the control device may display the second test result (i.e. pass as shown in fig. 11) of incorrect installation of the millimeter wave radar on the operation interface as shown in fig. 11, and may also correspond to the reason of test failure, for example, the radar is set with an error, or the clearance area, i.e. the test area, has an obstacle when the calibration link is triggered, or the radar is installed upside down, or the radar installation position is incorrect, or the radar installation vertical, horizontal angle exceeds the error value, etc.
According to the invention, a specific test workshop is not required to be built, the site requirement is low, the installation position and the gesture of the millimeter wave radar can be tested automatically and independently through the millimeter wave radar and the target dynamic obstacle installed on the vehicle, the method is suitable for quick and simple test, and the test result is displayed, so that a background tester can intuitively and simply know the installation problem of the millimeter wave radar on the vehicle to be tested, and can contact a maintainer to check and change the installation position and the installation gesture of the millimeter wave radar as soon as possible, so that the subsequent vehicle to be tested can be used normally.
The invention also provides a system for mounting and testing the vehicle millimeter wave radar, which comprises:
the control module is used for controlling the millimeter wave radar multiframe installed on the side edge of the vehicle to be tested to scan the surrounding environment when triggering the starting calibration link; the vehicle to be tested keeps in a parking state;
the acquisition module is used for acquiring millimeter wave radar data obtained by multi-frame scanning feedback; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
the generation module is used for generating the action track of the target dynamic obstacle according to the millimeter wave radar data;
And the processing module is used for judging whether the installation of the millimeter wave radar is correct according to the action track, and generating and displaying a test result.
Specifically, the present embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described herein in detail.
Based on the foregoing embodiments, the millimeter wave radar includes at least one transmitting antenna and at least two receiving antennas; the generation module comprises:
the information extraction unit is used for obtaining an electromagnetic wave emission period, an electromagnetic wave receiving and transmitting frequency difference, a frequency modulation bandwidth and an emission electromagnetic wave wavelength from millimeter wave radar data obtained by scanning two adjacent frames;
the distance calculation unit is used for calculating and obtaining the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth;
the included angle calculation unit is used for calculating the relative included angle between the target dynamic obstacle and the millimeter wave radar on a straight line along the head and the tail according to the relative distance and the wavelength of the emitted electromagnetic wave;
the coordinate calculation unit is used for calculating coordinate values of the target dynamic obstacle on a vehicle-mounted coordinate system according to the relative included angle, the relative distance and the installation position of the millimeter wave radar;
The track generation unit is used for generating a movement track of the target dynamic obstacle according to the relative included angle and the coordinate value obtained in each scanning frame interval time period;
the vehicle-mounted coordinate system is established by taking the center point of the vehicle to be detected as an origin.
Specifically, the present embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described herein in detail.
Based on the foregoing embodiments, the distance calculation unit includes:
the time calculation subunit is used for substituting the following formulas into the following formulas to calculate the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar according to the electromagnetic wave transmitting period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth; the dynamic target reflected signal is reflected from the target dynamic obstacle;
a distance calculating subunit, configured to calculate a relative distance between the target dynamic obstacle and the nth antenna according to the following formula substituted by the relative time;
wherein Δt is the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar, T is the electromagnetic wave transmitting period, f' is the electromagnetic wave receiving and transmitting frequency difference, i.e. the frequency difference between the transmitted electromagnetic wave and the received electromagnetic wave, Δf is the frequency modulation bandwidth, d n And c is the light speed, which is the relative distance between the target dynamic obstacle and the nth antenna.
Specifically, the present embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described herein in detail.
Based on the foregoing embodiment, the included angle calculating unit includes:
a phase angle calculation subunit, configured to calculate a phase angle between the at least two receiving antennas according to the relative distance and the wavelength of the emitted electromagnetic wave by substituting the following formula;
Δd＝d n -d n-1
the included angle calculating subunit is used for substituting the following formula according to the phase angle to calculate and obtain the relative included angle in the interval time period of one scanning frame;
wherein Δd is the relative distance difference, d n D is the relative distance between the target dynamic barrier and the nth antenna n-1 And lambda is the wavelength of the emitted electromagnetic wave for the relative distance between the target dynamic barrier and the (n-1) th antenna.
Specifically, the present embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described herein in detail.
