CN114690134A - Fidelity testing method for millimeter wave radar model and readable storage medium - Google Patents
Fidelity testing method for millimeter wave radar model and readable storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of millimeter wave radar simulation test, in particular to a fidelity test method and a readable storage medium for a millimeter wave radar model. The method comprises the following steps: building a test scene for testing the millimeter wave radar model, and defining corresponding target preset information; integrating a millimeter wave radar model in a test scene, and acquiring perception scene information through the millimeter wave radar model; calculating corresponding perception target information based on perception scene information acquired by the millimeter wave radar model; comparing and calculating the perception target information of the millimeter wave radar model with the preset target information; and analyzing the fidelity of the millimeter wave radar model based on the comparison calculation result of the perception target information and the target preset information. The invention also discloses a readable storage medium. The fidelity testing method can quickly and accurately test the fidelity of the millimeter wave radar, thereby ensuring the effectiveness of the millimeter wave radar model in the simulation test.
Description
Technical Field
The invention relates to the technical field of millimeter wave radar simulation test, in particular to a fidelity test method and a readable storage medium for a millimeter wave radar model.
Background
Sensor models play an indispensable role in developing and testing intelligent driving systems in virtual vehicle environments. Under a complex traffic scene, the environment perception sensor is used for simulation and modeling test, so that the reproduction test of different road conditions and the test of dangerous driving conditions can be realized in a short time, the time limit can be broken through and the test can be continuously carried out, and the test period of the intelligent driving system is greatly shortened. The millimeter wave radar is important sensor equipment for realizing an intelligent driving function, and plays an important role in Advanced Driving Assistance Systems (ADAS) such as front collision avoidance warning (FCW), Adaptive Cruise Control (ACC), Blind Spot Detection (BSD), lane change assistance, parking assistance and the like.
Aiming at the modeling of the millimeter wave radar, Chinese patent with publication number CN106970364A discloses a vehicle-mounted radar in-loop real-time simulation test system and a method thereof, and the system comprises: a driving operation unit including a driving operation mechanism and a driving operation signal sensor; the host computer includes: a virtual test field and a target test analysis unit; the virtual test field comprises a driving vehicle model and a target vehicle model; driving the vehicle model to virtually load the radar to be tested; the real-time controller comprises a frequency spectrum measuring unit, a target simulation unit, a motion controller and a data acquisition card; the frequency spectrum measuring unit comprises a millimeter wave signal transceiver, a millimeter wave frequency demultiplier, a millimeter wave signal analyzer, a time delay controller, a millimeter wave signal generator and a millimeter wave frequency booster.
The real-time simulation test system in the existing scheme can realize modeling of the millimeter wave radar, and further generate a corresponding millimeter wave radar model. The applicant finds that in order to provide the electronic control unit software of an intelligent driving vehicle with signals identical to actual millimeter wave radar output in simulation and ensure virtual development and test feasibility and effectiveness, the fidelity of a millimeter wave radar model must be verified. That is to say, modeling the characteristics of the millimeter wave radar sensor in a virtual environment, and testing the fidelity of the millimeter wave radar model is an essential link in simulation test work. However, because the millimeter wave radar model is not widely used, there is no mature solution for testing the millimeter wave radar model and the fidelity thereof. Therefore, how to design a method capable of effectively testing the fidelity of the millimeter wave radar is a technical problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a fidelity test method for a millimeter wave radar model to test the fidelity of the millimeter wave radar quickly and accurately, so that the validity of the millimeter wave radar model in a simulation test can be ensured.
In order to solve the technical problems, the invention adopts the following technical scheme:
the fidelity testing method for the millimeter wave radar model comprises the following steps of:
s1: building a test scene for testing the millimeter wave radar model, and defining corresponding target preset information;
s2: integrating a millimeter wave radar model in a test scene, and acquiring perception scene information through the millimeter wave radar model;
s3: calculating corresponding perception target information based on perception scene information acquired by the millimeter wave radar model;
s4: comparing and calculating the perception target information of the millimeter wave radar model with the preset target information;
s5: and analyzing the fidelity of the millimeter wave radar model based on the comparison calculation result of the perception target information and the target preset information.
Preferably, in step S1, the test scenario includes, but is not limited to, a specific scenario in which the detection target object moves and the detection target object is stationary.
Preferably, in step S2, the perception scene information includes the relative position and relative speed of the target object and the millimeter wave radar model coordinate system, and the radar scattering cross-sectional area of the target object in the test scene.
