Computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor

Abstract

The invention relates to a computer-implemented method and test system (12) for synchronizing a system clock (18) of a LiDAR sensor (10) and a system clock (20) of a test system (12) for the LiDAR sensor (10), comprising generating a trigger signal (TS) by the LiDAR sensor (10), measuring the trigger signal (TS) and determining a base frequency (F) of the trigger signal (TS) by statistical analysis of the trigger signal (TS), controlling the system clock (20) of the test system (12) based on a control deviation of the base frequency (F) of the trigger signal (TS), and generating a system clock (20) of the test system (12) synchronized to the trigger signal (TS) of the LiDAR sensor (10) if the control deviation of the base frequency (F) of the trigger signal (TS) satisfies a predetermined condition.The invention further relates to a test system (12) for synchronizing a system clock (18) of a LiDAR sensor (10) and a system clock (20) of a test system (12) for the LiDAR sensor (10).

Description

[0001] The present invention relates to a computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0002] The present invention further relates to an alternative computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0003] Furthermore, the present invention relates to a test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0004] The present invention further relates to an alternative test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor. State of the art

[0005] Many emerging technologies, such as autonomous navigation, can involve the detection and measurement of distances to objects in 3D space. For example, autonomous vehicles may require 3D sensing and recognition for basic operation as well as to meet safety requirements.

[0006] 3D scanning and recognition may also be necessary for indoor navigation, e.g., for industrial or household robots.

[0007] Light-based 3D measurements can be superior to radar or ultrasound in some cases. For example, a light-based 3D sensor system might include a detector and a light-emitting device or a laser diode as a light source, typically emitting light outside the visible wavelength range.

[0008] A LiDAR system can determine a collection of points based on the time of flight of the reflected light.

[0009] The LiDAR system under test, or the LiDAR sensor itself, can be tested using a LiDAR target simulator. The LiDAR target simulator uses measurements or theoretically defined scenarios and projects the data onto the LiDAR sensor using light signals.

[0010] This test procedure is therefore also known as over-the-air simulation. In this way, the receiver module of the LiDAR system, the underlying algorithms, and their interaction are validated. Comparing the sensor's measurement data with the original data confirms the sensor's functionality.

[0011] To detect the laser pulses of the LiDAR sensor, a test system or the LiDAR target simulator measures changes in the state of input signals by sampling.

[0012] [DE 10 2021 203 365 A1] describes a method in which the measurement pulse emitted by the LiDAR sensor is detected by a test system which generates an output pulse and transmits it to the LiDAR sensor, wherein the output pulse is emitted with a delay time relative to the measurement pulse, which is composed of a multiple of the system clock of the test system plus a simulation delay which correlates to a simulated, predetermined transit time of the measurement pulse.

[0013] For this purpose, the state of the input signal is evaluated depending on the edge of a system clock. The evaluation time is short relative to the period of the system clock.

[0014] Consequently, there is a great deal of uncertainty in precisely determining the point in time when an input signal, independent of the measurement system, changes in state.

[0015] The LiDAR target simulator and LiDAR sensor are independent of each other, and a measurement signal must be output by the simulator at the moment the sensor trigger signal changes. The more accurately the trigger time can be evaluated by the simulator, the higher the repeatability of the LiDAR target simulator.

[0016] The repeatability is conventionally directly dependent on the sampling frequency of the input signal. Higher accuracy requires a correspondingly higher sampling frequency.

[0017] With regard to the LiDAR target simulator, repeatability of LiDAR distance measurements is generally achievable in the range of 6 cm.

[0018] Therefore, there is a need to optimize existing methods for sampling the LiDAR trigger signal in such a way that improved repeatability of LiDAR distance measurements can be enabled.

[0019] It is therefore an object of the invention to provide an improved method for scanning LiDAR trigger signals, which enables a higher repeatability of LiDAR distance measurements. Disclosure of the invention

[0020] The problem is solved according to the invention by a computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0021] The procedure includes generating a trigger signal using the LiDAR sensor, measuring the trigger signal, and determining a base frequency of the trigger signal through statistical analysis of the trigger signal.

[0022] Furthermore, the procedure includes regulating the system clock of the test system based on a control deviation of the basic frequency of the trigger signal and generating a system clock of the test system synchronized to the trigger signal of the LiDAR sensor if the control deviation of the basic frequency of the trigger signal meets a predefined condition.