Based on the foregoing embodiment, the processing module includes:
the judging and outputting unit is used for outputting a first test result of correct installation of the millimeter wave radar if the target dynamic obstacle is in a preset monitoring area and the action track is matched with the preset test track in the test period according to the action track;
The judging and outputting unit is further configured to output a second test result of incorrect installation of the millimeter wave radar if it is determined that the target dynamic obstacle is not in the preset monitoring area or the action track is not matched with the preset test track in any scanning frame interval period according to the action track;
and the display unit is used for displaying the first test result or the second test result.
Specifically, the present embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described herein in detail.
It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
An embodiment of the invention, a terminal device, including a processor, a memory, wherein the memory is used for storing a computer program; and the processor is used for executing the computer program stored in the memory to realize the installation test method of the vehicle millimeter wave radar in the corresponding method embodiment.
The terminal equipment can be desktop computers, notebooks, palm computers, tablet computers, mobile phones, man-machine interaction screens and other equipment. The terminal device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the foregoing is merely an example of a terminal device and is not limiting of the terminal device and may include more or fewer components than shown, or may combine certain components, or different components, such as: the terminal device may also include input/output interfaces, display devices, network access devices, communication buses, communication interfaces, and the like. The communication interface and the communication bus may further comprise an input/output interface, wherein the processor, the memory, the input/output interface and the communication interface complete communication with each other through the communication bus. The memory stores a computer program, and the processor is configured to execute the computer program stored in the memory, so as to implement the method for testing the installation of the vehicle millimeter wave radar in the corresponding method embodiment.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the terminal device, for example: a hard disk or a memory of the terminal equipment. The memory may also be an external storage device of the terminal device, for example: a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) and the like, which are provided on the terminal device. Further, the memory may also include both an internal storage unit and an external storage device of the terminal device. The memory is used for storing the computer program and other programs and data required by the terminal device. The memory may also be used to temporarily store data that has been output or is to be output.
A communication bus is a circuit that connects the elements described and enables transmission between these elements. For example, the processor receives commands from other elements through the communication bus, decrypts the received commands, and performs calculations or data processing based on the decrypted commands. The memory may include program modules such as a kernel, middleware, application programming interfaces (Application Programming Interface, APIs), and applications. The program modules may be comprised of software, firmware, or hardware, or at least two of them. The input/output interface forwards commands or data entered by a user through the input/output interface (e.g., sensor, keyboard, touch screen). The communication interface connects the terminal device with other network devices, user devices, networks. For example, the communication interface may be connected to a network by wire or wirelessly to connect to external other network devices or user devices. The wireless communication may include at least one of: wireless fidelity (WiFi), bluetooth (BT), near field wireless communication technology (NFC), global Positioning System (GPS) and cellular communications, among others. The wired communication may include at least one of: universal Serial Bus (USB), high Definition Multimedia Interface (HDMI), asynchronous transfer standard interface (RS-232), and the like. The network may be a telecommunications network or a communication network. The communication network may be a computer network, the internet of things, a telephone network. The terminal device may be connected to the network through a communication interface, and protocols used by the terminal device to communicate with other network devices may be supported by at least one of an application, an Application Programming Interface (API), middleware, a kernel, and a communication interface.
In one embodiment of the present invention, a storage medium stores at least one instruction, where the instruction is loaded and executed by a processor to implement the operations performed by the corresponding embodiment of the method for testing the installation of a vehicle-mounted millimeter wave radar. For example, the storage medium may be read-only memory (ROM), random-access memory (RAM), compact disk read-only (CD-ROM), magnetic tape, floppy disk, optical data storage device, etc.
