Test system and method for lidar sensor

Abstract

The invention relates to a test system (1) for a lidar sensor (10), comprising a trigger detector (12) and a signal generator (14) connected to the trigger detector (12), wherein the signal generating unit (16) comprises a display surface (16a) having a predetermined number of pixels (16b), and wherein the signal generator (14) is configured to group pixels (16b) of the same intensity (I) into clusters (18). The invention also relates to a method for testing a lidar sensor.

Description

Technical Field

[0001] The present invention relates to a testing system for a laser radar sensor and a method for testing a laser radar sensor. Background Art

[0002] LiDAR (light detection and ranging) optical measurement systems are used, among other applications, for optical distance and velocity measurement. LiDAR systems emit light and measure the time it takes for the light to reflect off an object and return to the system. The known speed of light provides the distance from the object to the LiDAR system.

[0003] Examples of application areas for lidar light measuring systems are mobile instruments for optical distance measurement and lidar light measuring systems for automotive applications, ie driver assistance systems and autonomous driving, as well as lidar light measuring systems for aerospace applications.

[0004] DE 102007057372 A1 discloses a test system for a lidar sensor, which has a trigger unit, which drives a signal generator in response to receiving a signal from the lidar sensor to be tested, so that a predetermined synthetically generated or recorded optical signal is output by the signal generation unit of the signal generator.

[0005] DE 102017110790 A1 discloses a simulation device for a lidar light measuring system having a lidar light receiving sensor, wherein a light emitter is present in the plane of the lidar light receiving sensor, wherein a further light emitter is arranged next to the light emitter in the plane of the lidar light receiving sensor, and wherein a computer monitors the activation of the lidar light receiving sensor and the time interval for outputting a light signal via the light emitter and / or the further light emitter, and the computer records the signal input of the light signal from the light emitter or the further light emitter.

[0006] The problem with testing LiDAR sensors using signal generators is that the pixel resolution of their signal generation units is typically very low. Therefore, complex scenes with a large number of objects at varying distances and intensities cannot be simulated faithfully and in detail. Summary of the Invention

[0007] Therefore, the object of the present invention is to improve existing devices and methods for testing lidar sensors in such a way that they enable simulations that are faithful to the details while making efficient use of hardware resources.

[0008] According to the invention, this object is achieved by a test system according to the invention for a lidar sensor.

[0009] According to the invention, this object is also achieved by a method according to the invention for testing a lidar sensor.

[0010] The present invention relates to a test system for a laser radar sensor, which includes a trigger detector and a signal generator connected to the trigger detector.

[0011] The trigger detector is used to control the signal generator in response to receiving a trigger signal of the lidar sensor to be tested, so that a predetermined synthetically generated optical signal, in particular a synthetically generated reflection of the trigger signal, is output through the signal generating unit of the signal generator.

[0012] The signal generating unit has a display surface having a predetermined number of pixels. The signal generator is further configured to group pixels of the same intensity into clusters.

[0013] The present invention also relates to a method for testing a laser radar sensor, which includes providing a trigger detector and a signal generator connected to the trigger detector.

[0014] The method further comprises providing a display surface of a signal generating unit of the signal generator, the display surface having a predetermined number of pixels.

[0015] In addition, the method includes: driving the signal generator by the trigger detector in response to receiving a signal from the lidar sensor to be tested, so that a predetermined synthetically generated optical signal, in particular a synthetically generated reflection of the lidar sensor signal, is output through the signal generation unit of the signal generator.

[0016] The method further includes: aggregating pixels with the same intensity into clusters by the signal generator.

[0017] The concept of the present invention is to dynamically assign the over-the-air (OTA) LiDAR pixels of a display surface, i.e., the transmitters or light-emitting units of an OTA test system, to different intensities, i.e., to groups of different intensities. This allows for the connection of more pixels per control chip than the number of available intensity elements, i.e., the number of available digital-to-analog converters.

[0018] The number of intensity elements, and in particular their control, is a limiting factor in implementing a LiDAR aerial test system. By dynamically clustering LiDAR aerial pixels into groups of equal intensity, the overall system integration density can be significantly improved while saving costs.

