Multi-line laser radar performance testing method and device

Abstract

The present application provides a multi-line laser radar performance test method and device. The method includes: controlling a connecting component to rotate from state A to state B, the connecting component is used to fix the laser radar, when the connecting component is in state A, the transmitting beam A of the laser radar corresponds to the target, when the connecting component is in state B, the transmitting beam B of the laser radar corresponds to the target, during the period when the connecting component rotates from state A to state B, the relative position between the target and the rotation center of the connecting component remains unchanged; determining the angle between the transmitting beam A and the transmitting beam B according to the first angle. It is possible to test and obtain a more accurate angle between the two transmitting beams of the laser radar. The solution can further be used to enhance the capabilities of autonomous driving or advanced driver assistance systems ADAS, and can be applied to vehicle networks, such as vehicle-to-vehicle V2X, long-term evolution technology for vehicle-to-vehicle communication LTE‑V, vehicle-to-vehicle V2V, etc.

Description

Technical Field

[0001] The present application relates to the field of radar performance testing, and more specifically, to a multi-line laser radar performance testing method and device. Background Art

[0002] LiDAR plays a vital role in the field of autonomous driving. It is like the human eye and is an important perception "organ" for autonomous driving. Among the key performance indicators of multi-line LiDAR, angular resolution reflects the density of point clouds under the same projection area. The higher the angular resolution, the greater the density of the point cloud, and the better the ability to perceive the target and detect the environment. The field angle of view (FOV) is the size of the detectable range of the LiDAR. The larger the field angle, the larger the detectable range of the LiDAR. Generally, these two performances are given by LiDAR manufacturers, but there may be insufficient precision or errors in accuracy. At present, there is a lack of effective methods to test LiDAR performance. Summary of the invention

[0003] The present application provides a multi-line radar performance testing method and device, which can test and obtain a relatively accurate angle between two transmitting beams of a laser radar.

[0004] In a first aspect, a multi-line radar performance testing method is provided, which can be executed by a testing device or a module (such as a chip) configured in (or used for) the testing device.

[0005] The method includes: controlling a connecting component to rotate from a first state to a second state, the connecting component being used to fix a laser radar, wherein when the connecting component is in the first state, a transmitting beam of the laser radar corresponding to a target is a first transmitting beam, and when the connecting component is in the second state, a transmitting beam of the laser radar corresponding to the target is a second transmitting beam, and during the period when the connecting component rotates from the first state to the second state, the relative position between the target and the rotation center of the connecting component remains unchanged; determining an angle between the first transmitting beam and the second transmitting beam according to a first angle, the first angle being an angle change value generated when the connecting component rotates from the first state to the second state.

[0006] According to the above scheme, the connecting component is controlled to drive the laser radar to rotate. The angle between the two transmitting beams of the laser radar can be determined by the angle generated by the rotation of the connecting component. This method can test and obtain a more accurate angle between the two transmitting beams of the laser radar. The test device can automatically measure the angle resolution performance of the multi-line radar.

[0007] Optionally, the emission beam of the laser radar corresponding to the target includes: the emission beam of the laser radar detects the target.

[0008] In combination with the first aspect, in certain implementations of the first aspect, the first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on a horizontal plane, and the connecting component rotates around a point on the vertical axis of the connecting component as the rotation center; or, the first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on a vertical plane, and the connecting component rotates around a point on the horizontal axis of the connecting component as the rotation center.

[0009] According to the above scheme, the angular resolution of the laser radar in the horizontal plane can be measured by rotating the connecting component around the vertical axis, and the angular resolution of the laser radar in the vertical plane can also be measured by rotating the connecting component around the horizontal axis. It is possible to test and obtain more accurate angular resolutions of the laser radar in the vertical direction and the horizontal direction. It is possible to realize the automatic measurement of the angular resolution performance of the multi-line radar by the test device.

[0010] In combination with the first aspect, in certain implementations of the first aspect, controlling the connecting component to rotate from the first state to the second state includes: controlling the connecting component to rotate from the first state to the second state after N rotations, wherein N is a positive integer.

[0011] Optionally, after each rotation, the laser radar transmits at least one frame of signal from the transmitter corresponding to the second transmitting beam, and the at least one frame of signal corresponds to X points of the second transmitting beam. When the laser radar measures the target through I points among the X points corresponding to the second transmitting beam, it means that the laser radar measures the target through the second transmitting beam, where I≤X, and I and X are positive integers.

[0012] Optionally, I is a preset value, or I / X×100% is greater than or equal to a preset value C.

[0013] Optionally, when the laser radar detects the target through the second transmitting beam, the target can be measured by at most Y points among the X points corresponding to the second transmitting beam. When the laser radar measures the target through I points corresponding to the second transmitting beam, it means that the laser radar measures the target through the second transmitting beam, wherein I / Y×100% is greater than or equal to the preset value E.

[0014] In combination with the first aspect, in certain implementations of the first aspect, the connecting component rotates a second angle each time along the direction from the first transmitting beam to the second transmitting beam in the N rotations, wherein the second angle is a preset value, or the second angle is related to a reference angle resolution, which is a reference value of the angle between the first transmitting beam and the second transmitting beam.

[0015] According to the above solution, by controlling the connection component to rotate at intervals of the second angle, a more accurate boundary of the second transmitting beam can be obtained, thereby measuring a more accurate angle between the transmitting beams.

[0016] In combination with the first aspect, in certain implementations of the first aspect, the connecting component is controlled to rotate from the first state to the second state after N rotations, including: controlling the connecting component to rotate from the first state along the direction from the first transmitting beam to the second transmitting beam at intervals of a third angle; if the target corresponds to the second transmitting beam of the laser radar after the Lth rotation of the connecting component, in the L+1th rotation, the connecting component is controlled to rotate the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein L is a positive integer less than N; controlling the connecting component to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the target corresponds to the second transmitting beam of the laser radar, the state of the connecting component is the second state, wherein the connecting component rotates a total of N-(L+1) times at intervals of the fourth angle, and the fourth angle is less than the third angle.

[0017] According to the above scheme, the connecting component is first controlled to approach the second transmitting beam at a third angle, retreat a third angle after obtaining the target, and then approach the second transmitting beam at a fourth angle smaller than the third angle. Being able to first rotate at a larger angle can improve the efficiency of the test angle, and rotating at a smaller angle can obtain a more accurate boundary of the second transmitting beam, thereby measuring a more accurate angle between the transmitting beams.

[0018] In combination with the first aspect, in some implementations of the first aspect, the angle of the nth rotation in the N rotations is p of the reference angular resolution. n times, wherein the reference angular resolution is a reference value of the angle between the first transmitting line beam and the second transmitting line beam, n is a positive integer less than or equal to N, 0<p<1; or, the angle of the kth rotation in the first K rotations of the N rotations is p times the reference angular resolution. k times, wherein K is a positive integer less than N, k is a positive integer less than or equal to K, and after the Kth rotation of the N rotations, the connecting component rotates at a fifth angle interval, and the fifth angle is less than or equal to p of the reference angular resolution K times.

[0019] According to the above scheme, the angle of each rotation of the connecting component is reduced by a certain ratio, which can improve the efficiency of the test angle and obtain a more accurate boundary of the second transmitting beam, thereby measuring a more accurate angle between the transmitting beams.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the first transmitting beam and the second transmitting beam are two adjacent transmitting beams of the laser radar on a horizontal plane, and the first angle is used to determine the horizontal angular resolution between the first transmitting beam and the second transmitting beam; or, the first transmitting beam and the second transmitting beam are two adjacent transmitting beams of the laser radar on a vertical plane, and the first angle is used to determine the vertical angular resolution between the first transmitting beam and the second transmitting beam.

[0021] According to the above scheme, a relatively accurate angular resolution of the laser radar on the horizontal plane can be measured, and a relatively accurate angular resolution of the laser radar on the vertical plane can also be measured.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the method also includes: controlling the rotation of the connecting component so that each transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane or the vertical plane corresponds to the target respectively; and determining the angle between each two adjacent transmitting beams of the laser radar based on the angle change value generated by the rotation of the connecting component.

[0023] According to the above scheme, the angular resolution between each emitting beam of the laser radar on the horizontal plane can be measured more accurately, and the angular resolution between each emitting beam of the laser radar on the vertical plane can also be measured more accurately.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the first transmitting beam is the first transmitting beam of the laser radar in a horizontal plane or a vertical plane, and the method further includes: controlling the connecting component to rotate along the direction from the second transmitting beam to the first transmitting beam at intervals of a sixth angle, until the connecting component is in a third state, the third state is relative to the state of the connecting component when the transmitting beam of the laser radar corresponds to the target the most recent time, and the angle change value generated by the connecting component is greater than a seventh angle, wherein the sixth angle is less than the minimum reference angular resolution of two adjacent transmitting beams of the laser radar, and the seventh angle is the maximum reference angular resolution between two adjacent transmitting beams of the laser radar; controlling the connecting component The component rotates from the third state along the direction from the first transmitting beam to the second transmitting beam at intervals of a third angle; if the transmitting beam of the laser radar corresponds to the target after the connecting component rotates for the Mth time, in the M+1th rotation, the connecting component is controlled to rotate the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein M is a positive integer; when the connecting component is controlled to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the transmitting beam of the laser radar corresponds to the target, the state of the connecting component is the first state, wherein the fourth angle is smaller than the third angle, wherein the direction from the first transmitting beam to the second transmitting beam is clockwise or counterclockwise.

[0025] According to the above scheme, the test device can fix the laser radar on the connecting component, determine the first transmitting beam of the laser radar on the horizontal plane or the vertical plane, and enable the test device to automatically measure the angular resolution performance of the multi-line radar.

[0026] In combination with the first aspect, in certain implementations of the first aspect, the method further includes: controlling the connection component to rotate so that each transmission beam between the third transmission beam and the first transmission beam of the laser radar on the horizontal plane corresponds to the target respectively, and / or, each transmission beam between the third transmission beam and the last transmission beam on the horizontal plane corresponds to the target respectively, wherein the third transmission beam is a transmission beam between the first transmission beam and the last transmission beam on the horizontal plane; determining the angular resolution between each adjacent two transmission beams of the laser radar according to the angle change value generated by the rotation of the connection component; or controlling the connection component to rotate so that each transmission beam between the fourth transmission beam and the first transmission beam of the laser radar on the vertical plane corresponds to the target respectively, and / or, each transmission beam between the third transmission beam and the last transmission beam on the vertical plane corresponds to the target respectively, wherein the fourth transmission beam is a transmission beam between the first transmission beam and the last transmission beam on the vertical plane; determining the angular resolution between each adjacent two transmission beams of the laser radar according to the angle change value generated by the rotation of the connection component.