Preferably, in step S3, the calculated sensing target information includes sensing target position, sensing target velocity and sensing target echo intensity.
Preferably, in step S3, the target preset information includes a preset target position, a preset target speed and a preset target echo intensity.
Preferably, in step S3, calculating a corresponding perceived target position and perceived target velocity according to the relative position and relative velocity of the target object and the millimeter wave radar model coordinate system in combination with the doppler effect and the continuous frequency modulation mode; calculating the corresponding perception target echo intensity by combining the radar scattering cross section of the target object under the test scene with the following formula:
in the formula: sigmaisRepresenting perceived target echo intensity; eiRepresenting the vector electric field intensity of the incident electromagnetic wave at the target object; hiRepresenting the vector magnetic field intensity of the incident electromagnetic wave at the target object; esRepresenting the vector electric field intensity of the target scattered wave at the observation point; hsRepresenting the vector magnetic field intensity of the target scattered wave at the observation point; r represents the distance of the target object to the observation point.
Preferably, in step S4, the sensing target position, the sensing target speed, and the sensing target echo intensity are respectively compared with the preset target position, the preset target speed, and the preset target echo intensity by the following formulas to obtain corresponding position correlation, speed correlation, and echo intensity correlation;
in the formula: r isx,yRepresenting the calculated correlation; xi、YiRespectively representing each frame of real-time data of corresponding target preset information and perception target information in a test scene;
and respectively representing the average value of each frame of real-time data of the corresponding target preset information and the corresponding perception target information in the simulation time period.
Preferably, in step S5, the fidelity of the millimeter wave radar model is obtained by performing weighted calculation on the position correlation, the velocity correlation, and the echo intensity correlation.
Preferably, the step S5 specifically includes the following steps:
s501: establishing a corresponding hierarchical structure model based on three dimensions of position, speed and echo intensity;
s502: constructing a corresponding judgment matrix based on the hierarchical structure model;
s503: performing hierarchical single sequencing and consistency inspection based on the judgment matrix;
s504: and performing hierarchical total sorting and consistency check based on the judgment matrix and the results of the hierarchical single sorting and the consistency check to generate a corresponding hierarchical total sorting weight so as to obtain weights of three dimensions of position, speed and echo intensity.
S505: and performing weighting calculation based on the weight values of the three dimensions of the position, the speed and the echo intensity in combination with the corresponding position correlation, speed correlation and echo intensity correlation, and taking the result of the weighting calculation as the fidelity of the millimeter wave radar model.
The invention also discloses a readable storage medium on which a computer management program is stored, wherein the computer management program realizes the steps of the fidelity test method for the millimeter wave radar model when being executed by the processor.
Compared with the prior art, the fidelity test method for the millimeter wave radar model has the following beneficial effects:
according to the method and the device, the test scene is set up, the corresponding target preset information is defined, the millimeter wave radar model is integrated in the test scene, and the sensing scene information is obtained through the millimeter wave radar model, so that the millimeter wave radar model can effectively realize simulation test based on the test scene, and the effectiveness of the millimeter wave radar model in simulation environment closed loop can be guaranteed.
According to the method, the position correlation, the speed correlation and the echo intensity correlation are calculated through the Pearson product moment correlation coefficient commonly used in a correlation coefficient analysis method, the comparison calculation of the perception target information and the target preset information can be realized, then the fidelity of the millimeter wave radar model is analyzed through an analytic hierarchy process, the weighting calculation of the perception target information and the target preset information can be realized, the fidelity can be obtained through systematic calculation through a multi-dimensional evaluation method, namely the fidelity of the millimeter wave radar can be tested quickly and accurately, and the effectiveness of the millimeter wave radar model in a simulation test can be further improved.
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For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a logic block diagram of a fidelity test method for a millimeter wave radar model;
FIG. 2 is a flow chart of a fidelity test method for a millimeter wave radar model.
Detailed Description
The following is further detailed by the specific embodiments:
the first embodiment is as follows:
the embodiment of the invention discloses a fidelity testing method for a millimeter wave radar model.
