Lidar performance detection method, related device, and computer storage medium

Abstract

The application discloses a laser radar performance detection method, related devices and a computer storage medium, wherein the method comprises: obtaining a target signal in a target monitoring mode in a blanking period; determining a measurement value in the target monitoring mode based on the target signal in the target monitoring mode in the blanking period; and determining that a transceiving module in the laser radar is abnormal in the case that the measurement value in the target monitoring mode is not in a preset range. Thus, the embodiments of the application detect the performance of the laser radar in the time gap of each frame of data after the laser radar scanning is completed, so as to ensure the accuracy of the next scanning of the target object by the laser radar. In this way, the application can detect the performance of the laser radar in real time by using the blanking period in the detection period of the laser radar, and the problem that the system only sends an alarm signal when the performance of the laser radar is significantly reduced in the prior art is avoided.

Description

Technical Field

[0001] This application relates to the field of lidar technology, specifically to a lidar performance testing method, related device, and computer storage medium. Background Technology

[0002] Currently, most lidar products are tested for their performance by post-processing point clouds. This involves analyzing the average point spawn rate (the number of points at effective distance compared to the theoretical number of points) of the entire scene's point cloud. When the average point spawn rate is lower than the theoretical value over a period of time, the lidar will issue a warning of performance degradation. Summary of the Invention

[0003] This application provides a method for testing the performance of a lidar, related devices, and a computer storage medium.

[0004] In a first aspect, embodiments of this application provide a method for detecting the performance of a lidar system. The method is applied during a blanking period, where the blanking period represents the time from when the lidar completes scanning of the first frame of data to when scanning of the second frame of data begins. The method includes: Acquire the target signal under the target monitoring mode during the blanking period; Based on the target signal under the target monitoring mode during the blanking period, determine the measurement value under the target monitoring mode; If the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar.

[0005] Secondly, embodiments of this application provide a lidar performance testing device, the device being used during the blanking period, the blanking period representing the time from the completion of scanning the first frame of data by the lidar to the start of scanning the second frame of data, the device comprising: The acquisition module is used to acquire the target signal under the target monitoring mode during the blanking period; The first determining module is used to determine the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period; The second determining module is used to determine that there is an anomaly in the transceiver module of the lidar when the measured value in the target monitoring mode is not within a preset range.

[0006] Thirdly, embodiments of this application provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the above-described method steps. Fourthly, embodiments of this application provide a terminal, which may include: a processor and a memory; The memory stores a computer program adapted to be loaded by the processor and executed in accordance with the above-described method steps.

[0007] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following: In this embodiment, the target signal under target monitoring mode during the blanking period can be acquired; based on the target signal under target monitoring mode during the blanking period, the measured value under target monitoring mode can be determined; if the measured value under target monitoring mode is not within a preset range, it can be determined that there is an anomaly in the transceiver module of the lidar. Therefore, this embodiment detects the performance of the lidar during the time interval of each frame of data after the lidar scan is completed, to ensure the accuracy of the lidar's next scan of the target object. In this way, this application can utilize the blanking period in the lidar's detection cycle to perform real-time performance detection, avoiding the situation in the prior art where the system only issues an alarm signal when the lidar's performance significantly degrades. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This application provides an illustration of an application scenario for a lidar performance testing method. Figure 2 A schematic flowchart illustrating a lidar performance testing method provided in an embodiment of this application; Figure 3 This is a diagram illustrating the working mode of a lidar performance testing method provided in an embodiment of this application. Figure 4 A flowchart illustrating another lidar performance testing method provided in this application embodiment; Figure 5 A schematic diagram of the reference signal monitoring mode in another lidar performance testing method provided in this application embodiment; Figure 6 A flowchart illustrating another lidar performance testing method provided in this application embodiment; Figure 7 A schematic diagram of the optical leader monitoring mode in another lidar performance testing method provided in this application embodiment; Figure 8 A flowchart illustrating another lidar performance testing method provided in this application embodiment; Figure 9A schematic diagram of another lidar performance testing process provided for an embodiment of this application; Figure 10 A schematic diagram of another lidar performance testing process provided for an embodiment of this application; Figure 11 A schematic diagram of another lidar performance testing process provided for an embodiment of this application; Figure 12 A schematic diagram of another lidar performance testing process provided for an embodiment of this application; Figure 13 This is a schematic diagram of the structure of a lidar performance testing device provided in an embodiment of this application; Figure 14 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0010] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0011] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0012] Figure 1 An exemplary application scenario diagram of the lidar performance testing method provided in this application embodiment is illustrated, which may include: a target object, a transceiver module, and a performance testing module. The transceiver module is used to transmit photon signals and receive laser echo signals reflected from the target object. The performance testing module can be used to collect multiple target signals from the transceiver module and process the target signals to determine whether the lidar is in normal operating condition based on the processing results. For example, the performance testing module may be a field-programmable gate array (FPGA) implementing relevant functions.