[0023] The problem is further solved according to the invention by an alternative computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0024] The procedure includes generating a trigger signal through the LiDAR sensor and generating a system clock from a clock generator of the test system.

[0025] Furthermore, the method includes sending the trigger signal and the system clock of the test system's clock generator, reduced in particular by a frequency divider, to an evaluation unit and calculating a base frequency of the trigger signal by the evaluation unit using the trigger signal and the system clock of the test system's clock generator, reduced in particular by the frequency divider.

[0026] Furthermore, the method includes storing, starting with each trigger signal having the base frequency, a number of system clocks of the clock generator of the test system, determining a, in particular adapted, base frequency of the trigger signal using the stored number of system clocks of the clock generator of each trigger signal, and generating a system clock of the test system synchronized to the trigger signal of the LiDAR sensor using the determined base frequency of the trigger signal.

[0027] The problem is further solved according to the invention by a test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0028] The test system includes a LiDAR sensor configured to generate a trigger signal, means for measuring the trigger signal, and means for determining a base frequency of the trigger signal by statistical analysis of the trigger signal.

[0029] Furthermore, the test system includes means for controlling the system clock of the test system based on a control deviation of the basic frequency of the trigger signal, and means for generating a system clock of the test system synchronized to the trigger signal of the LiDAR sensor if the control deviation of the basic frequency of the trigger signal meets a predefined condition.

[0030] The problem is furthermore solved according to the invention by an alternative test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor.

[0031] The test system includes a LiDAR sensor configured to generate a trigger signal and a clock generator of the test system configured to generate a system clock.

[0032] Furthermore, the test system includes means for sending the trigger signal and the system clock of the test system's clock generator, reduced in particular by a frequency divider, to an evaluation unit, as well as means for storing, starting with each trigger signal having the base frequency, a number of system clocks of the test system's clock generator.

[0033] The test system further includes means for determining a, in particular adapted, base frequency of the trigger signal using the stored number of system clocks of the clock generator of each trigger signal, and means for generating a system clock of the test system synchronized to the trigger signal of the LiDAR sensor using the determined base frequency of the trigger signal.

[0034] The invention further relates to a computer program with program code for carrying out the inventive method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor when the computer program is executed on a computer, and to a computer-readable data carrier with program code of a computer program for carrying out the inventive method when the computer program is executed on a computer.

[0035] One idea of ​​the present invention is to synchronize the system clocks of the LiDAR sensor and the test system, i.e. the LiDAR target simulator, based on the sensor trigger signal.

[0036] When, in the context of the description of the present invention, reference is made to synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor, this means that the system clock of the LiDAR sensor is synchronized with the system clock of the test system for the LiDAR sensor or vice versa.

[0037] The prerequisite is that the LiDAR sensor is also a digital system that determines the timing of its trigger signal based on its internal system clock.

[0038] Within a time-limited measurement window, each incoming or incoming light ray is evaluated in the sensor and a time is measured.

[0039] The invention therefore relates to clock and phase recovery from sparse and uneven light signals. This applies to systems or sensors that operate digitally internally and whose randomness is based on the evaluation of entire time steps; that is, if the sensor has a clock frequency of, for example, 100 MHz, it calculates its randomization in 10 ns steps.

[0040] The system clock can therefore be used to evaluate delays. First, the light signal is detected. This is necessary for the LiDAR target simulator to react. There are two variants: the threshold-based variant, in which a photodiode measures the light. If a threshold is exceeded, it is recognized that the sensor has started taking a measurement. The advantage of the threshold-based variant is that it can be implemented as an electronic circuit with minimal effort. The second variant is the slope-based variant, which is based on the edge of the trigger signal.

[0041] Measuring the trigger signal and determining its base frequency through statistical analysis allows the test system's clock to be controlled based on the control deviation of the trigger signal's base frequency. This enables the test system's clock to be synchronized so that the difference between its clock and the LiDAR sensor's clock remains essentially constant. This allows for optimal clock and phase recovery of the LiDAR trigger signal.

[0042] Further embodiments of the present invention are the subject of the further dependent claims and the following description with reference to the figures.