As shown in fig. 1 and 2, the method for testing the fidelity of the millimeter wave radar model includes the following steps:
s1: building a test scene for testing the millimeter wave radar model, and defining corresponding target preset information;
s2: integrating a millimeter wave radar model in a test scene, and acquiring perception scene information through the millimeter wave radar model;
s3: calculating corresponding perception target information based on perception scene information acquired by the millimeter wave radar model;
s4: comparing and calculating the perception target information of the millimeter wave radar model with the preset target information;
s5: and analyzing the fidelity of the millimeter wave radar model based on the comparison calculation result of the perception target information and the target preset information.
It should be noted that, the fidelity test method for the millimeter wave radar model in the present invention may generate corresponding software code or software service in a program programming manner, and further may be run and implemented on a server and a computer.
According to the method and the device, the test scene is set up, the corresponding target preset information is defined, the millimeter wave radar model is integrated in the test scene, and the sensing scene information is obtained through the millimeter wave radar model, so that the millimeter wave radar model can effectively realize simulation test based on the test scene, and the effectiveness of the millimeter wave radar model in simulation environment closed loop can be guaranteed. Secondly, the sensing target information is calculated through the sensing scene information, and the fidelity of the millimeter wave radar model is obtained through comparison calculation and analysis of the sensing target information and the target preset information, so that the fidelity can be obtained through systematic calculation of a multi-dimension evaluation method, namely the fidelity of the millimeter wave radar can be tested quickly and accurately, and the effectiveness of the millimeter wave radar model in a simulation test can be further improved.
In the specific implementation process, the Test scene is generated by simulation software, including but not limited to simulation software such as VIRES Virtual Test Drive, IPG automatic card maker, TASS International Prescan, and the like. The test scene is a specific scene which is established through simulation software, accords with PEGASUS six-layer model definition, and is suitable for testing the fidelity of the millimeter wave radar, and includes but is not limited to specific scenes such as straight-road car following, parking and warehousing and the like for detecting the motion of a target object and detecting the static of the target object.
The target preset information comprises a preset target position, a preset target speed and a preset target echo intensity.
In this embodiment, the Test scene is a straight-road following scene built based on the VIRES Virtual Test Drive, and the millimeter wave radar model is arranged on the vehicle (observation point) and used for acquiring the relevant information of the target object.
The definition of the target preset information is: the test road is a one-way single-lane straight road 10km, a Target car BMW7_09, namely a Target Vehicle (TV), is arranged at a position 50m away from the Vehicle (Ego Vehicle, EV) s at the beginning of simulation, and the Target Vehicle has an initial speed vTV0Acceleration a of 30km/hTV＝0.1m/s2The vehicle moves forwards along a uniform acceleration straight line of a road, and the vehicle follows a target vehicle at a speed vEVThe echo intensity (RCS) of the target vehicle is set as sigmaset＝100m2。
In this embodiment, the frequency f of the millimeter wave radar model is 77GHz, and the millimeter wave radar model is integrated into a test scene of VTD simulation in a plug-in manner. When the simulation is started, scene information is obtained through the millimeter wave radar model to verify whether the function of the millimeter wave radar model works normally or not. The verification work is completed through an 'ImageGenerator, IG' module 'IgRadarView' in the VTD, and whether the sensing function of the millimeter wave radar model is normal or not and whether data are output or not can be observed in real time.
In a specific implementation process, the perception scene information includes the relative position and the relative speed of the target object and the millimeter wave Radar model coordinate system, and the Radar scattering Cross Section (RCS) of the target object in a test scene. In this embodiment, the perceptual scene information is acquired by a "Runtime Data Bus, RDB" module in the VTD. Specifically, the target position and the target speed are calculated based on the relative position and the relative speed of the target object and the millimeter wave radar model coordinate system; the target echo intensity is calculated based on the radar scattering cross section.
In a specific implementation process, the calculated perception target information includes target state information: the perception target position and perception target speed, and the target object information: and sensing the target echo intensity. In this embodiment, the corresponding perceived target position and perceived target velocity are calculated by the relative position and relative velocity of the target object and the millimeter wave radar model coordinate system in combination with the doppler effect and the continuous Frequency Modulation (FMCW) mode.
The principle of the doppler effect is: the wavelength of the object radiation varies due to the relative motion of the source and the observer. In front of the moving wave source, the wave is compressed, the wavelength becomes shorter, and the frequency becomes higher (blue shift); the opposite effect occurs when the moving wave source is behind. The wavelength becomes longer and the frequency becomes lower (red shift); the higher the velocity of the wave source, the greater the effect produced. From the degree of red (or blue) shift of the wave, the velocity of the wave source moving along the observation direction can be calculated. Therefore, calculating velocity by the doppler effect is an existing means and is not described in detail here.