[0013] Possibly, factors affecting ranging performance during actual lidar detection include: decreased laser power, malfunctions in the optical preleader cancellation control circuit, abnormal receiving reference voltage, abnormal receiving threshold control, and loss of the receiving reference signal. Understandably, if any of these factors cause malfunctions in the receiving link function of the transceiver module, the lidar's ranging performance will certainly be affected.

[0014] The shortcomings of existing methods for detecting lidar ranging performance are that the method of detecting the average retrieval rate of a target object in a scene within a specific time period requires the processor to perform filtering, comparison with theoretical values, and anomaly analysis on the acquired point cloud. This not only increases the processor's workload but also fails to provide real-time monitoring and early warning of potential anomalies. Therefore, this application proposes a lidar performance detection method to monitor potential problems in the lidar transceiver module in real time.

[0015] Next, combine Figure 1 The application scenario diagram of the introduced lidar performance testing method is used to illustrate the lidar performance testing method provided in the embodiments of this application.

[0016] In one embodiment, Figure 2 The diagram shows a flowchart of a lidar performance testing method. This lidar performance testing method is used during the blanking period, such as... Figure 2 The lidar performance testing method shown may include the following steps: S201, acquire the target signal under the target monitoring mode during the blanking period.

[0017] The blanking period refers to the time from when the lidar completes the first frame of data scanning to when the second frame of data scanning begins. For example, if the lidar's detection cycle is 100ms, and the lidar completes the scanning process of the first frame of data for multiple target objects in the scene within 0-90ms, then the blanking period is 90-100ms, i.e., the time from the completion of the first frame of scanning to the start of the second frame of data scanning. Taking MEMS lidar as an example, the blanking period refers to the process of the MEMS galvanometer completing one vibration and returning from the endpoint position to the starting position.

[0018] Possibly, the target monitoring mode includes any one or more of the following: a reference signal monitoring mode, a first optical preamble monitoring mode, and a second optical preamble monitoring mode. The reference signal monitoring mode indicates that the laser and optical receiver in the transceiver module are turned off, and determines whether the transmitting and receiving circuits in the transceiver module are conducting. The first optical preamble monitoring mode indicates that the laser is turned on and the cancellation circuit is turned off, and determines whether the transmitting circuit is faulty. The second optical preamble monitoring mode indicates that the laser and the cancellation circuit are turned on, and determines whether the cancellation circuit is abnormal. The transceiver module may include a laser, an optical receiver, a transmitting circuit, and a receiving circuit.

[0019] Specifically, the light receiving device can be an optical receiving sensor. The receiving circuit may include a cancellation circuit used to reduce the influence of ambient light noise on the laser echo signal.

[0020] It is understood that, in embodiments of this application, when the reference signal monitoring mode, the first optical preamble monitoring mode, and the second optical preamble monitoring mode are all functioning normally, a baseline voltage monitoring mode can also be performed during the blanking period. Specifically, the baseline voltage monitoring mode is used to indicate the mode for determining the ambient light noise signal when the laser is turned off.