[0043] According to a preferred embodiment of the invention, frequencies of the trigger signal are determined based on measured time intervals between individual pulses of the trigger signal, and the basic frequency of the trigger signal is calculated using the determined frequencies of the trigger signal.

[0044] If all trigger frequencies are determined and evaluated over a longer period of time, e.g. using a time-to-digital converter, the base frequency can be deduced.

[0045] According to a further preferred embodiment of the invention, it is provided that the system clock of the clock generator of the test system is set to the base frequency of the trigger signal, wherein the base frequency of the trigger signal and the system clock of the clock generator of the test system, reduced in particular by a frequency divider, are sent to an evaluation unit, and wherein a number of system clocks of the clock generator of the test system are stored, starting with each trigger signal having the base frequency.

[0046] Thus, the clock generator of the LiDAR target simulator is set to the base frequency and, if necessary, fed to the evaluation unit, e.g. FPGA, as a "counting signal" via a suitable divider, in parallel to the sensor's trigger.

[0047] Starting with each sensor trigger, the number of count signals is stored. Once a sufficient number of counts are available, the base frequency is recalculated using suitable methods such as Kalman filters or moving averages, and the clock of the LiDAR target simulator is adjusted accordingly.

[0048] According to a further preferred embodiment of the invention, the base frequency of the trigger signal is recalculated based on the stored number of system clock cycles of the test system's clock generator. The clock cycles are enumerated and clustered into time bins based on the receipt of a trigger.

[0049] According to a further preferred embodiment of the invention, the re-determination of the base frequency of the trigger signal is carried out by applying a Kalman filter or a moving average calculation of the stored number of system clock cycles of the clock generator of each trigger signal.

[0050] A more precise base frequency is then determined from the stored number of system clock cycles. This new base frequency is subsequently evaluated to adjust the phase-locked loop; that is, the clock frequency of the control loop is increased or decreased with the aim of ensuring that the new base frequency essentially remains unchanged, thus minimizing the derivative.

[0051] According to a further preferred embodiment of the invention, the evaluation unit is provided for by a programmable and / or configurable integrated circuit, in particular an FPGA or a microcontroller.

[0052] The preferably subdivided system clock has a size that is optimally suited for the integrated circuit, in particular the FPGA or microcontroller.

[0053] According to a further preferred embodiment of the invention, it is provided that the system clock of the test system, synchronized to the trigger signal of the LiDAR sensor, is generated if the control deviation of the basic frequency of the trigger signal falls below a predetermined threshold, wherein the system clock of the clock generator of the test system is adjusted in such a way that the difference to the system clock of the LiDAR sensor is essentially constant.

[0054] If the rate of change of the base frequency is sufficiently low, the target frequency is considered to have been averaged and the simulation can begin. Ideally, the system clocks of both systems are now synchronized in such a way that the trigger edge of the sensor is constant relative to the sample edge of the system clock of the LiDAR target simulator, and the repeatability is therefore optimal.

[0055] The specified condition is therefore met if the control deviation of the basic frequency of the trigger signal falls below the specified threshold.

[0056] According to a further preferred embodiment of the invention, the determination of the basic frequency of the trigger signal by statistical analysis of the trigger signal is carried out by the following steps: - Calculating a time difference between all pulses of the trigger signal; - Determining a frequency distribution of the respective difference values ​​of the trigger signal, exhibiting a plurality of value ranges; - Calculating the mean value of a period of the trigger signal for each range of values ​​in the frequency distribution; and - Determining the base frequency of the trigger signal using the calculated mean of the period.

[0057] The value ranges or bins are determined via a time measurement that demonstrates randomization, i.e., how many time measurements are taken between one pulse and the next. This is done via binning, i.e., counting.

[0058] Within the value ranges, the midpoints and intervals are then determined, and the smallest possible time step from one to the next is evaluated. This leads to the conclusion that the randomization is based on using a multiple of a time value.

[0059] According to a further preferred embodiment of the invention, the system clock of the LiDAR sensor is provided that, to avoid interference, especially with other sensors, it is a random number that is continuously recalculated.

[0060] The intervals between each pulse of the trigger signal are therefore not equal, as the sensor randomizes its measurement time to avoid interference with other sensors.