They may be implemented in program code that is executable by a computing device such that they may be stored in a memory device for execution by the computing device, or they may be separately fabricated into individual integrated circuit modules, or a plurality of modules or steps in them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units may be stored in a storage medium if implemented in the form of software functional units and sold or used as stand-alone products. Based on this understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by sending instructions to related hardware by a computer program, where the computer program may be stored in a storage medium, and the computer program may implement the steps of each method embodiment described above when executed by a processor. Wherein the computer program may be in source code form, object code form, executable file or some intermediate form, etc. The storage medium may include: any entity or device capable of carrying the computer program, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that, the content contained in the storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example: in some jurisdictions, computer-readable storage media do not include electrical carrier signals and telecommunication signals, in accordance with legislation and patent practice.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (8)
1. The method for testing the installation of the vehicle millimeter wave radar is characterized by comprising the following steps of:
when triggering a starting calibration link, controlling a millimeter wave radar multiframe installed on the side edge of a vehicle to be tested to scan the surrounding environment; the vehicle to be tested keeps in a parking state;
acquiring millimeter wave radar data obtained by multi-frame scanning feedback; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
the millimeter wave radar comprises at least one transmitting antenna and at least two receiving antennas, and the action track of the target dynamic obstacle is generated according to the millimeter wave radar data; the method comprises the following steps: acquiring an electromagnetic wave transmitting period, an electromagnetic wave receiving and transmitting frequency difference, a frequency modulation bandwidth and a transmitting electromagnetic wave wavelength from millimeter wave radar data acquired by scanning two adjacent frames; according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth, calculating and obtaining the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period; according to the relative distance and the wavelength of the emitted electromagnetic wave, calculating to obtain a relative included angle between the target dynamic obstacle and the millimeter wave radar along a straight line of the vehicle head and the vehicle tail; according to the relative included angle, the relative distance and the installation position of the millimeter wave radar, calculating to obtain the coordinate value of the target dynamic obstacle on a vehicle-mounted coordinate system; generating a movement track of the target dynamic barrier according to the relative included angle and the coordinate value obtained in each scanning frame interval time period; the vehicle-mounted coordinate system is established by taking the central point of the vehicle to be detected as an origin;
Judging whether the installation of the millimeter wave radar is correct or not according to the action track, and generating and displaying a test result.
2. The method for testing the installation of the vehicle-mounted millimeter wave radar according to claim 1, wherein the calculating the relative distance between the target dynamic obstacle and the nth antenna in a scanning frame interval period according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth includes the steps of:
substituting the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth into the following formula to calculate and obtain the relative time between the dynamic target reflected signal received by the nth antenna and the emission signal of the millimeter wave radar; the dynamic target reflected signal is reflected from the target dynamic obstacle;
substituting the relative time into the following formula to calculate and obtain the relative distance between the target dynamic barrier and the nth antenna;
wherein Δt is the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar, T is the electromagnetic wave transmitting period, f' is the electromagnetic wave receiving and transmitting frequency difference, i.e. the frequency difference between the transmitted electromagnetic wave and the received electromagnetic wave, Δf is the frequency modulation bandwidth, d n And c is the light speed, which is the relative distance between the target dynamic obstacle and the nth antenna.
3. The method for testing the installation of the vehicle-mounted millimeter wave radar according to claim 2, wherein the calculating the relative angle between the target dynamic obstacle and the millimeter wave radar along the straight line of the vehicle head and the vehicle tail according to the relative distance and the wavelength of the emitted electromagnetic wave comprises the steps of:
substituting the relative distance and the wavelength of the emitted electromagnetic wave into the following formula to calculate and obtain the phase angle between the at least two receiving antennas;
Δd＝d n -d n-1
substituting the phase angle into the following formula to calculate a relative included angle in a scanning frame interval time period;
wherein Δd is the relative distance difference, d n D is the relative distance between the target dynamic barrier and the nth antenna n-1 Between the target dynamic barrier and the (n-1) th antennaλ is the wavelength of the emitted electromagnetic wave.
4. The method for mounting and testing a vehicle-mounted millimeter wave radar according to any one of claims 1 to 3, wherein the determination as to whether the mounting of the millimeter wave radar is correct is made based on the trajectory of the action,
the step of generating and displaying the test result comprises the following steps:
If the target dynamic barrier is in the preset monitoring area in the test period according to the action track determination, determining that the action track is matched with the preset test track, and outputting and displaying a first test result of correct installation of the millimeter wave radar;
if the target dynamic obstacle is not in the preset monitoring area or the action track is not matched with the preset test track in any scanning frame interval time period according to the action track, outputting and displaying a second test result of incorrect installation of the millimeter wave radar.