[0027] According to the above scheme, the angular resolution between each transmitting beam of the laser radar can be measured starting from any transmitting beam of the laser radar, so that the test device can automatically measure the angular resolution performance of the multi-line radar.

[0028] In combination with the first aspect, in certain implementations of the first aspect, the first transmitting beam and the second transmitting beam are respectively the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane, or the last transmitting beam and the first transmitting beam on the horizontal plane, and the first angle is used to determine the horizontal field of view angle of the laser radar, or the first transmitting beam and the second transmitting beam are respectively the first transmitting beam and the last transmitting beam of the laser radar on the vertical plane, or the last transmitting beam and the first transmitting beam on the vertical plane, and the first angle is used to determine the vertical field of view angle of the laser radar.

[0029] According to the above scheme, the testing device can automatically measure the field of view angle performance of the multi-line laser radar.

[0030] In combination with the first aspect, in some implementations of the first aspect, the determining the angle between the first transmitting line beam and the second transmitting line beam according to the first angle includes: determining the angle between the first transmitting line beam and the second transmitting line beam according to the first angle θ, the minimum distance a between the projection of the rotation center and the target on the same horizontal plane, and the distance b from the center of the laser radar to the rotation center.

[0031] According to the above scheme, when the laser radar is fixed to the connecting component, if the rotation center of the connecting component is at a distance b from the center of the laser radar, a more accurate angular resolution between the transmitting beams can be calculated based on the distance b.

[0032] In conjunction with the first aspect, in certain implementations of the first aspect, the angle satisfy

[0033] According to the above scheme, when the laser radar is fixed to the connecting component, if the rotation center of the connecting component is at a distance b from the center of the laser radar, a more accurate angular resolution between the transmitting beams can be calculated based on the distance b.

[0034] In combination with the first aspect, in certain implementations of the first aspect, the target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to an emission beam of the laser radar is a second value, it indicates that the emission beam of the laser radar corresponds to the target, and the difference between the second value and the first value is less than or equal to a preset value.

[0035] In combination with the first aspect, in certain implementations of the first aspect, the reflective strip is placed on a plane target, the plane target is parallel to the plane formed by the horizontal axis and the vertical axis of the connecting component, the first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on the vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component; or, the first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on the horizontal plane, and the reflective strip is parallel to the vertical axis of the connecting component.

[0036] In combination with the first aspect, in some implementations of the first aspect, the width W of the reflective strip satisfies

[0037]

[0038] Wherein, D is the minimum distance from the center of the laser radar to the plane target, and α is the reference minimum angular resolution of the laser radar.

[0039] According to the above scheme, the target width is specified so as to improve the accuracy of measuring the angular resolution of the transmission beam.

[0040] In a second aspect, a multi-line radar performance testing device is provided. The method can be executed by the testing device or a module (such as a chip) configured in (or used for) the testing device.

[0041] The test device includes: a connecting component, a control component and a processing component, wherein the connecting component is used to fix the laser radar so that the laser radar rotates with the connecting component; the control component is used to control the connecting component to rotate from a first state to a second state, wherein when the connecting component is in the first state, the transmitting beam of the laser radar corresponding to the target is a first transmitting beam, and when the connecting component is in the second state, the transmitting beam of the laser radar corresponding to the target is a second transmitting beam, and during the period when the connecting component rotates from the first state to the second state, the relative position between the target and the rotation center of the connecting component remains unchanged; the processing component determines the angle between the first transmitting beam and the second transmitting beam according to a first angle, and the first angle is the angle change value caused by the connection component rotating from the first state to the second state.

[0042] In combination with the second aspect, in certain implementations of the second aspect, the first transmitting beam and the second transmitting beam are two transmitting beams on a horizontal plane, and the connecting component rotates around a point on the vertical axis of the connecting component as the rotation center; or, the first transmitting beam and the second transmitting beam are two transmitting beams on a vertical plane, and the connecting component rotates around a point on the horizontal axis of the connecting component as the rotation center.

[0043] In combination with the second aspect, in certain implementations of the second aspect, the control component is specifically used to control the connecting component to rotate from the first state to the second state after N rotations, wherein N is a positive integer.

[0044] In combination with the second aspect, in certain implementations of the second aspect, the control component is further used to obtain a second angle, wherein the second angle is a preset value, or the second angle is related to a reference angle resolution, and the reference angle resolution is a reference value of the angle between the first transmitting beam and the second transmitting beam; the control component is specifically used to control the connecting component to rotate the second angle each time along the direction from the first transmitting beam to the second transmitting beam in the N rotations.

[0045] In combination with the second aspect, in certain implementations of the second aspect, controlling the connecting component to rotate the second angle each time in the N rotations includes: controlling the connecting component to rotate from the first state along the direction from the first transmitting beam to the second transmitting beam at intervals of a third angle; if the target corresponds to the second transmitting beam of the laser radar after the Lth rotation of the connecting component, in the L+1th rotation, controlling the connecting component to rotate the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein L is a positive integer less than N; controlling the connecting component to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the target corresponds to the second transmitting beam of the laser radar, the state of the connecting component is the second state, wherein the connecting component rotates a total of N-(L+1) times at intervals of the fourth angle, and the fourth angle is less than the third angle.

[0046] In combination with the second aspect, in some implementations of the second aspect, the control component is further used to obtain a reference angular resolution value, where the reference angular resolution is a reference value of an angle between the first transmitting line beam and the second transmitting line beam; the angle of the nth rotation in the N rotations is p of the reference angular resolution. n times, n is a positive integer less than or equal to N, 0<p<1; or, the angle of the kth rotation in the first K rotations of the N rotations is p times of the reference angular resolution k times, wherein K is a positive integer less than N, k is a positive integer less than or equal to K, and after the Kth rotation of the N rotations, the control component controls the connecting component to rotate at a fifth angle interval, and the fifth angle is less than or equal to p of the reference angular resolution K times.

[0047] In combination with the second aspect, in certain implementations of the second aspect, the first transmitting beam and the second transmitting beam are two adjacent transmitting beams of the laser radar on a horizontal plane, and the processing component is specifically used to determine the horizontal angular resolution between the first transmitting beam and the second transmitting beam according to the first angle; or, the first transmitting beam and the second transmitting beam are two adjacent transmitting beams of the laser radar on a vertical plane, and the processing component is specifically used to determine the vertical angular resolution between the first transmitting beam and the second transmitting beam according to the first angle.

[0048] In combination with the second aspect, in certain implementations of the second aspect, the control component is also used to control the rotation of the connecting component so that each transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane or the vertical plane corresponds to the target respectively; the processing component is also used to determine the angle between each two adjacent transmitting beams of the laser radar based on the angle change value generated by the rotation of the connecting component.

[0049] In combination with the second aspect, in certain implementations of the second aspect, the first transmitting beam is the first transmitting beam of the laser radar on a horizontal plane or a vertical plane, and the control component is also used to control the connecting component to rotate along the direction from the second transmitting beam to the first transmitting beam at intervals of a sixth angle until the connecting component is in a third state, and the third state is relative to the state of the connecting component when the transmitting beam of the laser radar last corresponded to the target, and the angle change value generated by the connecting component is greater than a seventh angle, wherein the sixth angle is less than the minimum reference angular resolution of two adjacent transmitting beams of the laser radar, and the seventh angle is the maximum reference angular resolution between two adjacent transmitting beams of the laser radar; control the connecting component. The component rotates from the third state along the direction from the first transmitting beam to the second transmitting beam at intervals of a third angle; if the transmitting beam of the laser radar corresponds to the target after the connecting component rotates for the Mth time, in the M+1th rotation, the connecting component is controlled to rotate along the direction from the second transmitting beam to the first transmitting beam by the third angle, wherein M is a positive integer; the connecting component is controlled to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the transmitting beam of the laser radar corresponds to the target, the state of the connecting component is the first state, wherein the fourth angle is smaller than the third angle, wherein the direction from the first transmitting beam to the second transmitting beam is clockwise or counterclockwise.

[0050] In combination with the second aspect, in certain implementations of the second aspect, the control component is also used to control the connection component to rotate so that each transmission beam of the laser radar between the third transmission beam and the first transmission beam on the horizontal plane corresponds to the target, and / or each transmission beam between the third transmission beam and the last transmission beam on the horizontal plane corresponds to the target respectively, wherein the third transmission beam is a transmission beam between the first transmission beam and the last transmission beam on the horizontal plane; the processing component is also used to determine the angle between each two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connection component. angular resolution between them; or, the control component is also used to control the connection component to rotate so that each transmission beam between the fourth transmission beam and the first transmission beam of the laser radar on the vertical plane corresponds to the target respectively, and / or, through each transmission beam between the third transmission beam and the last transmission beam on the vertical plane to correspond to the target respectively, wherein the fourth transmission beam is a transmission beam between the first transmission beam and the last transmission beam on the vertical plane; the processing component is also used to determine the angular resolution between each adjacent two transmission beams of the laser radar according to the angle change value caused by the rotation of the connection component.

[0051] In combination with the second aspect, in certain implementations of the second aspect, the first transmitting beam and the second transmitting beam are respectively the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane, or the last transmitting beam and the first transmitting beam on the horizontal plane, and the first angle is used to determine the horizontal field of view angle of the laser radar, or the first transmitting beam and the second transmitting beam are respectively the first transmitting beam and the last transmitting beam of the laser radar on the vertical plane, or the last transmitting beam and the first transmitting beam on the vertical plane, and the first angle is used to determine the vertical field of view angle of the laser radar.

[0052] In combination with the second aspect, in some implementations of the second aspect, the processing component is specifically used to determine the angle between the first transmission beam and the second transmission beam according to the first angle θ, the minimum distance a between the projection of the rotation center and the target on the same horizontal plane, and the distance b from the center of the laser radar to the rotation center.

[0053] In conjunction with the second aspect, in certain implementations of the second aspect, the angle satisfy

[0054] In combination with the second aspect, in certain implementations of the second aspect, the target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to an emission beam of the laser radar is a second value, it indicates that an emission beam of the laser radar corresponds to the target, and the difference between the second value and the first value is less than or equal to a preset value.