[0061] According to a further preferred embodiment of the invention, a time interval between two LiDAR sensor trigger signals is provided that an integer multiple of a period of the system clock of the LiDAR sensor.

[0062] To avoid interference, the count value is a random number that is continuously recalculated. If this condition is met, the time interval between two sensor trigger signals is therefore an integer multiple of the period of the sensor system clock.

[0063] The features of the computer-implemented method described herein for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor are also applicable to the test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor and vice versa. Brief description of the drawings

[0064] For a better understanding of the present invention and its advantages, reference is now made to the following description in conjunction with the associated drawings.

[0065] The invention will now be explained in more detail with reference to exemplary embodiments shown in the schematic illustrations of the drawings.

[0066] They show: Fig. 1 a flowchart of a computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor according to a preferred embodiment of the invention; Fig. 2 a flowchart of an alternative computer-implemented method for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor according to the preferred embodiment of the invention; Fig. 3 a schematic representation of a test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor according to the preferred embodiment of the invention; and Fig. 4 A schematic representation of an alternative test system for synchronizing a system clock of a LiDAR sensor and a system clock of a test system for the LiDAR sensor according to the preferred embodiment of the invention.

[0067] Unless otherwise specified, identical reference numerals denote identical elements of the drawings. Detailed description of the embodiments

[0068] The in Fig. 1 The computer-implemented method shown relates to synchronizing a system clock 18 of a LiDAR sensor 10 and a system clock 20 of a test system 12 for the LiDAR sensor 10.

[0069] The procedure includes generating a trigger signal TS by the LiDAR sensor 10 and measuring the trigger signal TS and determining a basic frequency F of the trigger signal TS by statistical analysis of the trigger signal TS.

[0070] Furthermore, the procedure includes controlling the system clock 20 of the test system 12 based on a control difference of the basic frequency F of the trigger signal TS and generating a system clock 20 of the test system 12 synchronized to the trigger signal TS of the LiDAR sensor 10, if the control difference of the basic frequency F of the trigger signal TS meets a predefined condition.

[0071] The frequencies of the trigger signal TS are determined based on measured time intervals between individual pulses of the trigger signal TS. The base frequency F of the trigger signal TS is calculated using these determined frequencies.

[0072] The system clock 20 of the clock generator 12a of the test system 12 is further set to the base frequency F of the trigger signal TS, wherein the base frequency F of the trigger signal TS and the system clock 20 of the clock generator 12a of the test system 12, reduced in particular by a frequency divider 14, are sent to an evaluation unit 16.

[0073] The system clock 20 of the clock generator 12a can, for example, be used unchanged. Alternatively, the system clock 20 of the clock generator 12a can be reduced by a frequency divider 14.

[0074] Thus, the clock generator 12a of the LiDAR target simulator is set to the base frequency and, if necessary, fed to the evaluation unit 16, e.g. FPGA, as a "counting signal" via a suitable divider, in parallel to the trigger of the sensor.

[0075] Starting with each sensor trigger, the number of count signals is stored. Once a sufficient number of counts are available, the base frequency F is recalculated using suitable methods such as Kalman filters or moving averages, and the clock generator 12a of the LiDAR target simulator 30 is adjusted accordingly.

[0076] Starting with each trigger signal TS exhibiting the base frequency F, a number cnt1, cnt2, cnt3, cnt4, cntN of system clock cycles 20 from the clock generator 12a of the test system 12 are stored. Based on the stored number cnt1, cnt2, cnt3, cnt4, cntN of system clock cycles 20 from the clock generator 12a of the test system 12, the base frequency F of the trigger signal TS is then recalculated.

[0077] The re-determination of the basic frequency F of the trigger signal TS is carried out by applying a Kalman filter or a moving average calculation of the stored number cnt1, cnt2, cnt3, cnt4, cntN of system clocks 20 of the clock generator 12a of each trigger signal TS.

[0078] The evaluation unit 16 is designed by a programmable and / or configurable integrated circuit, in particular an FPGA or a microcontroller.

[0079] The system clock of the test system 12, synchronized to the trigger signal TS of the LiDAR sensor 10, is generated if the control deviation of the base frequency F of the trigger signal TS falls below a predetermined threshold, whereby the system clock 20 of the clock generator 12a of the test system 12 is adjusted such that the difference to the system clock 18 of the LiDAR sensor 10 is essentially constant.