[0021] S202, Based on the target signal under the target monitoring mode during the blanking period, determine the measurement value under the target monitoring mode. The target signal represents the signal generated by the transceiver module in the target monitoring mode, such as the transmit reference signal generated by the transceiver module in the reference signal monitoring mode. The measured value represents the data generated based on the target signal, such as the ranging value and / or waveform area generated by the processor after the photoelectric receiver device generates an electrical signal in the response to the transmit reference signal in the reference signal monitoring mode.

[0022] Specifically, see Figure 3 In this embodiment of the application, after completing the normal scanning mode 0000 of the target object in a single scan, the performance of the lidar can be detected during the blanking period (the remaining time). For example, the reference signal monitoring mode is completed in stage 0001, the first optical leader monitoring mode is completed in stage 0010, the second optical leader monitoring mode is completed in stage 0011, and the baseline voltage monitoring mode is completed in stage 0100.

[0023] Further, referring to Table 1, in normal scanning mode 0000, the distance between the lidar and the target object can be determined by acquiring the time of the photon signal emitted by the laser and the time of receiving the laser echo signal; that is, the measured value is the target distance value. In reference signal monitoring mode 0001, a first ranging value and a first waveform area value can be obtained by emitting a reference signal. In first optical preamble monitoring mode 0010, a second ranging value and a second waveform area value can be obtained from the photon signal. In second optical preamble monitoring mode 0011, a third ranging value and a third waveform area value can be obtained from the photon signal. In baseline voltage monitoring mode 0100, the amount of ambient light noise can be determined from the ambient light noise signal.

[0024] Table 1

[0025] S203, if the measured value in target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar.

[0026] In the event that the transceiver module in the lidar may contain abnormal data, and before reporting the fault code corresponding to the abnormal data, this embodiment of the application may also perform fault de-jitter processing to eliminate the false triggering of faults.

[0027] Specifically, in this embodiment of the application, the target signal can be acquired in a first preset number of times under the target monitoring mode, and the measured value of the target signal can be determined for each time. If the total number of times the measured value is not within a preset range is greater than a second preset number of times, it can be determined that there is an anomaly in the transceiver module of the lidar. The first preset number of times is greater than the second preset number of times.

[0028] For example, the first preset number of tests can be set to 5, and the second preset number of tests to 2. If an abnormal reference waveform is generated during the blanking period after the lidar completes a normal scan of the target object, the performance of the lidar in the reference signal monitoring mode will be repeatedly tested 4 more times. If the number of abnormal reference waveforms generated is 3 (greater than the second preset number of 2), it can be determined that there is an abnormality in the transceiver module of the lidar. The fault code corresponding to the abnormal data needs to be reported, thus eliminating the possibility of false fault triggering and improving the accuracy of detection.

[0029] If it is determined that there is an anomaly in the transceiver module of the lidar, the lidar performance detection method in this application may also include issuing a warning signal.

[0030] In this embodiment, the target signal under target monitoring mode during the blanking period can be acquired; based on the target signal under target monitoring mode during the blanking period, the measured value under target monitoring mode can be determined; if the measured value under target monitoring mode is not within a preset range, it can be determined that there is an anomaly in the transceiver module of the lidar. Therefore, this embodiment detects the performance of the lidar during the time gap between the completion of the first frame of data scanning and the start of the second frame of data scanning, to ensure the accuracy of the lidar's next scan of the target object. In this way, this application can utilize the blanking period in the lidar's detection cycle to perform real-time performance detection, avoiding the situation in the prior art where the system only issues an alarm signal when the lidar's performance significantly degrades.

[0031] In some implementations... Figure 4 An exemplary flowchart of a lidar performance testing method provided in an embodiment of this application is illustrated. In cases where the target monitoring mode may include a reference signal monitoring mode, such as... Figure 4 As shown, the lidar performance testing method may include at least the following steps: S401, acquire the transmit reference signal in the reference signal monitoring mode during the blanking period.

[0032] In this embodiment, the reference signal monitoring mode is used to determine whether the link formed by the transmitting unit and the receiving unit in the transceiver module can be made conductive. The transmitting reference signal is the signal used to drive the operation of each unit in the transceiver module.