[0019] Areas with higher resolution requirements and many objects to be rendered can be rendered with many pixels individually controllable (e.g., road edges with cars, trees, and people). Available intensity resources can thus be dynamically allocated to these areas.

[0020] Areas with low resolution requirements are then presented at a reduced resolution, such as larger areas with identical reflective properties, such as the structure of a truck trailer, or reflections from distant objects whose intensities cannot be distinguished by the sensor due to the low number of photons reaching the sensor. The resolution requirement can be adjusted to each scene with sufficient variability, meaning the lidar pixels of the test system can be dynamically aggregated.

[0021] Thus, a cluster or pixel aggregation cluster (PAC) is combined into a partial image region. In this partial region, a uniform intensity can be generated for pixels at the same distance, while the pixel intensity can be changed for other distances within the scene (for example, for partially obscured objects that are located one after the other). In addition, each pixel in the partial region can be selectively turned off for each distance in order to ensure different object shapes at different distances.

[0022] Other embodiments of the present invention are technical solutions described below with reference to the accompanying drawings.

[0023] According to a preferred further improvement scheme of the present invention, it is stipulated that: the signal generator has multiple circuit boards, and multiple digital-analog converters are respectively arranged on the multiple circuit boards, wherein each of the multiple digital-analog converters is connected to the input ends of multiple crosspoint switches.

[0024] By connecting the digital-analog converters of the corresponding printed circuit boards to the circuitry of the crosspoint switches, each control chip can advantageously connect more pixels than the number of intensity elements, ie, digital-analog converters, present.

[0025] According to another preferred further development of the present invention, it is provided that the respective outputs of the plurality of crosspoint switches are each connected to a light-emitting element driver, which drives a light-emitting element, in particular a light-emitting diode or a laser diode, of the signal generating unit.

[0026] Thus, each crosspoint switch can advantageously control a plurality of light-emitting element drivers.

[0027] According to another preferred further development of the present invention, it is provided that the corresponding light-emitting element of the signal generating unit of each of the plurality of circuit boards is connected via an optical waveguide to a pixel of the display surface associated with the corresponding light-emitting element.

[0028] Therefore, the light-emitting element can advantageously be arranged on the circuit board as close as possible to the light-emitting element driver.

[0029] According to another preferred further development of the present invention, it is provided that the number of light-emitting elements per circuit board is greater than the number of digital-analog converters, wherein a crosspoint switch arranged between the digital-analog converter and the light-emitting element drivers of the light-emitting elements is constructed to provide a dynamically adjustable coordinate connection between the digital-analog converter and the light-emitting elements.

[0030] In this way, multiple pixels can be aggregated into clusters on the display surface.

[0031] According to another preferred further development of the invention, it is provided that the plurality of digital-analog converters arranged on the respective printed circuit board can be controlled by an integrated circuit, in particular an FPGA, which is arranged on or outside the respective printed circuit board.

[0032] The FPGA thus advantageously controls the grouping of pixels into clusters on the display surface of the signal generation unit.

[0033] According to another preferred further development of the present invention, it is provided that the integrated circuit, in particular the FPGA, is connected to the input of each digital-analog converter of the plurality of digital-analog converters.

[0034] As a result, all digital-analog converters of the corresponding printed circuit board can advantageously be controlled individually via the FPGA.

[0035] According to another preferred further development of the present invention, it is provided that the cluster formed by pixels of equal intensity is independent of the shape and / or time delay of the object presented on the display surface within the measurement cycle of the lidar sensor to be tested, and wherein the pixels formed into the cluster can be equipped with light-emitting elements of multiple circuit boards.

[0036] As a result, the clusters formed can be flexibly adapted to the objects presented on the display surface.

[0037] According to another preferred development of the invention, it is provided that each input of the crosspoint switch can be connected to a plurality of outputs of the crosspoint switch, wherein each digital-analog converter is provided for driving each light-emitting element.

[0038] As a result, a plurality of light-emitting elements or associated pixels can advantageously be grouped into clusters by means of corresponding digital-analog converters.