5. An installation test system of a vehicle-mounted millimeter wave radar, comprising:
the control module is used for controlling the millimeter wave radar multiframe installed on the side edge of the vehicle to be tested to scan the surrounding environment when triggering the starting calibration link; the vehicle to be tested keeps in a parking state;
the acquisition module is used for acquiring millimeter wave radar data obtained by multi-frame scanning feedback; the millimeter wave radar data are obtained by acquiring information of a target dynamic obstacle according to the millimeter wave radar;
the generation module comprises at least one transmitting antenna and at least two receiving antennas, and the transmitting antennas and the receiving antennas are used for generating the action track of the target dynamic obstacle according to the millimeter wave radar data; the generation module comprises:
The information extraction unit is used for obtaining an electromagnetic wave emission period, an electromagnetic wave receiving and transmitting frequency difference, a frequency modulation bandwidth and an emission electromagnetic wave wavelength from millimeter wave radar data obtained by scanning two adjacent frames;
the distance calculation unit is used for calculating and obtaining the relative distance between the target dynamic barrier and the nth antenna in a scanning frame interval time period according to the electromagnetic wave emission period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth; the included angle calculation unit is used for calculating the relative included angle between the target dynamic obstacle and the millimeter wave radar on a straight line along the head and the tail according to the relative distance and the wavelength of the emitted electromagnetic wave; the coordinate calculation unit is used for calculating coordinate values of the target dynamic obstacle on a vehicle-mounted coordinate system according to the relative included angle, the relative distance and the installation position of the millimeter wave radar; the track generation unit is used for generating a movement track of the target dynamic obstacle according to the relative included angle and the coordinate value obtained in each scanning frame interval time period; the vehicle-mounted coordinate system is established by taking the central point of the vehicle to be detected as an origin;
And the processing module is used for judging whether the installation of the millimeter wave radar is correct according to the action track, and generating and displaying a test result.
6. The installation test system of the vehicle-mounted millimeter wave radar according to claim 5, wherein,
the distance calculation unit includes:
the time calculation subunit is used for substituting the following formulas into the following formulas to calculate the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar according to the electromagnetic wave transmitting period, the electromagnetic wave receiving and transmitting frequency difference and the frequency modulation bandwidth; the dynamic target reflected signal is reflected from the target dynamic obstacle;
a distance calculating subunit, configured to calculate a relative distance between the target dynamic obstacle and the nth antenna according to the following formula substituted by the relative time;
wherein Δt is the relative time between the dynamic target reflected signal received by the nth antenna and the transmitting signal of the millimeter wave radar, T is the electromagnetic wave transmitting period, f' is the electromagnetic wave receiving and transmitting frequency difference, i.e. the frequency difference between the transmitted electromagnetic wave and the received electromagnetic wave, Δf is the frequency modulation bandwidth, d n And c is the light speed, which is the relative distance between the target dynamic obstacle and the nth antenna.
7. The installation test system of the vehicle-mounted millimeter wave radar according to claim 6, wherein,
the included angle calculation unit includes:
a phase angle calculation subunit, configured to calculate a phase angle between the at least two receiving antennas according to the relative distance and the wavelength of the emitted electromagnetic wave by substituting the following formula;
Δd＝d n -d n-1
the included angle calculating subunit is used for substituting the following formula according to the phase angle to calculate and obtain the relative included angle in the interval time period of one scanning frame;
wherein Δd is the relative distance difference, d n D is the relative distance between the target dynamic barrier and the nth antenna n-1 And lambda is the wavelength of the emitted electromagnetic wave for the relative distance between the target dynamic barrier and the (n-1) th antenna.
8. The installation test system of the vehicle-mounted millimeter wave radar according to any one of claims 5 to 7, wherein the processing module includes:
the judging and outputting unit is used for outputting a first test result of correct installation of the millimeter wave radar if the target dynamic obstacle is in a preset monitoring area and the action track is matched with the preset test track in the test period according to the action track;
The judging and outputting unit is further configured to output a second test result of incorrect installation of the millimeter wave radar if it is determined that the target dynamic obstacle is not in the preset monitoring area or the action track is not matched with the preset test track in any scanning frame interval period according to the action track;
and the display unit is used for displaying the first test result or the second test result.
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| CN115616510B (en) * | 2022-12-05 | 2023-03-31 | 广州市德赛西威智慧交通技术有限公司 | Traffic millimeter wave radar calibration method and system |
| CN116047472B (en) * | 2023-01-10 | 2023-12-08 | 信扬科技(佛山)有限公司 | Automatic zoom control method and device, electronic equipment and readable storage medium |
| CN116304260A (en) * | 2023-03-20 | 2023-06-23 | 深圳绿米联创科技有限公司 | Method, device, equipment and storage medium for generating and displaying environment model |
| CN117930160B (en) * | 2024-03-21 | 2024-06-18 | 福思(杭州)智能科技有限公司 | Angle compensation method and device for millimeter wave radar, storage medium and electronic equipment |
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