Continuous Frequency Modulation (FMCW) mode refers to: FMCW is based on the time-of-flight (TOF) principle, and acquires distance by measuring the time of the laser between the receiver and the target object. The laser signal carrier is typically modulated with an RF modulated subcarrier signal. Therefore, calculating the position (distance) by the continuous frequency modulation mode is an existing means and will not be described herein.
Specifically, the corresponding perceived target echo intensity is calculated by combining the radar scattering cross section of the target object under the test scene with the following formula:
in the formula: sigmaisRepresenting perceived target echo intensity; eiRepresenting the vector electric field intensity of the incident electromagnetic wave at the target object; hiRepresenting the vector magnetic field intensity of the incident electromagnetic wave at the target object; esRepresenting the vector electric field intensity of the target scattered wave at the observation point; hsRepresenting the vector magnetic field intensity of the target scattered wave at the observation point; r represents the distance from the target object to the observation point.
In the specific implementation process, the perception target position, the perception target speed and the perception target echo intensity are respectively compared with the preset target position, the preset target speed and the preset target echo intensity, so that corresponding position correlation, speed correlation and echo intensity correlation are obtained;
the correlation is calculated through the Pearson product moment correlation coefficient commonly used in the correlation coefficient analysis method, and the formula is as follows:
in the formula: r isx,yRepresenting the calculated correlation; xi、YiRespectively representing each frame of real-time data of corresponding target preset information (X) and perception target information (Y) in a test scene;
respectively representing the average value of each frame of real-time data of the corresponding target preset information (X) and the perception target information (Y) in the simulation time period.
If rx,yIs [ -1.0, -0.5 [ -1.0 [ -0.5 ]]Or [0.5,1.0 ]]And then, the sensing information accuracy of the millimeter wave radar model is higher.
In other preferred embodiments, the comparison between the perception target information and the target preset information can be realized by the existing methods such as nonlinear regression analysis and grid-based cluster analysis, which are not described herein again.
In the specific implementation process, the position correlation, the speed correlation and the echo intensity correlation are weighted and calculated through an analytic hierarchy process, and the fidelity of the millimeter wave radar model is obtained.
Analytic hierarchy process, AHP for short, refers to: the decision-making method is used for decomposing elements always related to decision-making into levels of targets, criteria, schemes and the like, and performing qualitative and quantitative analysis on the basis of the levels. The method specifically comprises the following steps:
s501: establishing a corresponding hierarchical structure model based on three dimensions of position, speed and echo intensity; in this embodiment, the hierarchical model includes a target layer, a criteria layer, and a schema layer.
S502: constructing a corresponding judgment matrix based on the hierarchical structure model; in this embodiment, pairwise comparison of the factors is performed to establish a pairwise comparison matrix.
S503: performing hierarchical list sorting and consistency check based on the judgment matrix; in this embodiment, the method includes calculating a consistency index, searching for a corresponding average random consistency index, and calculating a consistency ratio.
S504: and performing hierarchical total sorting and consistency check based on the judgment matrix and the results of the hierarchical single sorting and the consistency check to generate a corresponding hierarchical total sorting weight so as to obtain weights of three dimensions of position, speed and echo intensity.
S505: and performing weighting calculation based on the weight values of the three dimensions of the position, the speed and the echo intensity in combination with the corresponding position correlation, speed correlation and echo intensity correlation, and taking the result of the weighting calculation as the fidelity of the millimeter wave radar model.
In other preferred embodiments, the position correlation, the velocity correlation, and the echo intensity correlation may also be weighted by using the existing expert experience method, the random weighting method, the entropy weight method, and the like, which is not described herein again.
According to the method, the position correlation, the speed correlation and the echo intensity correlation are calculated through the Pearson product moment correlation coefficient commonly used in a correlation coefficient analysis method, the comparison calculation of the perception target information and the target preset information can be realized, then the fidelity of the millimeter wave radar model is analyzed through an analytic hierarchy process, the weighting calculation of the perception target information and the target preset information can be realized, the fidelity can be obtained through systematic calculation through a multi-dimensional evaluation method, namely the fidelity of the millimeter wave radar can be tested quickly and accurately, and the effectiveness of the millimeter wave radar model in a simulation test can be further improved.