[0039] According to another preferred further development of the invention, it is provided that each cluster generated on the display surface of the signal generating unit can be adjusted differently with respect to the size of the cluster and the positioning of the cluster on the display surface of the signal generating unit, depending on the measurement cycle of the lidar sensor to be tested.

[0040] The clusters presented on the display surface can therefore be adapted to the corresponding changes in the simulated scene from frame to frame.

[0041] According to another preferred further development of the invention, it is provided that the objects presented on the display surface of the signal-generating unit can be divided into a plurality of clusters, and wherein the display surface of the signal-generating unit has a surface that is curved with a predetermined radius.

[0042] In this case, PAC is essentially independent of the object shape. Rather, depending on the resolution requirements, pixels with the same intensity at the same distance are combined. A PAC can also combine multiple groups that are distinguished, for example, by different distances. Distance-wise differentiation between these groups is achieved by switching the pixels on / off.

[0043] The curvature of the display surface advantageously enables an improved object simulation or an object simulation that corresponds to a real scene.

[0044] According to another preferred further development of the present invention, it is provided that overlapping objects with different intensities and present one after another that are presented on the display surface of the signal generating unit within a measuring cycle can be clustered, wherein the distances between these objects can be represented by switching off pixels for a predetermined duration.

[0045] Thus, objects that are located one after another can advantageously be presented on a two-dimensional display surface.

[0046] According to another preferred further development of the invention, it is provided that the pixel resolution of the display surface of the signal generating unit and / or the number of intensity levels that can be presented corresponds at least to the pixel resolution of the lidar sensor and / or the number of intensity levels that can be detected by the lidar sensor.

[0047] The scene to be simulated can thus be presented on the display surface with a pixel resolution and / or a presentable intensity gradation fully supported by the lidar sensor.

[0048] Features of the test system for a lidar sensor described herein are equally applicable to the method for testing a lidar sensor, and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] For a better understanding of the present invention and its advantages, reference is now made to the following description taken in conjunction with the accompanying drawings.

[0050] The invention will be explained in more detail below with the aid of exemplary embodiments, which are shown in the schematic drawings of the accompanying drawings.

[0051] Figure 1 A schematic diagram of a test system for a laser radar sensor according to a preferred embodiment of the present invention is shown;

[0052] Figure 2 A schematic diagram showing a partial section of a test system for a lidar sensor according to a preferred embodiment of the present invention is shown;

[0053] Figure 3 A schematic diagram showing a display surface of a signal generating unit according to a preferred embodiment of the present invention; and

[0054] Figure 4 A flow chart of a method for testing a lidar sensor according to a preferred embodiment of the present invention is shown.

[0055] Unless otherwise specified, the same reference numerals denote the same elements throughout the drawings. DETAILED DESCRIPTION

[0056] exist Figure 1 The test system shown in the figure includes a trigger detector 12 and a signal generator 14 connected to the trigger detector 12, wherein the trigger detector 12 drives the signal generator 14 in response to receiving a trigger signal TS of the lidar sensor 10 to be tested, so that a predetermined synthetically generated optical signal RTS, in particular a synthetically generated reflection of the trigger signal RTS, is output through the signal generation unit 16 of the signal generator 14.

[0057] The laser radar sensor 12 is configured as a flash laser radar. Alternatively, the laser radar sensor 12 may be configured as a mechanical scanning laser radar, for example.

[0058] The signal generating unit 16 has a display surface 16a with a predetermined number of pixels 16b. The signal generator 14 is also configured to group pixels 16b of the same intensity I into clusters 18. The synthesized scene is fed into the signal generator 14 via a computing device, such as a personal computer (PC).

[0059] The signal generator 14 includes a plurality of circuit boards 20a, 20b, and 20c, each of which is provided with a plurality of digital-to-analog converters 22a-22n, 24a-n, and 26a-n. Each of the plurality of digital-to-analog converters 22a-22n, 24a-n, and 26a-n is connected to an input of a plurality of crosspoint switches 28a-n, 30a-n, and 32a-n.