[0055] In combination with the second aspect, in certain implementations of the second aspect, the reflective strip is placed on a plane target, the plane target is parallel to the plane formed by the horizontal axis and the vertical axis of the connecting component, the first emitting beam and the second emitting beam are two emitting beams on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component; or, the first emitting beam and the second emitting beam are two emitting beams on a horizontal plane, and the reflective strip is parallel to the vertical axis of the connecting component.

[0056] In conjunction with the second aspect, in certain implementations of the second aspect, the width W of the reflective strip satisfies

[0057]

[0058] Wherein, D is the minimum distance from the center of the laser radar to the plane target, and α is the reference minimum angular resolution of the laser radar.

[0059] In a third aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to transmit a control signal through the output circuit and receive a signal through the input circuit, so that the processor executes the method in the first aspect and any possible implementation of the first aspect.

[0060] In the specific implementation process, the processor can be one or more chips, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, a gate circuit, a trigger, and various logic circuits. The input signal received by the input circuit can be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter, and the input circuit and the output circuit can be the same circuit, which is used as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation methods of the processor and various circuits.

[0061] In a fourth aspect, a control device is provided, comprising a processor and a communication interface. The communication interface is used to obtain data to be processed, the processor is used to obtain processed data from the data to be processed, and the communication interface is also used to output the processed data, so that the control device executes the method in the first aspect and any possible implementation of the first aspect.

[0062] For example, the control device reads instructions for controlling the rotation of the connecting component through the processor, the communication interface is used to output instructions to the connecting component, the communication interface is also used to obtain the state of the connecting component, and the processor is used to determine the angle between the transmitting beams of the laser radar based on the state of the connecting component, but the present application is not limited to this.

[0063] Optionally, the control device may further include a memory for storing programs or instructions.

[0064] Optionally, the processor is one or more and the memory is one or more.

[0065] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0066] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated with the processor on the same chip or can be set on different chips respectively. The embodiments of the present application do not limit the type of memory and the setting method of the memory and the processor.

[0067] It should be understood that the relevant data interaction process, such as sending a control signal, can be a process of outputting a control signal from a processor, and obtaining laser radar parameter information and / or angle information of a connection component can be a process of receiving laser radar parameter information by the processor. Specifically, the control information output by the processor can be output to the transmitter, and the input laser radar parameter information and / or angle information of a connection component received by the processor can come from the receiver. Among them, the transmitter and the receiver can be collectively referred to as a transceiver.

[0068] The processing device in the fourth aspect may be one or more chips. The processor in the processing device may be implemented by hardware or by software. When implemented by hardware, the processor may be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor may be a general-purpose processor implemented by reading software code stored in a memory, which may be integrated in the processor or located outside the processor and exist independently.

[0069] In a fifth aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instruction), which, when executed, enables a computer to execute the method in the above-mentioned first aspect and any possible implementation manner of the first aspect.

[0070] In a sixth aspect, a computer-readable medium is provided, which stores a computer program (also referred to as code, or instruction) which, when executed on a computer, enables the computer to execute the method in the first aspect and any possible implementation of the first aspect.

[0071] In a seventh aspect, a test system is provided, which includes the aforementioned test device and the aforementioned reflective strip. The test system may further include the aforementioned planar target. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 is a schematic structural diagram of a testing device provided in an embodiment of the present application;

[0073] Figure 2 is a schematic diagram of a test device provided in an embodiment of the present application for testing the angle between two transmitting beams on a vertical plane of a laser radar;

[0074] Figure 3 It is a schematic diagram that a center S of the laser radar provided in an embodiment of the present application and a rotation center R of a connecting component have a certain distance;

[0075] Figure 4 It is a schematic diagram of the relationship between the transmission beam angle and the connection component rotation angle provided in the embodiment of the present application;

[0076] Figure 5 is another schematic structural diagram of a testing device provided in an embodiment of the present application;

[0077] Figure 6 is a schematic diagram of a test device provided in an embodiment of the present application for testing the angle between two emission beams on a horizontal plane of a laser radar;

[0078] Figure 7 is a schematic flow chart of a multi-lidar performance testing method provided in this application;

[0079] Figure 8 is a schematic block diagram of a test device provided in an embodiment of the present application;

[0080] Fig. 9 It is a schematic diagram of the structure of the test equipment provided in the embodiment of the present application. DETAILED DESCRIPTION

[0081] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0082] LiDAR manufacturers generally provide reference performance parameter values ​​for LiDAR, such as angular resolution, field of view, etc. However, the parameters provided by the manufacturer may be insufficiently precise or contain errors in accuracy. Currently, there is a lack of effective methods for testing LiDAR performance. Among them, the transmission beams of multi-line LiDARs may be unevenly distributed. For example, the transmission beams of some multi-line LiDARs on the vertical plane may be unevenly distributed. During the angular resolution test, each line needs to be tested. The test process is repetitive, the amount of calculation is large, manual measurement is difficult and time-consuming, and it is not suitable for R&D testing and production line testing needs. Therefore, automated testing is of great significance for product R&D iteration and selection.

[0083] The present application provides a multi-line laser radar performance test method and device. The laser radar is fixed by a connecting component and driven to rotate, so that the laser radar can measure the target through two transmitting beams respectively, so that the angle between the two transmitting beams can be determined according to the angle change value generated by the state change of the corresponding connecting component. It can test and obtain more accurate angular resolution and field of view of the laser radar.

[0084] Figure 1 It is a schematic structural diagram of the testing device provided in an embodiment of the present application.

[0085] like Figure 1The test device 100 shown includes a connecting component 110 and a control component 120. The connecting component can rotate around a vertical axis and a horizontal axis, or in other words, the connecting component can rotate in a horizontal plane with a point on the vertical axis as the rotation center, and the connecting component can rotate in a vertical plane with a point on the horizontal axis as the rotation center. The laser radar can be fixed to the connecting component and rotate with the connecting component. The control component is used to control the rotation of the connecting component. The test device 100 may also include a processing component, which is used to determine the angle between the laser radar's transmission beams according to the angle through which the connecting component is rotated. Optionally, the control component may include the processing component or the control component and the processing component are the same component. That is, the control component can realize the function of the processing component, that is, determine the angle between the laser radar's transmission beams according to the angle through which the connecting component is rotated. Alternatively, the processing component can realize the function of the control component, such as controlling the rotation of the connecting component.

[0086] The following is an introduction to the working principle of the test device provided in this application for testing the performance of lidar.

[0087] The test device provided in the present application is used to test the performance of a laser radar. Specifically, the test device can be used to test the angular resolution and field of view of the laser radar. When the test device is tested, the laser radar to be tested is fixed by a connecting component so that the laser radar can rotate with the connecting component. The test target object (hereinafter referred to as the target) is placed in a fixed position where the relative position to the rotation center of the connecting component remains unchanged. When measuring the angular resolution between two transmitting beams on the vertical plane of the laser radar, the control component controls the connecting component to rotate around the horizontal axis so that the laser radar can measure the target in sequence through the two transmitting beams. When measuring the angular resolution between two transmitting beams on the horizontal plane of the laser radar, the control component controls the connecting component to rotate around the vertical axis.

[0088] The following is a detailed description of the working principle of the test device for testing the angle between two transmitting beams on the vertical plane of the LiDAR.

[0089] The connecting component is used to fix the laser radar; the control component is used to control the connecting component to rotate from a first state to a second state, wherein when the connecting component is in the first state, the transmitting beam of the laser radar corresponding to the target is the first transmitting beam. When the connecting component is in the second state, the transmitting beam of the laser radar corresponding to the target is the second transmitting beam. During the period when the connecting component rotates from the first state to the second state, the relative position between the target and the rotation center of the connecting component remains unchanged. The processing component determines the angle between the first transmitting beam and the second transmitting beam according to a first angle, and the first angle is the angle change value caused by the rotation of the connecting component from the first state to the second state.

[0090] It should be noted that the multiple emission beams of the laser radar on the vertical plane irradiate the back plate or target to form multiple points spaced apart on the vertical line, and each point corresponds to one emission beam, or the multiple emission beams of the laser radar on the vertical plane irradiate the back plate or target to form multiple horizontal lines spaced apart in the vertical direction, and one horizontal line corresponds to one emission beam of the laser radar on the vertical plane, and the horizontal line corresponding to one emission beam is formed by the point cloud of the emission beam. Among them, the vertical plane of the laser radar refers to the plane containing the vertical axis of the laser radar.

[0091] The horizontal plane of the laser radar refers to the plane perpendicular to the vertical axis of the laser radar (i.e., perpendicular to the vertical plane of the laser radar). The multiple emission beams of the laser radar on the horizontal plane irradiate the back plate or target to form multiple points spaced apart on the horizontal line, and each point corresponds to a emission beam, or the multiple emission beams of the laser radar on the horizontal plane irradiate the back plate or target to form multiple vertical lines spaced apart in the horizontal direction, and a vertical line corresponds to an emission beam of the laser radar on the horizontal plane, and the vertical line corresponding to an emission beam is formed by the point cloud of the emission beam.

[0092] Optionally, the first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on the horizontal plane, and the connecting component rotates around a point on the vertical axis of the connecting component as the rotation center; or, the first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on the vertical plane, and the connecting component rotates around a point on the horizontal axis of the connecting component as the rotation center.

[0093] The test device can control the connecting component to rotate with a point on the vertical axis of the connecting component as the rotation center through the control component, or in other words, the control component controls the connecting component to rotate around the vertical axis of the connecting component, so as to measure the angular resolution between two adjacent transmitting beams on the vertical plane of the laser radar (that is, the first transmitting beam and the second transmitting beam can be two adjacent transmitting beams on the vertical plane), and obtain a more accurate vertical angular resolution of the laser radar. The test device can also control the connecting component to rotate with a point on the horizontal axis of the connecting component as the rotation center through the control component, or in other words, the control component controls the connecting component to rotate around the horizontal axis of the connecting component, so as to measure the angular resolution between two adjacent transmitting beams on the horizontal plane of the laser radar (that is, the first transmitting beam and the second transmitting beam can be two adjacent transmitting beams on the horizontal plane), and obtain a more accurate horizontal angular resolution of the laser radar. The test device can also measure the field of view angle of the laser radar in the vertical plane or in the horizontal plane (that is, the transmitting beam A and the transmitting beam B can be the first transmitting beam and the last transmitting beam in the vertical plane, respectively, or the transmitting beam A and the transmitting beam B can be the first transmitting beam and the last transmitting beam in the vertical plane, respectively) to obtain a more accurate range that the laser radar can detect in the vertical plane or in the horizontal plane.