[0033] S402, determine the first ranging value and / or the first waveform area value of the reference signal monitoring mode based on the transmit drive signal of the reference signal monitoring mode.

[0034] Wherein, the first ranging value is used to represent the distance generated based on the transmitted reference signal received by the optical receiver; the first waveform area value is used to represent the area value of the waveform generated based on the transmitted reference signal received by the optical receiver.

[0035] S403, if the first ranging value is not within the first preset distance range and / or the first waveform area value is not within the first preset range, the transceiver module is determined to be abnormal.

[0036] It is possible that the failure of the transceiver module can be specifically due to a failure of the transmitting circuit or an abnormality in the receiving circuit within the transceiver module.

[0037] See Figure 5The diagram illustrates the reference signal monitoring mode. The transmission control unit outputs a transmission reference signal, which travels through the transmission circuit to the receiving circuit. The receiving circuit responds to the transmission reference signal and generates an electrical signal. This electrical signal is processed by the signal processing unit to obtain the first distance and first waveform area information corresponding to the transmission reference signal. Furthermore, the detection performance unit compares the first distance and first waveform area information with calibration data (i.e., a first preset range) pre-stored in the calibration unit. If the first distance and first waveform area information are outside the calibration data range, it can be considered that the transceiver module has malfunctioned in the reference signal monitoring mode. The link between the transmission and receiving circuits in the transceiver module cannot conduct normally, possibly indicating a failure of the transmission circuit and / or the receiving circuit in the transceiver module.

[0038] In a specific example, the transmit control unit controls the transmit circuit to output a transmit reference signal 5V to the receive circuit. The receive circuit responds to the transmit reference signal 5V by generating a pulse signal (electrical signal). After processing by an analog-to-digital converter (ADC) and filtering, the first distance of 0.2m and the first waveform area of ​​10cm² corresponding to the transmit reference signal 5V can be obtained. 2 Furthermore, the detection performance unit can detect a first distance of 0.2m and a first waveform area of ​​8cm². 2 The calibration data pre-stored in the calibration unit includes: a first calibration distance of 0.3m and a first calibration area of ​​10cm². 2 For comparison, since the first distance of 0.2m is less than the first calibration distance of 0.3m and the area of ​​the first waveform is 8cm², 2 First calibration area 10cm 2 If so, it can be assumed that the transceiver module of the lidar is normal in the reference signal monitoring mode, that is, the transmitting circuit and the receiving circuit in the transceiver module can be turned on.

[0039] Therefore, this embodiment of the application can determine whether the transmitting circuit and receiving circuit in the transceiver module can be normally connected by setting a reference signal monitoring mode during the blanking period. If the link cannot be normally connected, an abnormal link data in the transceiver module can be directly sent to the processor of the lidar. This not only improves the detection efficiency of lidar performance, but also avoids the detection of other unrelated devices (such as lasers) in the subsequent maintenance process.

[0040] In some implementations... Figure 6 An exemplary flowchart of a lidar performance testing method provided in an embodiment of this application is illustrated. In cases where the target monitoring mode may include a first optical leader monitoring mode, such as... Figure 6 As shown, the lidar performance testing method may include at least the following steps: S601, acquire the laser echo signal of the first optical preamble monitoring mode.

[0041] The transmitting unit may include a laser and a transmitting circuit, while the receiving unit may include an optical receiving device and a receiving circuit, wherein the receiving circuit includes a cancellation circuit. The cancellation circuit is used to reduce the influence of ambient light noise signals on the laser echo signal. Furthermore, the first optical preamble monitoring mode indicates a mode where the laser is on and the cancellation circuit is off.

[0042] S602, based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode.

[0043] The second ranging value represents the distance generated based on the laser echo signal received by the optical receiver under the first optical preamble monitoring mode; the second waveform area value represents the area of ​​the waveform generated based on the laser echo signal received by the optical receiver under the first optical preamble monitoring mode.

[0044] S603, if the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, it is determined that there is an abnormality in the transceiver module.