[0060] The respective outputs of the plurality of crosspoint switches 28a-n, 30a-n, 32a-n are connected to a light-emitting element driver 34a-z, 35a, 39a, respectively, which drives light-emitting elements 36a-z, 37a, 41a of the signal generation unit 16, in particular light-emitting diodes or laser diodes.

[0061] The corresponding light-emitting elements 36a-z, 37a, 41a of the signal generating unit 16 of each of the multiple circuit boards 20a, 20b, 20c are connected to the pixels 16b of the display surface 16a associated with the corresponding light-emitting elements 36a-z, 37a, 41a via optical waveguides 38a, 38b, 38c, 38d.

[0062] Figure 2 A schematic diagram of a subsection of a test system for a lidar sensor according to a preferred embodiment of the present invention is shown.

[0063] The number of light-emitting elements 36a-z on circuit board 20a is greater than the number of digital-to-analog converters 22a-22n. Crosspoint switches 28a-n, disposed between digital-to-analog converters 22a-22n and light-emitting element drivers 34a-z for light-emitting elements 36a-z, are further configured to provide dynamically adjustable coordinate connections between digital-to-analog converters 22a-22n and light-emitting elements 36a-z.

[0064] The plurality of digital-analog converters 22 a - 22 n arranged on the printed circuit board 20 a can be driven by an integrated circuit 40 a arranged outside the printed circuit board 20 a , in particular a field programmable gate array (FPGA).

[0065] Alternatively, the plurality of digital-analog converters 22 a - 22 n provided on the circuit board 20 a may be controlled by, for example, an integrated circuit 40 a provided on the circuit board 20 a , in particular an FPGA.

[0066] In this case, each input of a crosspoint switch 28 a - n can be connected to a plurality of outputs of this crosspoint switch 28 a - n.

[0067] Each digital-to-analog converter 22a-22n is configured to drive each light-emitting element 36a-z.

[0068] The control of which pixels should be activated at what time and with what intensity is implemented in an integrated circuit, in particular an FPGA. Here, the corresponding digital signals of the ambient simulation generated by the computing device are first converted into analog signals and then used as input signals for the light-emitting element drivers 34a-z.

[0069] The invention is based on the recognition that it is not necessary to use as many different intensity values ​​as there are sensor pixels. The purpose of the pixel wall or display surface 16 a is to simulate the point cloud that the lidar sensor 10 sees in real use.

[0070] Considering a point cloud as the simulation result to be achieved, it was found that only a limited number of different intensity values ​​must be represented.

[0071] A cluster 18 or pixel cluster is defined by the light emitting elements 36a-z belonging to an intensity cluster.

[0072] From a global perspective, a plurality of digital-analog converters 22a-22n can therefore also provide the same intensity value for each cluster 18. This means that theoretically the entire display surface can then be one large cluster 18.

[0073] However, the cluster 18 does not necessarily have to be related to the shape of the object. The associated light elements can be located at any position; they only have to have the same intensity value at the same point in time when the scene is fed in.

[0074] Signal generation unit 16 is designed so that the intensity values ​​of the clustered pixels can vary depending on the distance. A pixel enable signal is provided to sub-select pixels belonging to a certain distance. Clusters 18 are redefined depending on the scene or frame of the environmental simulation.

[0075] At a point in time, ie at a distance from the sensor, there are only as many intensities as there are channels of the digital-analog converter, but these intensities can be chosen arbitrarily. Even if only a small number of intensities are available, these intensities are usually sufficient.

[0076] Advantageously, certain areas can have a higher resolution, ie, more intensity per pixel area, while other areas have a lower resolution. This configuration can be varied dynamically from scene to scene.

[0077] Figure 3 A schematic diagram of a display surface of a signal generating unit according to a preferred embodiment of the present invention is shown.

[0078] The cluster 18 of pixels 16b of the same intensity I is independent of the shape and / or time delay of the objects 42a, 42b, 42c presented on the display surface 16a during a measurement cycle of the lidar sensor 10 to be tested.