[0094] Below we first Figure 2 The working principle of the test device provided by the present application for measuring the angle between two transmitting beams on the vertical plane of the laser radar is described in detail as an example. The working principle of the test device for measuring the angle between two transmitting beams on the horizontal plane of the laser radar is similar to the working principle of testing the angle between two transmitting beams on the vertical plane. Figure 6 The working principle of the test device provided in the present application for testing the angle between two emission beams on the horizontal plane of the laser radar is briefly introduced by taking an example. However, the present application is not limited thereto.

[0095] Figure 2 A schematic diagram of the test device provided in this application for testing the angle between two transmitting beams on the vertical plane of a laser radar.

[0096] For example Figure 2 As shown, the control component controls the connecting component to rotate around the horizontal axis of the connecting component. Specifically, when measuring the angle between the transmitting beam A (i.e., an example of the first transmitting beam) and the transmitting beam B (i.e., an example of the second transmitting beam) of the laser radar, the control component controls the connecting component to rotate from state A (i.e., an example of the first state) to state B (i.e., an example of the second state), wherein state A corresponds to the target and the transmitting beam of the laser radar is the transmitting beam A (or the laser radar measures the target through the transmitting beam A), and state B corresponds to the target and the transmitting beam of the laser radar is the transmitting beam B (or the laser radar measures the target through the transmitting beam B). The processing component is used to record the angle change value θ generated by the connecting component rotating from state A to state B around the horizontal axis (or the angle θ rotated from state A to state B around the horizontal axis), i.e., the first angle, and determine the angle between the transmitting beam A and the transmitting beam B according to the angle θ.

[0097] Optionally, the control component may specifically control the connecting component to be in state B after the connecting component rotates N times from state A.

[0098] In one embodiment, the control component controls the connecting component to rotate from state A along the direction of the transmitting beam A to the transmitting beam B by a second angle each time, and the connecting component is in state B after N rotations.

[0099] For example, when the connecting component is in state A, the control component controls the connecting component to first rotate a second angle along the direction of the transmitting beam A to the transmitting beam B, and the processing component determines whether the laser radar has detected the target. If the target is not detected, the control component continues to control the connecting component to rotate a second angle; if the connecting component detects the target after one rotation, the current state of the connecting component is state B, and the processing component controls the connecting component to rotate the second angle according to the number N times the control component controls the connecting component, and the processing component can determine that the angle θ rotated by the connecting component from state A to state B is N times the second angle, but the present application is not limited to this.

[0100] As an example and not limitation, the second angle is a preset value, or the second angle is related to a reference angular resolution, wherein the reference angular resolution may be a reference value of the angular resolution between the transmitting beam A and the transmitting beam B of the laser radar provided by the laser radar manufacturer.

[0101] The second angle may be a preset angle value less than the angular resolution of the laser radar, the second angle may be stored in the test device, the second angle may be read by the processing component, and the control component obtains the second angle from the processing component. Alternatively, the processing component may obtain a reference value of the angular resolution provided by the manufacturer of the laser radar, and obtain the reference angular resolution between the transmitting beam A and the transmitting beam B therefrom, and use the second angle less than the reference angular resolution as the angle of each rotation of the connecting component, and the control component obtains the second angle from the processing component.

[0102] Optionally, the processing component may determine the second angle according to a preset coefficient q, 0<q<1.

[0103] For example, after the processing component obtains the reference angular resolution δ between the transmitting beam A and the transmitting beam B, it determines that the second angle is q×δ. In a specific implementation, the second angle can be an approximate value of q×δ, such as the second angle is the rounded-up value of q×δ, or the rounded-down value, rounded to X decimal places, etc. This application does not limit this.

[0104] In another embodiment, the control component first controls the connecting component to rotate from state A along the direction of transmitting beam A to transmitting beam B at intervals of a third angle, wherein the third angle is less than the reference angular resolution between transmitting beam A and transmitting beam B. If the connecting component detects a target by beam B of the laser radar after the Lth rotation, in the L+1 rotation, the control component controls the connecting component to rotate the transmitting beam B to the direction of transmitting beam A by a third angle. In other words, the control component controls the connecting component to rotate (i.e., rotate in the opposite direction to the original direction) by a third angle. Starting from the L+2 rotation, the control component controls the connecting component to rotate at intervals of a fourth angle until the transmitting beam B of the laser radar detects the target. At this time, the state of the connecting component is the second state, wherein the connecting component rotates a total of N-(L+1) times at intervals of the fourth angle, and the fourth angle is less than the third angle.

[0105] In this embodiment, in order to save energy, the control component may first control the connection component to rotate at a larger interval angle (i.e., the third angle) that is smaller than the reference angular resolution to detect the approximate position of the transmission beam B (since the transmission beam B has a certain width, the target may not be the boundary of the transmission beam B). After obtaining the approximate position of the transmission beam B, the control component controls the connection component to retreat a third angle and continue to rotate toward the beam B at a smaller angular interval, that is, to approach the beam B at a smaller interval angle, so as to obtain the boundary of the beam B and measure the angular resolution between the transmission beam A and the transmission beam B more accurately.

[0106] In another embodiment, the control component controls the connecting component to rotate from state A each time at an angle related to the number of rotations, that is, the angle of the nth rotation is p of the reference angular resolution δ. n times until the laser radar detects the target. Where 0<p<1.

[0107] For example, The control component controls the first rotation of the connecting component If the laser radar detects the target, the rotation stops and the current state of the connecting component is state B; if the laser radar does not detect the target, the control component controls the connecting component to rotate in the second rotation. If the laser radar detects the target, the rotation stops. If the laser radar does not detect the target, the control component continues to control the connection component to rotate, and rotates in the nth rotation. Until the laser radar detects the target, the processing component determines state B, but the present application is not limited to this.

[0108] In this embodiment, the control component controls the connecting component to rotate at a decreasing angle, so that the boundary of the transmitting beam B can be obtained and the angular resolution between the transmitting beam A and the transmitting beam B can be measured more accurately.

[0109] In another embodiment, the control component controls the connection component to rotate each time in the first K rotations, which is related to the number of rotations. For example, the angle of the kth rotation in the first K rotations is p of the reference angular resolution δ. k times, k≤K. If the laser radar still fails to detect the target after K rotations, the control component controls the connection component to rotate at intervals of the fifth angle starting from K+1 rotations until the laser radar detects the target. The fifth angle is less than p K .

[0110] In this embodiment, the control component first controls the connection component to rotate at a decreasing angle. After reaching a certain rotation accuracy, it rotates at a fixed rotation interval angle to obtain the boundary of the transmitting beam B and measure the angular resolution between the transmitting beam A and the transmitting beam B more accurately.

[0111] In the above embodiment, the angle of the nth rotation can be p of the reference angular resolution δ. n The approximate value of the kth rotation is p times the reference angular resolution δ. k The approximate value of times may be rounded up, rounded down, rounded off, or approximated to a certain decimal place, and the present application does not limit this.

[0112] After the control component controls the connecting component to rotate from state A to state B, the processing component determines the angle θ that the connecting component rotates around the horizontal axis from state A to state B. The processing component determines the angular resolution between the transmitting beam A and the transmitting beam B based on the angle θ. In one embodiment, the angle θ can be used as the angular resolution between the transmitting beam A and the transmitting beam B.

[0113] Optionally, the processing component determines the angular resolution between the transmitting beam A and the transmitting beam B according to the angle θ, the distance a from the rotation center R of the connecting component to the projection of the target on the same horizontal plane, and the distance b from the laser radar center S to the rotation center R of the connecting component.

[0114] For example Figure 3 As shown, the distance between the rotation center R of the connecting component and the radar center R is b, and the minimum distance between the rotation center R of the connecting component and the projection of the target on the same horizontal plane is a. Figure 4 As shown in FIG. 1 , when the connecting component rotates from state A to state B (i.e., rotates through an angle θ), the center S of the laser radar rotates from s1 to s2. Therefore, the angular resolution between the transmitting beam A and the transmitting beam B is The following calculation relationship is satisfied:

[0115]

[0116] The processing unit can determine the angle between the transmitting beam A and the transmitting beam B according to the calculation relationship. However, the application is not limited thereto. Figure 5 is another schematic structural diagram of the test device provided in this application. The rotation center of the connecting component is on the vertical axis, and the processing component can determine the angular resolution between the transmitting beam A and the transmitting beam B in the above manner. However, the present application is not limited thereto. In a specific implementation, the rotation center of the connecting component can be consistent with the center of the laser radar, so that the angle θ that the connecting component rotates from state A to state B is the angular resolution between the transmitting beam A and the transmitting beam B. This application does not limit this.

[0117] Among them, the laser radar center can be obtained through measurement or determined according to the instructions provided by the laser radar manufacturer, but this application does not limit this.

[0118] Optionally, the processing component can measure the distance, such as the processing component can measure the minimum distance a between the rotation center R of the connecting component and the projection of the target on the same horizontal plane. Alternatively, the testing device further includes a distance measuring component for measuring the distance. For example, the minimum distance a between the rotation center R of the connecting component and the projection of the target on the same horizontal plane is measured. The distance measuring component can be a total station, but the present application is not limited thereto.

[0119] The control component described in the present application controls the connection component to rotate until the laser radar detects the target. For example, the connection component rotates from state A to state B. According to one of the above embodiments, the control component controls the connection component to rotate at a certain angle from the transmission beam A to the transmission beam B until the laser radar detects the target through the transmission beam B. Specifically, in one embodiment, rotating until the laser radar detects the target through the transmission beam B can mean that after one rotation, the laser radar detects the target for the first time through at least I points in the point cloud corresponding to the transmission beam B. In other words, measuring the target through the transmission beam B means measuring the target through at least I points in the point cloud corresponding to the transmission beam B.

[0120] For example, I=1, after each rotation, the laser radar and the transmitter corresponding to the transmission beam B transmit at least one frame of signal to form a horizontal point cloud line corresponding to the transmission beam B. After one rotation, if at least one point in the horizontal point cloud line corresponding to the transmission beam B measures the target, it means that after this rotation, the laser radar measures the target through the transmission beam B, but the present application is not limited thereto.

[0121] For another example, I>1, after each rotation, the laser radar and the transmitter corresponding to the transmission beam B transmit at least one frame of signal to form a horizontal point cloud line corresponding to the transmission beam B. Wherein, after one rotation, if less than I points in the horizontal point cloud line corresponding to the transmission beam B measure the target, the rotation continues until the laser radar measures the target through at least I points corresponding to the transmission beam B for the first time, indicating that after this rotation, the laser radar measures the target through the transmission beam B, but the present application is not limited thereto.