[0080] The determination of the basic frequency F of the trigger signal TS is carried out by statistical analysis of the trigger signal TS, by calculating a time difference between all pulses of the trigger signal TS, determining a frequency distribution of the respective difference values ​​of the trigger signal TS with a plurality of value ranges, calculating a mean value of a period of the trigger signal TS for each value range of the frequency distribution, and determining the basic frequency F of the trigger signal TS using the calculated mean value of the period.

[0081] To avoid interference, especially with other sensors, the system clock 18 of the LiDAR sensor 10 is a random number that is continuously recalculated. Furthermore, the time interval between two LiDAR sensor 10 trigger signals is an integer multiple of the period of the system clock of the LiDAR sensor 10.

[0082] Fig. Figure 2 shows a flowchart of an alternative computer-implemented method for synchronizing a system clock 18 of a LiDAR sensor 10 and a system clock 20 of a test system 12 for the LiDAR sensor 10 according to a preferred embodiment of the invention.

[0083] The procedure includes generating S1' of a trigger signal TS by the LiDAR sensor 10 and generating S2' of a system clock from a clock generator 12a of the test system 12.

[0084] Furthermore, the method comprises sending s3' of the trigger signal TS and the system clock of the clock generator 12a of the test system 12, reduced in particular by a frequency divider 14, to an evaluation unit 16 and calculating s4' a basic frequency F of the trigger signal TS by the evaluation unit 16 using the trigger signal TS and the system clock of the clock generator 12a of the test system 12, reduced in particular by the frequency divider 14.

[0085] The method further comprises storing S5', starting with each trigger signal TS having the base frequency F, a number cnt1, cnt2, cnt3, cnt4, cntN of system clocks 20 of the clock generator 12a of the test system 12, determining S6' a, in particular adapted, base frequency F of the trigger signal TS using the stored number cnt1, cnt2, cnt3, cnt4, cntN of system clocks 20 of the clock generator 12a of each trigger signal TS, and generating S7' a system clock 20 of the test system 12 synchronized to the trigger signal TS of the LiDAR sensor 10 using the determined base frequency F of the trigger signal TS.

[0086] Fig. Figure 3 shows a schematic representation of a test system 12 for synchronizing a system clock 18 of a LiDAR sensor 10 and a system clock 20 of a test system 12 for the LiDAR sensor 10 according to the preferred embodiment of the invention.

[0087] The system clock 20 of the test system 12 for the LiDAR sensor 10 is generated by the clock generator 12a.

[0088] The test system 12 includes a LiDAR sensor 10 which is configured to generate a trigger signal TS, means 22 for measuring the trigger signal TS and means 24 for determining a basic frequency F of the trigger signal TS by statistical analysis of the trigger signal TS.

[0089] Furthermore, the test system 12 comprises means 26 for controlling the system clock 20 of the test system 12 based on a control deviation of the base frequency F of the trigger signal TS, and means 28 for generating a system clock 20 of the test system 12 synchronized to the trigger signal TS of the LiDAR sensor 10 if the control deviation of the base frequency F of the trigger signal TS satisfies a predefined condition. The means 28 are preferably part of a LiDAR target simulator 30.

[0090] Fig.Figure 4 shows a schematic representation of an alternative test system 12' for synchronizing a system clock 18 of a LiDAR sensor 10 and a system clock 20 of a test system 12' for the LiDAR sensor 10 according to the preferred embodiment of the invention.

[0091] The system clock 20 of the test system 12' for the LiDAR sensor 10 is generated by the clock generator 12a'.

[0092] The test system 12' includes a LiDAR sensor 10, which is configured to generate a trigger signal TS, and a clock generator 12a' of the test system 12', which is configured to generate a system clock.

[0093] Furthermore, the test system 12' comprises means 122 for sending the trigger signal TS to an evaluation unit 16, wherein the clock generator 12a' of the test system 12' is configured to send the system clock 20 of the clock generator 12a' of the test system 12', reduced in particular by a frequency divider 14, to the evaluation unit 16, and means 124 for storing, starting with each trigger signal TS having the base frequency F, a number cnt1, cnt2, cnt3, cnt4, cntN of system clocks 20 of the clock generator 12a of the test system 12'.