[0045] When performing the first optical preamble mode alone, if an anomaly is detected in the transceiver module, it may be due to a failure or performance degradation of the transmitting circuit, a failure or performance degradation of the laser, a failure or performance degradation of the optical receiving device, or a failure or performance degradation of the receiving circuit.

[0046] See Figure 7 The diagram illustrates the optical preamble monitoring mode. In this mode, the transmitting circuit outputs a normal transmission signal to the laser. After the laser emits a photon signal towards the target object, the target object reflects the laser echo signal back to the optical receiving device. The optical receiving device responds to the laser echo signal and generates an electrical signal. This electrical signal is processed by the signal processing unit to obtain the second distance and second waveform area information corresponding to the laser echo signal. Furthermore, the detection performance unit can compare the second distance and second waveform area information with calibration data (i.e., a second preset range) pre-stored in the calibration unit. If the second distance and second waveform area information are not within the calibration data range, it can be considered that the transceiver module has malfunctioned in the first optical preamble monitoring mode.

[0047] In a specific example, the transmitting circuit outputs a normal transmission signal of 20V to the laser diode (laser device). This laser diode emits a photon signal towards a building (target object) in the scene. The building reflects the laser echo signal back to the echo detector (photoelectric receiver). The echo detector responds to the laser echo signal by generating a pulse signal (electrical signal). After processing by an analog-to-digital converter (ADC) and filtering, the second distance of 25m and the second waveform area of ​​210cm² corresponding to the laser echo signal can be obtained. 2 Furthermore, the detection performance unit can detect a second distance of 25m and a second waveform area of ​​210cm². 2 Compared with the calibration data pre-stored in the calibration unit: second calibration distance 30m and second calibration area 200cm² 2 For comparison, since the second distance of 25m is less than the second calibration distance of 30m, but the area of ​​the second waveform is 210cm², 2 Second calibration area 200cm² 2 If so, it can be assumed that the transceiver module of the lidar is malfunctioning in the first optical preamble monitoring mode.

[0048] Therefore, in this embodiment of the application, the first optical preamble monitoring mode can be set during the blanking period to determine whether the transceiver module is normal. If the second distance and / or the area of ​​the second waveform generated by the signal processing unit is abnormal, an abnormality reminder can be sent directly to the processor of the lidar, which can improve the detection efficiency of lidar performance.

[0049] In some implementations... Figure 8 An exemplary flowchart of a lidar performance testing method provided in an embodiment of this application is illustrated. When the target monitoring mode can be a second optical leader monitoring mode, such as... Figure 8 As shown, the lidar performance testing method may include at least the following steps: S801, acquire the laser echo signal of the second optical preamble monitoring mode.

[0050] In this embodiment of the application, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit.

[0051] S802, based on the laser echo signal of the second optical preamble monitoring mode, determines the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode.

[0052] The third ranging value represents the distance generated by the laser echo signal received by the optical receiver under the second optical preamble monitoring mode; the third waveform area value represents the area of ​​the waveform generated by the laser echo signal received by the optical receiver under the second optical preamble monitoring mode.

[0053] S803, if the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, it is determined that there is an abnormality in the transceiver module.

[0054] It is understandable that if the second optical preamble monitoring mode is used for detection alone, and an abnormality is found in the transceiver module, it may be due to failure or performance degradation of the transmitting circuit, failure or performance degradation of the laser, failure or performance degradation of the receiving photosensitive device, failure or performance degradation of the receiving circuit, or failure of the cancellation circuit.

[0055] If the transceiver module shows no abnormalities after testing in the reference signal monitoring mode, but an abnormality is detected in the second optical preamble mode, then the transceiver module in the second optical preamble mode is malfunctioning. Specifically, it may be due to the failure or performance degradation of one or more of the following: the laser in the transmitting unit, the optical receiving device in the receiving unit, the cancellation circuit, or the receiving circuit.

[0056] It is understandable that if the transceiver module is normal after the first optical preamble mode test, but an anomaly is found during the second optical preamble mode test, then the cancellation circuit in the transceiver module is abnormal.