[0079] Furthermore, pixels 16b grouped into clusters 18 can be assigned to light-emitting elements 36a-z, 37a, 41a of multiple circuit boards 20a, 20b, 20c. Each cluster 18 generated on display surface 16a of signal generating unit 16 can be adjusted in terms of its size and positioning on display surface 16a of signal generating unit 16, depending on the measurement cycle of the lidar sensor 10 being tested.

[0080] The objects 42 a , 42 b , 42 c presented on the display surface 16 a of the signal generating unit 16 can be divided into a plurality of clusters 18 .

[0081] The display surface 16a of the signal generating unit 16 preferably has a flat surface. Alternatively, the display surface 16a of the signal generating unit 16 may have a surface curved with a predetermined radius.

[0082] Overlapping objects 42a, 42b, 42c that are displayed on the display surface 16a of the signal generating unit 16 within a measurement cycle and have different intensities I and are located one after the other can be grouped together to form a cluster 18. The distances between these objects 42a, 42b, 42c can be represented by switching off pixels 16b for a predetermined duration.

[0083] In this case, the pixel resolution of display surface 16 a of signal generating unit 16 and / or the number of representable intensity levels corresponds at least to the pixel resolution of lidar sensor 10 and / or the number of detectable intensity levels thereof.

[0084] Different intensities can be generated depending on the distance or cluster 18. The pixel area of ​​display surface 16a that can be controlled via the circuit board is represented by a black frame. The operating principle can be understood by taking a pedestrian as an object in the right front image area and superimposing this object on multiple circuit boards as an example.

[0085] The head has medium-high intensity, the body has high intensity, the legs have medium intensity, and the hands have low intensity. The intensity is related to the reflectivity of the target surface and the distance from the sensor.

[0086] The truck can also be well rendered depending on the position within the image area, in that its upper glazed driver's cab can be separated from the rest of the truck, which has a metallic, highly reflective quality.

[0087] Here, the lower part of the wagon is a cluster 18 of equal strength and extends over two circuit boards.

[0088] The depiction of the simulated distance of an object is depicted by the time delay of the signal that emits the pixel. Thus, objects with different distances can appear in a scene, which are represented by the pixel wall 16a at different points in time.

[0089] The intensity value can also vary between different distances, or the pixel can be switched off by an enable signal. Due to the long switching times of the crosspoint switches 28a-n, 30a-n, 32a-n, a change in cluster 18 can only be performed after each measurement cycle of the sensor 10. Therefore, within these limitations, objects that are located one after the other at different distances from the sensor 10 can also be represented by the same pixel 16b.

[0090] Figure 4 A flow chart of a method for testing a lidar sensor according to a preferred embodiment of the present invention is shown.

[0091] The method includes providing S1 a trigger detector 12 and a signal generator 14 connected to the trigger detector 12 .

[0092] The method further comprises providing a display surface 16 a of the signal generating unit 16 of the S2 signal generator 14 , the display surface having a predetermined number of pixels 16 b .

[0093] The method also includes: triggering the detector 12 to drive the S3 signal generator 14 in response to receiving a signal from the lidar sensor 10 to be tested, so that a predetermined optical signal synthetically generated by a computing device, in particular a synthetically generated reflection of the lidar sensor signal, is output through the signal generation unit 16 of the signal generator 14.

[0094] The method further comprises: aggregating S4 pixels 16 b of the same intensity I into clusters 18 by the signal generator 14 .

[0095] Although specific embodiments are illustrated and described herein, it will be appreciated by those skilled in the art that there are multiple alternative and / or equivalent implementations. It should be noted that the exemplary embodiments or exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configurations in any way.

[0096] More specifically, the foregoing overview and detailed description provide those skilled in the art with a convenient guide for implementing at least one exemplary embodiment, wherein it will be understood that various changes may be made in the functional scope and arrangement of the elements without departing from the scope of protection of the appended claims and the remaining equivalents of said claims.

[0097] In general, this application is intended to cover adaptations or variations of the embodiments presented herein.

[0098] The laser radar sensor may be configured, for example, by a laser radar that performs scanning in a mechanically rotating manner. In this case, the display surface 16 a of the signal generating unit 16 is provided around the laser radar sensor 12 at an angle of 360°.

