Uncertainty Evaluation Comparison of Speed Measurements Between 24 GHz and 77 GHz Millimeter-Wave Radar Sensors
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摘要: 环境感知雷达对目标运动学参数的准确测量是实现智能网联汽车安全、高效驾驶的基本保障。现有主流的商用车载雷达传感器中,24 GHz和77 GHz毫米波雷达因工作频段和工作带宽的不同,在速度、距离、角度测量性能方面存在一定差异。为了评价24 GHz和77 GHz毫米波雷达传感器的速度测量性能,研制并搭建了一套基于虚拟仪器技术的毫米波雷达目标运动参数模拟校准装置,通过24 GHz和77 GHz两款毫米波雷达样品的速度模拟校准结果验证了模拟校准装置速度模拟的可行性和准确性。对两款毫米波雷达的速度模拟校准结果进行了不确定度评估和比较,模拟校准结果和速度测量不确定度评估结果表明:该款77 GHz毫米波雷达样品的速度测量重复性和准确性均优于该款24 GHz毫米波雷达样品。
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关键词:
- 模拟校准装置 /
- 24 GHz毫米波雷达 /
- 77 GHz毫米波雷达 /
- 运动学参数 /
- 不确定度 /
- 速度模拟
Abstract: Accurate measurement of kinematic parameters of targets by environment-sensing sensors is the basic requirement for safe and efficient driving of intelligent connected vehicles. Among existing mainstream commercial vehicle-borne radar sensors, 24 GHz and 77 GHz millimetre-wave radars are different in speed, distance, and angle measurement performance because of their different working frequency bands and bandwidths. In order to evaluate the speed measurement performance of 24 GHz and 77 GHz millimetre-wave radars, we developed a simulated calibration facility for kinematic parameters of millimetre-wave radar targets based on the virtual instrument technique, and verifies The feasibility and the speed simulation accuracy of the simulated calibration facility were verified using simulated speed calibration results of 24 GHz and 77 GHz millimetre-wave radar samples. The results of the simulated calibrations and comparison of the uncertainty evaluations showed that the speed measurement repeatability and accuracy of the 77 GHz millimetre-wave radar sample are superior to that of the 24 GHz millimetre-wave radar sample. -
表 1 模拟校准装置的主要技术参数
Table 1. Main specifications of the simulated calibration facility
参数名称 参数值 目标模拟数量 2 距离模拟范围 5~300 m 距离模拟最大允许误差 ±0.1 m 速度模拟范围 −500~500 km/h 速度模拟最大允许误差 ±0.1 km/h 角度模拟范围 −180°~180° 角度模拟最大允许误差 ±0.3° 表 2 77 GHz毫米波雷达速度模拟校准结果
Table 2. Speed simulated calibration results of the 77 GHz MMW sample
m/s 参考值${v_0}$ 测量值$v$ 平均值${\bar v_1}$ 1.00 0.99 0.99 0.99 0.99 0.99 0.990 0.99 0.99 0.99 0.99 0.99 5.00 4.99 4.99 4.99 4.99 4.99 4.990 4.99 4.99 4.99 4.99 4.99 50.00 49.98 49.99 49.98 49.99 49.98 49.985 49.99 49.98 49.99 49.98 49.99 100.00 99.99 100.00 99.98 99.98 99.98 99.988 99.99 100.00 99.99 99.98 99.99 120.00 119.98 119.97 119.98 119.97 119.97 119.973 119.98 119.97 119.97 119.97 119.97 表 3 24 GHz毫米波雷达速度模拟校准结果
Table 3. Simulated speed calibration results of the 24 GHz MMW sample
km/h 参考值${v_0}$ 测量值$v$ 平均值${\bar v_2}$ 20.0 19.2 19.2 19.2 19.2 19.1 19.19 19.1 19.1 19.1 19.3 19.4 80.0 80.5 80.5 80.5 80.4 80.4 80.35 80.4 80.4 80.2 80.1 80.1 100.0 99.7 100.4 99.7 100.3 99.7 100.00 100.2 99.7 100.1 99.6 100.6 180.0 180.1 180.2 180.1 180.1 179.9 180.08 179.7 179.9 180.1 180.3 180.4 200.0 200.1 200.1 200.1 200.1 199.8 199.92 199.8 199.8 199.8 199.8 199.8 -
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