Example two:
disclosed in the present embodiment is a readable storage medium.
A readable storage medium having stored thereon a computer management-like program which, when executed by a processor, implements the steps of the inventive fidelity testing method for millimeter-wave radar models. The readable storage medium can be a device with readable storage function such as a U disk or a computer.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (10)
1. The fidelity testing method for the millimeter wave radar model is characterized by comprising the following steps of:
s1: building a test scene for testing the millimeter wave radar model, and defining corresponding target preset information;
s2: integrating a millimeter wave radar model in a test scene, and acquiring perception scene information through the millimeter wave radar model;
s3: calculating corresponding perception target information based on perception scene information acquired by the millimeter wave radar model;
s4: comparing and calculating the perception target information of the millimeter wave radar model with the preset target information;
s5: and analyzing the fidelity of the millimeter wave radar model based on the comparison calculation result of the perception target information and the target preset information.
2. The fidelity test method for millimeter wave radar models according to claim 1, wherein: in step S1, the test scenario includes, but is not limited to, a specific scenario in which the detection target object moves and the detection target object is stationary.
3. The fidelity test method for millimeter wave radar models according to claim 1, characterized in that: in step S2, the perception scene information includes the relative position and the relative speed of the target object and the millimeter wave radar model coordinate system, and the radar scattering cross-sectional area of the target object in the test scene.
4. The fidelity test method for millimeter wave radar models according to claim 3, wherein: in step S3, the calculated perceptual target information includes a perceptual target location, a perceptual target velocity, and a perceptual target echo intensity.
5. The fidelity test method for millimeter wave radar models according to claim 4, wherein: in step S3, the target preset information includes a preset target position, a preset target speed, and a preset target echo intensity.
6. The fidelity test method for millimeter wave radar models according to claim 4, wherein: in the step S3, calculating the corresponding perception target position and perception target speed according to the relative position and relative speed of the target object and the millimeter wave radar model coordinate system in combination with the Doppler effect and the continuous frequency modulation mode; calculating the corresponding perception target echo intensity by combining the radar scattering cross section of the target object under the test scene with the following formula:
in the formula: sigmaisRepresenting perceived target echo intensity; eiRepresenting the vector electric field intensity of the incident electromagnetic wave at the target object; hiRepresenting the vector magnetic field intensity of the incident electromagnetic wave at the target object; esRepresenting the vector electric field intensity of the target scattered wave at the observation point; hsRepresenting the vector magnetic field intensity of the target scattered wave at the observation point; r represents the distance of the target object to the observation point.
7. The fidelity test method for millimeter wave radar models according to claim 5, wherein: in step S4, the sensing target position, the sensing target speed, and the sensing target echo intensity are respectively compared with the preset target position, the preset target speed, and the preset target echo intensity by the following formulas to obtain corresponding position correlation, speed correlation, and echo intensity correlation;
in the formula: r isx,yRepresenting the calculated correlation; xi、YiRespectively representing each frame of real-time data of corresponding target preset information and perception target information in a test scene;
and respectively representing the average value of each frame of real-time data of the corresponding target preset information and the corresponding perception target information in the simulation time period.
8. The fidelity test method for millimeter wave radar models according to claim 7, wherein: in step S5, the fidelity of the millimeter wave radar model is obtained by performing weighted calculation on the position correlation, the velocity correlation, and the echo intensity correlation.
9. The fidelity test method for a millimeter wave radar model according to claim 8, wherein: in step S5, the method specifically includes the following steps:
s501: establishing a corresponding hierarchical structure model based on three dimensions of position, speed and echo intensity;
s502: constructing a corresponding judgment matrix based on the hierarchical structure model;
s503: performing hierarchical single sequencing and consistency inspection based on the judgment matrix;
s504: and performing hierarchical total sorting and consistency check based on the judgment matrix and the results of the hierarchical single sorting and the consistency check to generate a corresponding hierarchical total sorting weight so as to obtain weights of three dimensions of position, speed and echo intensity.
S505: and performing weighting calculation based on the weight values of the three dimensions of the position, the speed and the echo intensity in combination with the corresponding position correlation, speed correlation and echo intensity correlation, and taking the result of the weighting calculation as the fidelity of the millimeter wave radar model.
10. A readable storage medium, having stored thereon a computer management class program which, when executed by a processor, carries out the steps of the method for testing the fidelity of a millimeter wave radar model according to any of claims 1 to 9.
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