[0099] Reference Signs List

[0100] 1Test system

[0101] 10 LiDAR sensors

[0102] 12 trigger detectors

[0103] 14Signal generator

[0104] 16 signal generation units

[0105] 18 clusters

[0106] 16a display surface

[0107] 16b pixels

[0108] 20a, 20b, 20c circuit boards

[0109] 22a-n digital-to-analog converter

[0110] 24a-n digital-to-analog converter

[0111] 26a-n digital-to-analog converter

[0112] 28a-n crosspoint switch

[0113] 30a-n crosspoint switch

[0114] 32a-n crosspoint switch

[0115] 34a-z, 35a, 39a Light emitting element drivers

[0116] 36a-z, 37a, 41a Light-emitting elements

[0117] 38a, 38b, 38c, 38d optical waveguide

[0118] 40a, 40b, 40c integrated circuits

[0119] Objects 42a, 42b, and 42c

[0120] I. Strength

[0121] RTS optical signal

[0122] S1-S4 method steps

[0123] TS trigger signal

Claims

1. A test system (1) for a lidar sensor (10), comprising a trigger detector (12) and a signal generator (14) connected to the trigger detector (12), wherein: The trigger detector (12) is driven to control the signal generator (14) in response to receiving a trigger signal (TS) of the lidar sensor (10) to be tested, so that a predetermined synthetically generated optical signal (RTS) is output by a signal generation unit (16) of the signal generator (14), the signal generation unit (16) having a display surface (16a) having a predetermined number of pixels (16b), and the signal generator (14) is configured to group pixels (16b) of the same intensity (I) into clusters (18), The signal generator (14) has a plurality of circuit boards (20a, 20b, 20c), on which a plurality of digital-analog converters (22a-22n, 24a-n, 26a-n) are respectively arranged, and each of the plurality of digital-analog converters (22a-22n, 24a-n, 26a-n) is connected to the input of a plurality of crosspoint switches (28a-n, 30a-n, 32a-n), wherein the corresponding output of the plurality of crosspoint switches (28a-n, 30a-n, 32a-n) is respectively connected to a light-emitting element driver (34a-z, 35a, 39a), the light-emitting element driver drives the light-emitting elements (36a-z, 37a, 41a) of the signal generating unit (16), and more pixels than the number of the existing digital-analog converters are connected to each control chip.

2. The test system according to claim 1, wherein: The optical signal (RTS) is a synthetically generated reflection of the trigger signal (TS).

3. The test system according to claim 1, wherein: The light emitting element is a light emitting diode or a laser diode.

4. The test system according to claim 1, wherein: The corresponding light-emitting elements (36a-z, 37a, 41a) of the signal generating unit (16) of each of the plurality of circuit boards (20a, 20b, 20c) are connected to the pixels (16b) of the display surface (16a) associated with the corresponding light-emitting elements (36a-z, 37a, 41a) via optical waveguides (38a, 38b, 38c, 38d).

5. The test system according to any one of claims 1 to 4, wherein: The number of light-emitting elements (36a-z, 37a, 41a) of each circuit board (20a, 20b, 20c) is greater than the number of digital-to-analog converters (22a-22n, 24a-n, 26a-n), and crosspoint switches (28a-n, 30a-n, 32a-n) arranged between the digital-to-analog converters (22a-22n, 24a-n, 26a-n) and the light-emitting element drivers (34a-z, 35a, 39a) of the light-emitting elements (36a-z, 37a, 41a) are constructed to provide dynamically adjustable coordinate connections between the digital-to-analog converters (22a-22n, 24a-n, 26a-n) and the light-emitting elements (36a-z, 37a, 41a).

6. The test system according to any one of claims 1 to 4, wherein: The plurality of digital-analog converters (22a-22n, 24a-n, 26a-n) arranged on corresponding circuit boards (20a, 20b, 20c) can be driven by integrated circuits (40a, 40b, 40c) arranged on the corresponding circuit boards (20a, 20b, 20c) or arranged outside the corresponding circuit boards (20a, 20b, 20c).