[0122] Optionally, I is a preset value, or I / X×100% is greater than or equal to a preset value C.

[0123] Optionally, when the laser radar detects the target through the transmitting beam B, the target can be measured by at most Y points in the point cloud corresponding to the transmitting beam B. When the laser radar measures the target through I points corresponding to the transmitting beam B, it means that the laser radar measures the target through the transmitting beam B, where I / Y×100% is greater than or equal to the preset value E.

[0124] For example, after the control component controls the connecting component to rotate each time, the laser radar transmits 1000 frames of signals, and each frame of signals forms 100 points. Then the point cloud of the transmitting beam B formed by the 1000 frames of signals includes 10 5 When the laser radar detects a target through the transmission beam B, at most 20 points can be used to measure the target in each frame of signal (the specific number of points that can be used to measure the target is related to the width of the target on the horizontal plane, which is not limited in this application). Therefore, at most 2×10 4 If the preset value E is 90%, then after one rotation, if the laser radar first measures 2×10 4 If more than 90% of the points in the laser radar detect the target, it means that the laser radar detects the target through the transmission beam B, but the present application is not limited to this. The above introduces the working principle of the test device provided by the present application for measuring the angular resolution between two transmission beams on the vertical plane of the laser radar. According to the above working principle, the test device can measure the angular resolution between each two adjacent transmission beams of the laser radar, so as to determine the angular resolution performance of the laser radar.

[0125] In one embodiment, the control component controls the connection component to rotate so that the laser radar can measure the target in sequence starting from the first transmitting beam to the last transmitting beam on the vertical plane.

[0126] Among them, the first transmitting beam and the last transmitting beam of the laser radar on the vertical plane can be the first transmitting beam and the last transmitting beam in the clockwise direction, or the first transmitting beam and the last transmitting beam in the counterclockwise direction.

[0127] The angular resolution between each two adjacent transmitting beams between the first transmitting beam and the last transmitting beam on the vertical plane of the laser radar can be measured by the testing device according to the implementation method described above.

[0128] Optionally, the test device can determine the first transmitting beam of the laser radar on the vertical plane in the following manner. The laser radar is fixed to the connecting component. When the test device starts to measure the first transmitting beam of the laser radar on the vertical plane (for example, transmitting beam A is the first transmitting beam on the vertical plane, and transmitting beam B is the second transmitting beam on the vertical plane), the control component controls the connecting component to rotate along the direction from transmitting beam B to transmitting beam A at intervals of the sixth angle until the laser radar is in the third state, which is the state of the connecting component relative to the state of the laser radar when it last measured the target, and the angle of the connecting component is greater than the seventh angle. Optionally, the sixth angle is less than the minimum reference angular resolution between two adjacent transmitting beams of the laser radar, and the seventh angle is greater than the maximum reference angular resolution between two adjacent transmitting beams of the laser radar.

[0129] For example, after the laser radar is fixed to the connecting component, the control component needs to find the first transmitting beam (i.e., transmitting beam A) on the vertical plane. The control component controls the connecting component to rotate along the direction from transmitting beam B to transmitting beam A at intervals of the sixth angle to find the first transmitting beam on the vertical plane, until the processing component determines that the connecting component is rotated to a state relative to the state of the connecting component when the laser radar last measured the target, and the angle of the connecting component is greater than the seventh angle. The seventh angle can be set to a larger angle, such as twice the maximum reference angle resolution of the laser radar, but the present application is not limited to this. The processing unit is able to determine that the target last measured by the above-mentioned laser radar was measured by the first transmitting beam, but the present application is not limited to this.

[0130] The processing component can obtain the reference angular resolution between each two adjacent transmitting beams of the laser radar provided by the laser radar manufacturer. The minimum value of the reference angular resolution between each two adjacent transmitting beams is the minimum reference angular resolution between two adjacent transmitting beams of the laser radar, and the maximum value of the reference angular resolution between each two adjacent transmitting beams is the maximum reference angular resolution between two adjacent transmitting beams of the laser radar.

[0131] Optionally, the control component controls the connecting component to rotate from the third state along the direction from the transmitting beam A to the transmitting beam B at intervals of a third angle until the laser radar measures the target after the Mth rotation. Optionally, the third angle may be a preset value, or the third angle may be less than a reference angular resolution between the transmitting beam A and the transmitting beam B, and M is a positive integer.

[0132] In one embodiment, the processing component can determine that the target measured by the laser radar after the Mth rotation is measured by transmitting the beam A, that is, the connecting component is in state A after the Mth rotation.

[0133] In another embodiment, after the connecting component rotates for the Mth time, the control component controls the connecting component to rotate by a third angle in the direction from the transmitting beam B to the transmitting beam A in the M+1th rotation. Afterwards, the control component controls the connecting component to rotate at intervals of a fourth angle until the laser radar detects the target, and the processing component determines that the connecting component is currently in state A, that is, the laser radar detects the target through the first transmitting beam (i.e., transmitting beam A) on the vertical plane. The fourth angle is smaller than the third angle.

[0134] After the test device measures the first transmitting beam on the vertical plane, the angular resolution between each two adjacent transmitting beams of the laser radar from the first transmitting beam to the last transmitting beam on the vertical plane can be measured according to the working method of the test device in the previous article for measuring the angular resolution between two adjacent transmitting beams of the laser radar, thereby measuring the angular resolution performance of the laser radar on the vertical plane.

[0135] When the testing device provided in the present application measures the field of view angle of the laser radar on a vertical plane, it may include but is not limited to the following two implementations.

[0136] In one embodiment, after the testing device measures the angular resolution between every two transmitting beams of the laser radar in the vertical plane, the processing component can sum the angular resolution between every two adjacent transmitting beams from the first transmitting beam to the last transmitting beam to obtain the field of view angle of the laser radar in the vertical plane.

[0137] In another embodiment, the testing device directly measures the angle between the first transmitting beam and the last transmitting beam of the laser radar on the vertical plane.

[0138] For example, the test device can obtain the working mode of the first transmitting beam of the laser radar through the above measurement, and determine the first transmitting beam and the last transmitting beam. The processing component records the two states of the connecting component when the laser radar measures the target through the first transmitting beam and the last transmitting beam in the vertical direction, and determines the angle of the connecting component from one state to another state, and determines the field of view angle of the laser radar on the vertical plane according to the angle, but the present application is not limited to this.

[0139] When the test device provided in the present application measures the angular resolution between two angles on the horizontal plane of the laser radar, the control component controls the connecting component to rotate around the vertical axis, for example Figure 6As shown, the control component controls the connection component to rotate around the vertical axis. When the laser radar detects the target through the transmission beam C, the connection component is in state C. When the laser radar detects the target through the transmission beam D, the connection component is in state D. The processing component determines the angular resolution between the transmission beam D and the transmission beam C according to the angle η that the connection component rotates from state C to state D. The working principle of the test device for measuring the angular resolution and field of view angle on the horizontal plane of the laser radar is similar to the working principle of measuring the angular resolution and field of view angle on the vertical plane in the previous text. You can refer to the description in the previous text. For the sake of brevity, it will not be repeated here.

[0140] In this application, when measuring the angular resolution between two emission beams on a vertical plane, the width of the test target object (i.e., the target) on the vertical plane needs to satisfy that the laser radar can only measure the target through one emission beam on the vertical plane at the same time. When measuring the angular resolution between two emission beams on a horizontal plane, the width of the test target object on the horizontal plane needs to satisfy that the laser radar can only measure the target through one emission beam on the horizontal plane at the same time.

[0141] Optionally, the test target object may be a reflective strip, and the reflection intensity of the reflective strip is a first value.

[0142] In a real-time mode, after one rotation, the laser radar's transmitting beam measures a reflection intensity of 255 for the first time, indicating that the laser radar has detected the target through the transmitting beam.

[0143] For example, the connecting component rotates from state A to state B. After one rotation, the laser radar measures the reflection intensity of 255 for the first time through the transmitting beam B, indicating that the laser radar detects the target through the transmitting beam B, but the present application is not limited to this.

[0144] In another embodiment, when the test target object is a reflective strip, the reflection intensity measured by a transmission beam of the laser radar is a second value, indicating that the laser radar measures the target through the transmission beam. The difference between the first value and the second value is less than or equal to the preset value.

[0145] For example, the first value is 255, and the difference between the first value and the second value is specified to be less than or equal to the preset value 40. When the test device measures the angle between the transmitting beam A and the transmitting beam B, the control component controls the connecting component to rotate from the transmitting beam A to the transmitting beam B each time, and the laser radar transmits 1000 frames of signals corresponding to the transmitting beam B, and each frame of the signal forms 100 points. Then, the point cloud of the transmitting beam B formed by the 1000 frames of signals includes 10 5When the laser radar detects a target through the transmission beam B, at most 20 points can be used to measure the target in each frame of signal (the specific number of points that can be used to measure the target is related to the width of the target on the horizontal plane, which is not limited in this application). Therefore, at most 2×10 4 The target is measured by 2×10 4 If more than 90% of the points have a reflection intensity between 255±40, it means that the laser radar detects the target through the transmitting beam B. Then, after one rotation, if the laser radar passes 2×10 4 If the reflection intensity measured at more than 90% of the points is between 255±40, it means that the laser radar detects the target through the transmission beam B, but the present application is not limited to this. Optionally, the reflective strip is placed on a plane target, and the plane target is parallel to the plane formed by the horizontal axis and the vertical axis of the connecting component. When the test device measures the angular resolution between two transmission beams on a vertical plane, the reflective strip is parallel to the horizontal axis of the connecting component. Alternatively, when the test device measures the angular resolution between two transmission beams on a horizontal plane, the reflective strip is parallel to the vertical axis of the connecting component.

[0146] In order to obtain more accurate angular resolution and field of view, it is necessary to ensure that there are no other objects with a reflection intensity of the first value in the measurement environment. Optionally, the width W of the reflective strip is specified to meet

[0147]

[0148] Where D is the minimum distance from the center S of the laser radar to the plane target, and α is the reference minimum angular resolution of the laser radar. The width of the reflective strip is specified to ensure that when measuring the angular resolution on the horizontal plane, the laser radar can only measure the target through one emitting beam on the horizontal plane at the same time, and / or, when measuring the angular resolution on the vertical plane, the laser radar can only measure the target through one emitting beam on the vertical plane at the same time.

[0149] The test device provided in this application can test and obtain relatively accurate angular resolution and field of view of the laser radar. It can also realize the automated measurement of the laser radar performance, reduce labor costs and time costs, and is suitable for R&D testing and production line testing.