[0094] The test system 12' further comprises means 126 for determining a, in particular adapted, base frequency F of the trigger signal TS using the stored number cnt1, cnt2, cnt3, cnt4, cntN of system clocks 20 of the clock generator 12a' of each trigger signal TS, and means 128 for generating a system clock 20 of the test system 12' synchronized to the trigger signal TS of the LiDAR sensor 10 using the determined base frequency F of the trigger signal TS. The means 128 are preferably part of a LiDAR target simulator 30'.

[0095] Although specific embodiments have been illustrated and described herein, it is understandable to those skilled in the art that a multitude of alternative and / or equivalent implementations exist. It should be noted that the exemplary embodiment(s) are merely examples and are not intended to limit the scope, applicability, or configuration in any way.

[0096] Rather, the above summary and detailed description provides the person skilled in the art with convenient guidance for implementing at least one exemplary embodiment, whereby it is understood that various changes in the scope of functions and the arrangement of the elements can be made without deviating from the scope of the attached claims and their legal equivalents.

[0097] In general, this application intends to cover modifications, adaptations, or variations of the embodiments described herein. For example, the sequence of the process steps may be changed. Furthermore, the methods according to the invention may be carried out sequentially or in parallel, at least in certain sections. Reference symbol list 10 LiDAR sensors 12, 12' test system 12a, 12a' Clock generator 14 frequency dividers 16 evaluation units 18 System clock of the LiDAR sensor 20 System clock of the test system 22, 24 Medium 26, 28 Medium 30, 30' LiDAR target simulator 122, 124 means 126, 128 means cnt1, cnt2 number cnt3, cnt4 number cntN number F basic frequency TS trigger signal S1-S5 process steps S1'-57' Procedure steps