7. The test system according to claim 6, wherein: The integrated circuit (40a, 40b, 40c) is connected to an input terminal of each digital-to-analog converter of the plurality of digital-to-analog converters (22a-22n, 24a-n, 26a-n).

8. The test system according to claim 6, wherein: The integrated circuit (40a, 40b, 40c) is an FPGA.

9. The test system according to claim 8, wherein: The FPGA is connected to an input terminal of each of the plurality of digital-to-analog converters (22a-22n, 24a-n, 26a-n).

10. The test system according to any one of claims 1 to 4, wherein: The cluster (18) formed by pixels (16b) of the same intensity (I) is independent of the shape and / or time delay of the object (42a, 42b, 42c) presented on the display surface (16a) within a measurement cycle of the lidar sensor (10) to be tested, and the pixels (16b) formed into the cluster (18) can be matched with the light-emitting elements (36a-z, 37a, 41a) of multiple circuit boards (20a, 20b, 20c).

11. The test system according to any one of claims 1 to 4, wherein: Each input of a crosspoint switch (28a-n, 30a-n, 32a-n) can be connected to a plurality of outputs of the crosspoint switch (28a-n, 30a-n, 32a-n), and each digital-to-analog converter (22a-22n, 24a-n, 26a-n) is configured to drive each light-emitting element (36a-z, 37a, 41a).

12. The test system according to any one of claims 1 to 4, wherein: Each cluster (18) generated on the display surface (16a) of the signal generation unit (16) can be adjusted in terms of the size of the cluster and the positioning of the cluster on the display surface (16a) of the signal generation unit (16) depending on the measurement cycle of the lidar sensor (10) to be tested.

13. The test system according to any one of claims 1 to 4, wherein: Objects (42a, 42b, 42c) presented on a display surface (16a) of the signal generating unit (16) can be divided into a plurality of clusters (18), and the display surface (16a) of the signal generating unit (16) has a surface curved with a predetermined radius.

14. The test system according to any one of claims 1 to 4, wherein: Overlapping objects (42a, 42b, 42c) with different intensities (I) and located one after the other and presented on a display surface (16a) of the signal generating unit (16) within a measuring cycle can be grouped into clusters (18), and the distances between the objects (42a, 42b, 42c) can be represented by switching off pixels (16b) for a predetermined duration.

15. The test system according to any one of claims 1 to 4, wherein: The pixel resolution of the display surface (16a) of the signal generating unit (16) and / or the number of intensity levels that can be represented corresponds at least to the pixel resolution of the lidar sensor (10) and / or the number of intensity levels that can be detected by the lidar sensor.

16. A method for testing a laser radar sensor (10), the method comprising the following steps: Providing (S1) a trigger detector (12) and a signal generator (14) connected to the trigger detector (12); Providing (S2) a display surface (16a) of the signal generating unit (16) of the signal generator (14), the display surface having a predetermined number of pixels (16b); Controlling (S3) the signal generator (14) by the trigger detector (12) in response to receiving a signal from the lidar sensor (10) to be tested, so that a predetermined synthetically generated optical signal is output by a signal generation unit (16) of the signal generator (14); and Pixels (16b) of the same intensity (I) are aggregated (S4) into clusters (18) by the signal generator (14), in, The signal generator (14) has a plurality of circuit boards (20a, 20b, 20c), on which a plurality of digital-analog converters (22a-22n, 24a-n, 26a-n) are respectively arranged, and each of the plurality of digital-analog converters (22a-22n, 24a-n, 26a-n) is connected to an input end of a plurality of crosspoint switches (28a-n, 30a-n, 32a-n). The corresponding output ends of the plurality of crosspoint switches (28a-n, 30a-n, 32a-n) are respectively connected to a light-emitting element driver (34a-z, 35a, 39a), and the light-emitting element driver drives the light-emitting element (36a-z, 37a, 41a) of the signal generating unit (16), and More pixels are connected to each control chip than the number of digital-analog converters present.

17. The method according to claim 16, wherein The optical signal is a synthetically generated reflection of the lidar sensor signal.

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