[0150] Figure 7 This is a schematic flow chart of the multi-laser radar performance test method provided by the present application. The multi-line radar performance test method can be executed by a test device or a module configured in the test device (such as a chip). The following is an example of executing the test method by test transposition. However, the present application is not limited to this.

[0151] It should be noted that Figure 7The parts of the testing method provided in the illustrated embodiment that are identical or similar to the working principles of the testing device described above can be referred to the description in the above text, and will not be repeated here for the sake of brevity.

[0152] S710, the testing device controls the connecting component to rotate from state A to state B.

[0153] The test device can control the connection component to rotate around a vertical axis and around a horizontal axis, or in other words, the test device can control the connection component to rotate on a horizontal plane with a point on the vertical axis as the rotation center, and the test device can control the connection component to rotate on a vertical plane with a point on the horizontal axis as the rotation center. The laser radar can be fixed to the connection component and rotate with the connection component.

[0154] When the connecting component is in the state A, the transmitting beam of the laser radar corresponding to the target is the transmitting beam A, and when the connecting component is in the state B, the transmitting beam of the laser radar corresponding to the target is the transmitting beam B. That is to say, when the connecting component is in the state A, the laser radar can detect the target through the transmitting beam A, and when the connecting component is in the state B, the laser radar can detect the target through the transmitting beam B.

[0155] During the period when the connecting component rotates from the state A to the state B, the relative position between the target and the rotation center of the connecting component remains unchanged.

[0156] Optionally, the transmitting beam A and the transmitting beam B are two transmitting beams on a horizontal plane, and the connecting component rotates with a point on the vertical axis of the connecting component as the rotation center.

[0157] Optionally, the transmitting beam A and the transmitting beam B are two transmitting beams on a vertical plane, and the connecting component rotates with a point on the horizontal axis of the connecting component as the rotation center.

[0158] Optionally, the testing device specifically controls the connecting component to rotate from the state A to the state B after N rotations, wherein N is a positive integer.

[0159] In one embodiment, the connecting component rotates a second angle each time along the direction from the transmitting beam A to the transmitting beam B during the N rotations, wherein the second angle is a preset value, or the second angle is related to a reference angle resolution, which is a reference value of the angle between the transmitting beam A and the transmitting beam B.

[0160] Among them, the reference angular resolution can be a reference value of the angular resolution between the transmitting beam A and the transmitting beam B of the laser radar provided by the laser radar manufacturer.

[0161] In another embodiment, the testing device controls the connecting component to rotate from the state A along the direction from the transmitting beam A to the transmitting beam B at intervals of a third angle. If the target corresponds to the transmitting beam of the laser radar after the connecting component rotates for the Lth time, in the L+1th rotation, the testing device controls the connecting component to rotate along the direction from the transmitting beam B to the transmitting beam A by the third angle, wherein L is a positive integer less than N; when the testing device controls the connecting component to rotate along the direction from the transmitting beam A to the transmitting beam B at intervals of a fourth angle until the target corresponds to the transmitting beam B of the laser radar, the state of the connecting component is state B, wherein the connecting component rotates a total of N-(L+1) times at intervals of the fourth angle, and the fourth angle is less than the third angle.

[0162] In another embodiment, the angle of the nth rotation in the N rotations is p of the reference angular resolution. n , wherein the reference angular resolution is a reference value of the angle between the transmitting beam A and the transmitting beam B, n is a positive integer less than or equal to N, and 0<p<1.

[0163] Optionally, after the test device obtains the reference angular resolution δ between the transmitting beam A and the transmitting beam B, it determines that the second angle is q×δ. In a specific implementation, the second angle can be an approximate value of q×δ, such as the second angle is the rounded-up value of q×δ, or the rounded-down value, rounded to X decimal places, etc. This application does not limit this.

[0164] In another embodiment, the angle of the kth rotation in the first K rotations of the N rotations is p of the reference angular resolution. k , wherein K is a positive integer less than N, k is a positive integer less than or equal to K, and after the Kth rotation of the N rotations, the connecting component rotates at a fifth angle interval, and the fifth angle is less than or equal to p of the reference angular resolution K .

[0165] Optionally, the target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to an emission beam of the laser radar is a second value, it indicates that the emission beam of the laser radar corresponds to the target, and the difference between the second value and the first value is less than or equal to a preset value.

[0166] Optionally, the reflective strip is placed on a plane target, the plane target is parallel to the plane formed by the horizontal axis and the vertical axis of the connecting component, the emitting wire beam A and the emitting wire beam B are two emitting wire beams on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component. Alternatively, the emitting wire beam A and the emitting wire beam B are two emitting wire beams on a horizontal plane, and the reflective strip is parallel to the vertical axis of the connecting component.

[0167] Optionally, the width W of the reflective strip satisfies Wherein, D is the minimum distance from the center of the laser radar to the plane target, and α is the reference minimum angular resolution of the laser radar.

[0168] S720, the testing device determines the angle between the transmitting beam A and the transmitting beam B according to the first angle, where the first angle is the angle change value caused by the rotating component rotating from state A to state B.

[0169] In one implementation, the testing device determines the first angle as the angle between the transmitting beam A and the transmitting beam B.

[0170] In another embodiment, the testing device determines the angle between the transmitting beam A and the transmitting beam B according to the first angle θ, the minimum distance a between the projection of the rotation center and the target on the same horizontal plane, and the distance b from the center of the laser radar to the rotation center.

[0171] Optionally, the angle satisfy

[0172] Optionally, the test device can obtain the center of the laser radar through measurement, or the center of the laser radar can be determined through the instructions provided by the laser radar manufacturer, and the corresponding content can be input into the test device or read by the test device.

[0173] In one embodiment, the transmitting beam A and the transmitting beam B are two adjacent transmitting beams of the laser radar on a horizontal plane, and the testing device determines the horizontal angular resolution between the transmitting beam A and the transmitting beam B based on the first angle.

[0174] In another embodiment, the transmitting beam A and the transmitting beam B are two adjacent transmitting beams of the laser radar on a vertical plane, and the testing device determines the vertical angular resolution between the transmitting beam A and the transmitting beam B based on the first angle.

[0175] In another embodiment, the transmitting beam A and the transmitting beam B are respectively the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane, or the last transmitting beam and the first transmitting beam on the horizontal plane, and the first angle is used to determine the horizontal field of view angle of the laser radar.

[0176] In another embodiment, the transmitting beam A and the transmitting beam B are respectively the first transmitting beam and the last transmitting beam of the laser radar on the vertical plane, or the last transmitting beam and the first transmitting beam on the vertical plane, and the first angle is used to determine the vertical field of view angle of the laser radar.

[0177] Figure 7 The illustrated embodiment can be applied to the test device to test the angular resolution between every two adjacent transmission beams of the laser radar on the horizontal plane or the vertical plane.

[0178] In one embodiment, the testing device controls the rotation of the connecting component so that each transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane or the vertical plane corresponds to the target respectively, and the testing device determines the angle between each two adjacent transmitting beams of the laser radar based on the angle change value generated by the rotation of the connecting component.

[0179] Optionally, the test device can determine the first emission beam of the laser radar through the following four steps S1 to S4.

[0180] S1, the testing device controls the connecting component to rotate along the direction from the transmitting beam B to the transmitting beam A at intervals of the sixth angle, until the connecting component is in a third state, the third state is relative to the state of the connecting component when the transmitting beam of the laser radar corresponds to the target for the last time, the angle change value generated by the connecting component is greater than the seventh angle, wherein the sixth angle is less than the minimum reference angular resolution of two adjacent transmitting beams of the laser radar, and the seventh angle is the maximum reference angular resolution between two adjacent transmitting beams of the laser radar.

[0181] S2, the testing device controls the connecting component to rotate from the third state along the direction from the transmitting beam A to the transmitting beam B at intervals of a third angle.

[0182] S3, if the transmitting beam of the laser radar corresponds to the target after the connecting component rotates for the Mth time, in the M+1th rotation, the testing device controls the connecting component to rotate the third angle along the direction from the transmitting beam B to the transmitting beam A, wherein M is a positive integer.

[0183] S4, the testing device controls the connecting component to rotate along the direction from the transmitting beam A to the transmitting beam B at intervals of a fourth angle until the transmitting beam of the laser radar corresponds to the target, and the state of the connecting component is the state A, wherein the fourth angle is smaller than the third angle.

[0184] The direction from the transmitting beam A to the transmitting beam B is clockwise or counterclockwise.

[0185] After the testing device determines the first transmitting beam of the laser radar according to S701 to S704, the testing device controls the connecting component to rotate so that each transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on the horizontal or vertical plane corresponds to the target respectively, and the testing device determines the angle between each two adjacent transmitting beams of the laser radar according to the angle change value generated by the rotation of the connecting component.

[0186] In another embodiment, the test device controls the connection component to rotate so that each transmission beam between the third transmission beam and the first transmission beam of the laser radar on the horizontal plane corresponds to the target, and / or each transmission beam between the third transmission beam and the last transmission beam on the horizontal plane corresponds to the target, wherein the third transmission beam is a transmission beam between the first transmission beam and the last transmission beam on the horizontal plane. And, the test device determines the angular resolution between each two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connection component.

[0187] In another embodiment, the test device controls the connection component to rotate so that each transmission beam between the fourth transmission beam and the first transmission beam of the laser radar on the vertical plane corresponds to the target respectively, and / or each transmission beam between the third transmission beam and the last transmission beam on the vertical plane corresponds to the target respectively, wherein the fourth transmission beam is a transmission beam between the first transmission beam and the last transmission beam on the vertical plane. And, the test device determines the angular resolution between each two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connection component.

[0188] According to the above scheme, the test device can test and obtain more accurate angular resolution and field of view of the laser radar. It can also realize the automatic measurement of the laser radar performance, reduce labor costs and time costs, and is suitable for R&D testing and production line testing.

[0189] Figure 8 is a schematic block diagram of a test device provided in an embodiment of the present application. Figure 8 As shown, the testing device 900 may include a connecting component 810 and a controlling component 820 .

[0190] The test device 800 may correspond to the test device in the above method embodiment, or a chip configured in (or used for) the test device, etc. The connection components in the test device 800 may correspond to Figure 1 The connecting component 110 in the test device 100 is implemented Figure 1 The working principle or execution steps of the connection component 110 in the test device 100 shown in FIG. 1 , the control component 820 may correspond to Figure 1 The control unit 120 in the test device shown in the figure implements Figure 1 The working principle or execution steps of the processing component 120 in the test device shown. Optionally, the test device 900 may include a processing component 830. The processing component may correspond to the processing component of the test device 100 in the above text, and implement the working principle or execution steps of the processing component when testing the angle between two transmitting beams of the multi-line laser radar.