Claims

[1] Computer-implemented method for synchronizing (S1) a system clock (18) of a LiDAR sensor (10) and a system clock (20) of a test system (12) for the LiDAR sensor (10), comprising the steps: Generating (S2) a trigger signal (TS) by the LiDAR sensor (10); Measuring (S3) the trigger signal (TS) and determining a base frequency (F) of the trigger signal (TS) by statistical analysis of the trigger signal (TS); Rules (S4) of the system clock (20) of the test system (12) based on a control difference of the basic frequency (F) of the trigger signal (TS); and Generating (S5) a system clock (20) of the test system (12) synchronized to the trigger signal (TS) of the LiDAR sensor (10), if the control deviation of the base frequency (F) of the trigger signal (TS) satisfies a predefined condition. [2] Computer-implemented method according to claim 1, wherein frequencies of the trigger signal (TS) are determined on the basis of measured time intervals between individual pulses of the trigger signal (TS), and wherein the basic frequency (F) of the trigger signal (TS) is calculated using the determined frequencies of the trigger signal (TS). [3] Computer-implemented method according to claim 1 or 2, wherein the system clock of a clock generator (12a) of the test system (12) is set to the base frequency (F) of the trigger signal (TS), wherein the base frequency (F) of the trigger signal (TS) and the system clock (20) of the clock generator (12a) of the test system (12), reduced in particular by a frequency divider (14), are sent to an evaluation unit (16), and wherein, starting with each trigger signal (TS) having the base frequency (F), a number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a) of the test system (12) are stored. [4] Computer-implemented method according to claim 3, wherein the base frequency (F) of the trigger signal (TS) is redefined based on the stored number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a) of the test system (12). [5] Computer-implemented method according to claim 4, wherein the re-determination of the base frequency (F) of the trigger signal (TS) is carried out by applying a Kalman filter or a moving average calculation of the stored number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a) of each trigger signal (TS). [6] Computer-implemented method according to one of claims 3 to 5, wherein the evaluation unit (16) is formed by a programmable and / or configurable integrated circuit, in particular an FPGA or a microcontroller. [7] Computer-implemented method according to one of the preceding claims, wherein the system clock of the test system (12) synchronized to the trigger signal (TS) of the LiDAR sensor (10) is generated if the control deviation of the base frequency (F) of the trigger signal (TS) falls below a predetermined threshold, wherein the system clock (20) of the clock generator (12a) of the test system (12) is adjusted such that the difference to the system clock (18) of the LiDAR sensor (10) is substantially constant. [8] Computer-implemented method according to one of the preceding claims, wherein the determination of the basic frequency (F) of the trigger signal (TS) by statistical analysis of the trigger signal (TS) is carried out by the following steps: - Calculating a time difference between all pulses of the trigger signal (TS); - Determining a frequency distribution of the respective difference values ​​of the trigger signal (TS) that exhibits a plurality of value ranges; - Calculating the mean value of a period of the trigger signal (TS) for each range of values ​​in the frequency distribution; and - Determining the base frequency (F) of the trigger signal (TS) using the calculated mean of the period. [9] Computer-implemented method according to one of the preceding claims, wherein the system clock (18) of the LiDAR sensor (10) is a random number that is continuously recalculated to avoid interference, in particular with other sensors. [10] Computer-implemented method according to claim 9, wherein a time interval between two LiDAR sensor (10) trigger signals is an integer multiple of a period of the system clock of the LiDAR sensor (10). [11] Computer-implemented method for synchronizing a system clock (18) of a LiDAR sensor (10) and a system clock (20) of a test system (12) for the LiDAR sensor (10), comprising the steps: Generating (S1') a trigger signal (TS) by the LiDAR sensor (10); Generating (S2') a system clock (20) of a clock generator (12a') of the test system; Sending (S3') the trigger signal (TS) and the system clock (20) of the clock generator (12a') of the test system (12), reduced in particular by a frequency divider (14), to an evaluation unit (16); Calculating (S4') a base frequency (F) of the trigger signal (TS) by the evaluation unit (16) using the trigger signal (TS) and the, in particular reduced by the frequency divider (14), system clock of the clock generator (12a') of the test system (12'); Storing (S5'), starting with each trigger signal (TS) having the base frequency (F) of a number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a') of the test system (12); Determining (S6') a, in particular adapted, base frequency (F) of the trigger signal (TS) using the stored number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a') of each trigger signal (TS); and Generating (S7') a system clock (20) of the test system (12) synchronized to the trigger signal (TS) of the LiDAR sensor (10) using the determined base frequency (F) of the trigger signal (TS). [12] Test system (12) for synchronizing a system clock (18) of a LiDAR sensor (10) and a system clock (20) of a test system (12) for the LiDAR sensor (10), comprising: a LiDAR sensor (10) which is configured to generate a trigger signal (TS); Means (22) for measuring the trigger signal (TS); Means (24) for determining a basic frequency (F) of the trigger signal (TS) by statistical analysis of the trigger signal (TS); Means (26) for controlling the system clock (20) of the test system (12) based on a control deviation of the basic frequency (F) of the trigger signal (TS); and Means (28) for generating a system clock (20) of the test system (12) synchronized to the trigger signal (TS) of the LiDAR sensor (10), if the control deviation of the base frequency (F) of the trigger signal (TS) satisfies a predefined condition. [13] Test system (12') for synchronizing a system clock (18) of a LiDAR sensor (10) and a system clock (20) of a test system (12') for the LiDAR sensor (10), comprising: a LiDAR sensor (10) which is configured, to generate a trigger signal (TS); a clock generator (12a') of the test system (12') which is configured to generate a system clock; Means (122) for sending the trigger signal (TS) to an evaluation unit (16), wherein the clock generator (12a') of the test system (12') is configured to, in particular by a frequency divider (14) to send the system clock (20) of the clock generator (12a') of the test system (12') to the evaluation unit (16); Means (124) for storing, starting with each trigger signal (TS) having the base frequency (F) of a number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a') of the test system (12'); Means (126) for determining a, in particular adapted, basic frequency (F) of the trigger signal (TS) using the stored number (cnt1, cnt2, cnt3, cnt4, cntN) of system clocks (20) of the clock generator (12a') of each trigger signal (TS); and Means (128) for generating a system clock (20) of the test system (12') synchronized to the trigger signal (TS) of the LiDAR sensor (10) using the determined base frequency (F) of the trigger signal (TS). [14] Computer program product comprising a computer program comprising software means for carrying out one of the methods according to any one of claims 1 to 11, wherein the computer program is executed on a computer. [15] Computer-readable data carrier containing program code of a computer program for executing one of the methods according to any one of claims 1 to 11 when the computer program is executed on a computer.

Images