[0191] Optionally, the control component 820 may include the processing component 830 or the control component 820 and the processing component 830 are the same component. That is, the control component 820 can implement the function of the processing component 830, that is, determine the angle between the laser radar transmission beams according to the angle rotated by the connecting component 810. Alternatively, the processing component 830 can implement the function of the control component 820, such as controlling the rotation of the connecting component.

[0192] It should be understood that the test device 800 may correspond to the test device in the method 700 according to the embodiment of the present application, and the test device 800 may include a method for performing Figure 7 The units of the method performed by the test device in the method 700 are respectively for implementing Figure 7 The corresponding process of method 700 in FIG.

[0193] It should be understood that the specific process of each component executing the above corresponding steps has been described in detail in the above method embodiments and device embodiments, and will not be repeated here for the sake of brevity.

[0194] Fig. 9 It is a schematic diagram of the structure of the test equipment provided in the embodiment of the present application.

[0195] As shown in the figure, the test device 900 includes a connector 910 and a controller 920. Optionally, the test device 900 may also include a processor 930 and / or a memory. The connector 910 may correspond to Figure 1 or Figure 8 The connecting components in the test device shown in the figure implement the working principle or execution steps of the connecting components. The controller 920 may correspond to Figure 1 or Figure 8 The control component in the test device shown implements the working principle or execution steps of the control component. Optionally, the test device 900 may include a processing component 930. The processing component 930 may correspond to the processing component of the test device in the previous text, and implements the working principle or execution steps of the processing component when testing the angle between two transmission beams of the multi-line laser radar.

[0196] Optionally, the controller 920 can implement the function of the processor 930, that is, determine the angle between the laser radar transmission beams according to the angle of rotation of the connector 910. Alternatively, the processor 930 can implement the function of the controller 920, such as controlling the rotation of the connecting component.

[0197] It should be understood that the test device 900 may correspond to the test apparatus in the method 700 according to the embodiment of the present application, and the test device 900 may include a device for performing Figure 7 The components of the method performed by the test device in the method 700 are as follows. Furthermore, the components in the test device 900 and the above-mentioned other operations and / or functions are respectively for implementing Figure 7 The corresponding process of method 700 in FIG.

[0198] It should be understood that the specific process of each component executing the above corresponding steps has been described in detail in the above method embodiments and device embodiments, and will not be repeated here for the sake of brevity.

[0199] It should be understood that Fig. 9 The test apparatus 900 shown is capable of implementing Figure 7 The method embodiment shown involves the process of testing the device. The operations and / or functions of each module in the testing device 900 are respectively to implement the corresponding processes in the above method embodiment. For details, please refer to the description in the above method embodiment. To avoid repetition, the detailed description is appropriately omitted here.

[0200] The embodiment of the present application also provides a processor, including: an input circuit, an output circuit and a processing circuit. The processing circuit is used to transmit a control signal through the output circuit and receive a signal through the input circuit, so that the processor executes Figure 7 Test method shown.

[0201] In the specific implementation process, the processor can be one or more chips, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, a gate circuit, a trigger, and various logic circuits. The input signal received by the input circuit can be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter, and the input circuit and the output circuit can be the same circuit, which is used as an input circuit and an output circuit at different times. The embodiments of the present application do not limit the specific implementation methods of the processor and various circuits.

[0202] The present application also provides a control device, including a processor and a (communication) interface; the communication interface is used to obtain data to be processed, the processor is used to obtain processed data from the data to be processed, and the communication interface is also used to output the processed data to execute Figure 7 The method shown.

[0203] For example, the control device reads instructions for controlling the rotation of the connecting component through the processor, the communication interface is used to output instructions to the connecting component, the communication interface is also used to obtain the state of the connecting component, and the processor is used to determine the angle between the transmitting beams of the laser radar based on the state of the connecting component, but the present application is not limited to this.

[0204] It should be understood that the above-mentioned processing device can be one or more chips. For example, the processing device can be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0205] The present application also provides a test device, comprising: a logic circuit and a communication interface, wherein the communication interface is used to obtain data to be processed and / or output a control signal, and the logic circuit is used to process the data to be processed or obtain the processed data so that the test device executes the execution Figure 7 The method in the illustrated embodiment.

[0206] The present application also provides a computer program product, the computer program product comprising: a computer program code, when the computer program code is executed by one or more processors, causes a device including the processor to execute Figure 7 The method in the illustrated embodiment.

[0207] The present application also provides a computer-readable storage medium storing a program code, which, when executed by one or more processors, causes a device including the processor to execute Figure 7 The method in the illustrated embodiment.

[0208] The present application also provides a system, which includes at least two of the aforementioned testing device, reflective strips, and planar targets. Further optionally, the system may also include a laser radar.

[0209] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0210] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0211] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0212] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple 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.

[0213] In the embodiments of the present application, under the premise of no logical contradiction, the embodiments may reference each other, for example, the methods and / or terms between method embodiments may reference each other, for example, the functions and / or terms between device embodiments may reference each other, for example, the functions and / or terms between device embodiments and method embodiments may reference each other.

[0214] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A performance test method for a multi-line laser radar, characterized in that: include: Controlling the connecting component to rotate from a first state to a second state, the connecting component is used to fix the laser radar, wherein when the connecting component is in the first state, the transmitting beam of the laser radar corresponding to the target is the first transmitting beam, and when the connecting component is in the second state, the transmitting beam of the laser radar corresponding to the target is the second transmitting beam, and during the period when the connecting component rotates from the first state to the second state, the relative position between the target and the rotation center of the connecting component remains unchanged; determining an angle between the first transmitting line beam and the second transmitting line beam according to a first angle, wherein the first angle is an angle change value caused by the connection component rotating from the first state to the second state; The method further comprises: Controlling the connection component to rotate so that each transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on a horizontal plane or a vertical plane corresponds to the target respectively; Determine the angle between each two adjacent transmitting beams of the laser radar according to the angle change value generated by the rotation of the connecting component; The determining the angle between the first transmitting line beam and the second transmitting line beam according to the first angle comprises: The angle between the first transmitting beam and the second transmitting beam is determined according to the first angle θ, the minimum distance a between the projection of the rotation center and the target on the same horizontal plane, and the distance b from the center of the laser radar to the rotation center.

2. The method according to claim 1, characterized in that The first transmitting line beam and the second transmitting line beam are two transmitting line beams of the laser radar on a horizontal plane, and the connecting component rotates with a point on the vertical axis of the connecting component as the rotation center; or, The first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on a vertical plane, and the connecting component rotates with a point on the horizontal axis of the connecting component as the rotation center.

3. The method according to claim 1, characterized in that The control connecting component rotates from the first state to the second state, comprising: The connecting component is controlled to rotate from the first state to the second state after N rotations, wherein N is a positive integer.

4. The method according to claim 3, characterized in that During the N rotations, the connecting component rotates by a second angle each time from the first transmitting beam to the second transmitting beam, wherein the second angle is a preset value, or the second angle is related to a reference angle resolution, which is a reference value of the angle between the first transmitting beam and the second transmitting beam.

5. The method according to claim 3, characterized in that: The controlling the connecting component to rotate N times from the first state to the second state comprises: Controlling the connecting component to rotate from the first state along the direction from the first transmitting line beam to the second transmitting line beam at intervals of a third angle; If the target corresponds to the second transmitting beam of the laser radar after the connecting component rotates for the Lth time, in the L+1th rotation, the connecting component is controlled to rotate by the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein L is a positive integer less than N; When the connecting component is controlled to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the target corresponds to the second transmitting beam of the laser radar, the state of the connecting component is the second state, wherein the connecting component rotates a total of N-(L+1) times at intervals of the fourth angle, and the fourth angle is smaller than the third angle.

6. The method according to claim 3, characterized in that The angle of the nth rotation in the N rotations is p of the reference angular resolution. n times, wherein the reference angular resolution is a reference value of the angle between the first transmitting line beam and the second transmitting line beam, n is a positive integer less than or equal to N, and 0<p<1; or, The angle of the kth rotation in the first K rotations of the N rotations is p of the reference angular resolution. k times, wherein K is a positive integer less than N, k is a positive integer less than or equal to K, and after the Kth rotation of the N rotations, the connecting component rotates at a fifth angle interval, and the fifth angle is less than or equal to p of the reference angular resolution K times.

7. The method according to any one of claims 1 to 6, characterized in that The first transmitting line beam and the second transmitting line beam are two adjacent transmitting line beams of the laser radar on a horizontal plane, and the first angle is used to determine the horizontal angular resolution between the first transmitting line beam and the second transmitting line beam; or, The first transmitting line beam and the second transmitting line beam are two adjacent transmitting line beams of the laser radar on a vertical plane, and the first angle is used to determine the vertical angular resolution between the first transmitting line beam and the second transmitting line beam.

8. The method according to claim 1, characterized in that The first transmitting line beam is the first transmitting line beam of the laser radar on a horizontal plane or a vertical plane, and the method further includes: Control the connecting component to rotate along the direction from the second transmitting beam to the first transmitting beam at intervals of a sixth angle until the connecting component is in a third state, wherein the third state is a state of the connecting component relative to the last time the transmitting beam of the laser radar corresponds to the target, and the angle change value generated by the connecting component is greater than a seventh angle, wherein the sixth angle is less than the minimum reference angular resolution of two adjacent transmitting beams of the laser radar, and the seventh angle is the maximum reference angular resolution between two adjacent transmitting beams of the laser radar; Controlling the connecting component to rotate from the third state along the direction from the first transmitting line beam to the second transmitting line beam at intervals of a third angle; If the transmitting beam of the laser radar corresponds to the target after the connecting component rotates for the Mth time, in the M+1th rotation, the connecting component is controlled to rotate for the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein M is a positive integer; The connecting component is controlled to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the transmitting beam of the laser radar corresponds to the target, and the state of the connecting component is the first state, wherein the fourth angle is smaller than the third angle, The direction from the first transmitting beam to the second transmitting beam is clockwise or counterclockwise.

9. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Controlling the connection component to rotate so that each transmitting beam between the third transmitting beam and the first transmitting beam of the laser radar on the horizontal plane corresponds to the target respectively, and / or each transmitting beam between the third transmitting beam and the last transmitting beam on the horizontal plane corresponds to the target respectively, wherein the third transmitting beam is a transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane; Determine the angular resolution between each two adjacent transmitting beams of the laser radar according to the angle change value generated by the rotation of the connecting component; or, Control the connection component to rotate so that each transmitting line beam between the fourth transmitting line beam and the first transmitting line beam of the laser radar on the vertical plane corresponds to the target respectively, and / or each transmitting line beam between the third transmitting line beam and the last transmitting line beam on the vertical plane corresponds to the target respectively, wherein the fourth transmitting line beam is a transmitting line beam between the first transmitting line beam and the last transmitting line beam of the laser radar on the vertical plane; The angular resolution between each two adjacent transmitting beams of the laser radar is determined according to the angle change value generated by the rotation of the connecting component.

10. The method according to any one of claims 1 to 6, characterized in that The first transmitting line beam and the second transmitting line beam are respectively the first transmitting line beam and the last transmitting line beam of the laser radar on the horizontal plane, or the last transmitting line beam and the first transmitting line beam on the horizontal plane, and the first angle is used to determine the horizontal field of view angle of the laser radar. or, The first transmitting beam and the second transmitting beam are respectively the first transmitting beam and the last transmitting beam of the laser radar on a vertical plane, or the last transmitting beam and the first transmitting beam on a vertical plane, and the first angle is used to determine the vertical field of view angle of the laser radar.

11. The method according to claim 1, characterized in that: The angle satisfy 12. The method according to any one of claims 1 to 6, characterized in that The target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to an emission beam of the laser radar is a second value, it indicates that the emission beam of the laser radar corresponds to the target, and the difference between the second value and the first value is less than or equal to a preset value.

13. The method according to claim 12, characterized in that The reflective strip is placed on a planar target, and the planar target is parallel to a plane formed by a horizontal axis and a vertical axis of the connecting component. The first transmitting line beam and the second transmitting line beam are two transmitting line beams of the laser radar on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component; or, The first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on a horizontal plane, and the reflective strip is parallel to the vertical axis of the connecting component.

14. The method according to claim 13, characterized in that The width W of the reflective strip satisfies Wherein, D is the minimum distance from the center of the laser radar to the plane target, and α is the reference minimum angular resolution of the laser radar.

15. A performance test device for a multi-line laser radar, characterized in that: The testing device comprises a connecting component, a control component and a processing component. The connecting component is used to fix the laser radar; The control component is used to control the connection component to rotate from a first state to a second state, wherein when the connection component is in the first state, the transmission beam of the laser radar corresponding to the target is a first transmission beam, and when the connection component is in the second state, the transmission beam of the laser radar corresponding to the target is a second transmission beam, and during the rotation of the connection component from the first state to the second state, the relative position between the target and the rotation center of the connection component remains unchanged; The processing component is used to determine the angle between the first transmitting line beam and the second transmitting line beam according to a first angle, wherein the first angle is an angle change value caused by the connection component rotating from the first state to the second state; The control component is also used to control the rotation of the connecting component so that each transmitting beam between the first transmitting beam and the last transmitting beam of the laser radar on the horizontal plane or the vertical plane corresponds to the target respectively; The processing component is also used to determine the angle between each two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting component; The processing component is specifically used to determine the angle between the first transmission beam and the second transmission beam according to the first angle θ, the minimum distance a between the projection of the rotation center and the target on the same horizontal plane, and the distance b from the center of the laser radar to the rotation center.

16. The device according to claim 15, characterized in that The first transmitting line beam and the second transmitting line beam are two transmitting line beams of the laser radar on a horizontal plane, and the connecting component rotates with a point on the vertical axis of the connecting component as the rotation center; or, The first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on a vertical plane, and the connecting component rotates with a point on the horizontal axis of the connecting component as the rotation center.

17. The device according to claim 15, characterized in that The control component is specifically used to control the connecting component to rotate from the first state to the second state after N rotations, wherein N is a positive integer.

18. The device according to claim 17, characterized in that The control component is further used to obtain a second angle, wherein the second angle is a preset value, or the second angle is related to a reference angle resolution, and the reference angle resolution is a reference value of an angle between the first transmitting line beam and the second transmitting line beam; The control component is specifically used to control the connecting component to rotate by the second angle each time along the direction from the first transmitting beam to the second transmitting beam in each of the N rotations.

19. The device according to claim 18, characterized in that The controlling the connecting component to rotate the second angle each time in the N rotations includes: Controlling the connecting component to rotate from the first state along the direction from the first transmitting line beam to the second transmitting line beam at intervals of a third angle; If the target corresponds to the second transmitting beam of the laser radar after the connecting component rotates for the Lth time, in the L+1th rotation, the connecting component is controlled to rotate by the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein L is a positive integer less than N; When the connecting component is controlled to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the target corresponds to the transmitting beam of the laser radar, the state of the connecting component is the second state, wherein the connecting component rotates a total of N-(L+1) times at intervals of the fourth angle, and the fourth angle is smaller than the third angle.

20. The device according to claim 17, characterized in that The control component is further used to obtain a reference angular resolution value, where the reference angular resolution is a reference value of an angle between the first transmitting line beam and the second transmitting line beam; The angle of the nth rotation in the N rotations is p of the reference angular resolution. n times, n is a positive integer less than or equal to N, 0<p<1; or, The angle of the kth rotation in the first K rotations of the N rotations is p of the reference angular resolution. k times, wherein K is a positive integer less than N, k is a positive integer less than or equal to K, and after the Kth rotation of the N rotations, the control component controls the connecting component to rotate at a fifth angle interval, and the fifth angle is less than or equal to p of the reference angular resolution K times.

21. The device according to any one of claims 15 to 20, characterized in that The first transmitting line beam and the second transmitting line beam are two adjacent transmitting line beams of the laser radar on a horizontal plane, and the processing component is specifically used to determine the horizontal angular resolution between the first transmitting line beam and the second transmitting line beam according to the first angle; or, The first transmitting line beam and the second transmitting line beam are two adjacent transmitting line beams of the laser radar on a vertical plane, and the processing component is specifically used to determine the vertical angular resolution between the first transmitting line beam and the second transmitting line beam according to the first angle.

22. The device according to claim 15, characterized in that The first transmitting line beam is the first transmitting line beam of the laser radar on a horizontal plane or a vertical plane, and the control component is further used for: Control the connecting component to rotate along the direction from the second transmitting beam to the first transmitting beam at intervals of a sixth angle until the connecting component is in a third state, wherein the third state is relative to the state of the connecting component when the transmitting beam of the laser radar corresponds to the target the most recent time, and the angle change value generated by the connecting component is greater than a seventh angle, wherein the sixth angle is less than the minimum reference angular resolution of two adjacent transmitting beams of the laser radar, and the seventh angle is the maximum reference angular resolution between two adjacent transmitting beams of the laser radar; Controlling the connecting component to rotate from the third state along the direction from the first transmitting line beam to the second transmitting line beam at intervals of a third angle; If the transmitting beam of the laser radar corresponds to the target after the connecting component rotates for the Mth time, in the M+1th rotation, the connecting component is controlled to rotate for the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein M is a positive integer; The connecting component is controlled to rotate along the direction from the first transmitting beam to the second transmitting beam at intervals of a fourth angle until the transmitting beam of the laser radar corresponds to the target, and the state of the connecting component is the first state, wherein the fourth angle is smaller than the third angle, The direction from the first transmitting beam to the second transmitting beam is clockwise or counterclockwise.

23. The device according to any one of claims 15 to 20, characterized in that The control component is also used to control the connection component to rotate so that each transmission beam between the third transmission beam and the first transmission beam of the laser radar on the horizontal plane corresponds to the target, and / or each transmission beam between the third transmission beam and the last transmission beam on the horizontal plane corresponds to the target, wherein the third transmission beam is a transmission beam between the first transmission beam and the last transmission beam of the laser radar on the horizontal plane; The processing component is also used to determine the angular resolution between each two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting component; or, The control component is also used to control the connection component to rotate so that each transmission line beam between the fourth transmission line beam and the first transmission line beam of the laser radar on the vertical plane corresponds to the target respectively, and / or each transmission line beam between the third transmission line beam and the last transmission line beam on the vertical plane corresponds to the target respectively, wherein the fourth transmission line beam is a transmission line beam between the first transmission line beam and the last transmission line beam of the laser radar on the vertical plane; The processing component is also used to determine the angular resolution between every two adjacent transmitting beams of the laser radar according to the angle change value generated by the rotation of the connecting component.

24. The device according to any one of claims 15 to 20, characterized in that The first transmitting line beam and the second transmitting line beam are respectively the first transmitting line beam and the last transmitting line beam of the laser radar on the horizontal plane, or the last transmitting line beam and the first transmitting line beam on the horizontal plane, and the first angle is used to determine the horizontal field of view angle of the laser radar. or, The first transmitting beam and the second transmitting beam are respectively the first transmitting beam and the last transmitting beam of the laser radar on a vertical plane, or the last transmitting beam and the first transmitting beam on a vertical plane, and the first angle is used to determine the vertical field of view angle of the laser radar.

25. The device according to claim 15, characterized in that The angle satisfy 26. The device according to any one of claims 15 to 20, characterized in that The target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to an emission beam of the laser radar is a second value, it indicates that an emission beam of the laser radar corresponds to the target, and the difference between the second value and the first value is less than or equal to a preset value.

27. The device according to claim 26, characterized in that The reflective strip is placed on a planar target, and the planar target is parallel to a plane formed by a horizontal axis and a vertical axis of the connecting component. The first transmitting line beam and the second transmitting line beam are two transmitting line beams of the laser radar on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component; or, The first transmitting beam and the second transmitting beam are two transmitting beams of the laser radar on a horizontal plane, and the reflective strip is parallel to the vertical axis of the connecting component.

28. The device according to claim 27, characterized in that The width W of the reflective strip satisfies Wherein, D is the minimum distance from the center of the laser radar to the plane target, and α is the reference minimum angular resolution of the laser radar.

29. A control device, characterized in that: including a processor and a communication interface; The communication interface is used to acquire data to be processed, the processor is used to obtain processed data from the data to be processed, and the communication interface is also used to output the processed data so that the control device executes the method described in any one of claims 1 to 14.

30. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 14 is implemented.

31. A chip, characterized in that: It includes input circuit, output circuit and processing circuit; The processing circuit is used to receive a signal through the input circuit and transmit a signal through the output circuit, so that the chip executes the method according to any one of claims 1 to 14.

Images