[0057] Similarly, if the transceiver module shows no abnormalities after sequential testing in the reference signal monitoring mode and the first optical preamble mode, but an abnormality is detected in the second optical preamble mode, then the cancellation circuit in the transceiver module is faulty. Therefore, this embodiment can first determine whether the laser, transmitting circuit, receiver, and receiving circuit (excluding the cancellation circuit) in the transceiver module are faulty by performing the first optical preamble monitoring mode, and then determine whether the cancellation circuit is faulty by performing the second optical preamble monitoring mode. This embodiment improves the efficiency of lidar performance detection and allows for more precise location of the abnormal data generation unit by combining the first and second optical preamble monitoring modes for transceiver module anomaly detection.

[0058] See Figure 7 As shown, the transmitting circuit outputs a normal transmission drive signal to the laser device. After the laser transmitting device emits a photon signal towards the target object, the target object reflects the laser echo signal to the optical receiving device. The optical receiving device responds to the laser echo signal and generates an electrical signal. The cancellation circuit eliminates the electrical signal generated by ambient light noise, and then inputs the electrical signal to the signal processing unit. After processing by the signal processing unit, the third distance and third waveform area information corresponding to the laser echo signal can be obtained. Furthermore, the detection performance unit can compare the third distance and third waveform area information with the calibration data (i.e., the third preset range) pre-stored in the calibration unit. When the third distance and third waveform area information are not within the calibration data range, it can be considered that the transceiver module has malfunctioned in the second optical preamble monitoring mode.

[0059] In a specific example, the transmitting circuit outputs a normal transmission signal of 20V to a laser diode (laser device). This laser diode emits a photon signal towards a building (target object) in the scene. The building reflects the laser echo signal back to an echo detector (photoelectric receiver). The echo detector responds to the laser echo signal by generating a pulse signal (electrical signal). After processing by an analog-to-digital converter (ADC) and filtering, the third distance of 20m and the third waveform area of ​​170cm² corresponding to the laser echo signal can be obtained. 2 Furthermore, the detection performance unit can detect a third distance of 20m and a third waveform area of ​​170cm². 2 Compared with the calibration data pre-stored in the calibration unit: third calibration distance 30m and third calibration area 180cm² 2 For comparison, since the third distance of 20m is less than the third calibration distance of 30m and the third waveform area is 170cm², 2 The third calibration area is 180cm² 2 If so, the lidar transceiver module can be considered to be functioning normally.

[0060] Therefore, this application embodiment can determine whether the transceiver module is normal by setting a second optical preamble monitoring mode during the blanking period. If the third distance and / or the third waveform area generated by the signal processing unit is abnormal, it can directly send a transceiver module abnormality reminder to the LiDAR processor, thereby improving the detection efficiency of LiDAR performance.

[0061] In some implementations... Figure 10 An exemplary flowchart of a lidar performance testing method provided in an embodiment of this application is shown. Figure 10 As shown, the lidar performance testing method may include at least the following steps: S1001, acquire the target signal under the target monitoring mode during the blanking period.

[0062] Specifically, S1001 is the same as S201, and will not be repeated here.

[0063] S1002, Based on the target signal in the target monitoring mode during the blanking period, determine the measurement value in the target monitoring mode.

[0064] Specifically, S1002 is the same as S202, and will not be repeated here.

[0065] S1003, if the measured value in the target monitoring mode is within the preset range, determine that there is no abnormality in the transceiver module of the lidar.

[0066] It is possible that in the target monitoring mode of this application embodiment, the situation where the measured value is within the preset range can be understood as the transceiver module being normal under the reference signal monitoring mode (the transmitting circuit and receiving single channel in the transceiver module can be normally connected), the first optical preamble monitoring mode (the transmitting circuit, laser, receiving circuit, and optical receiving device are all normal), and the second optical preamble monitoring mode (the cancellation circuit is normal).

[0067] S1004, shut down the laser in the transmitting circuit and the cancellation circuit in the receiving circuit of the transceiver module to acquire the ambient noise signal.

[0068] Specifically, when the transceiver module in this application embodiment is not abnormal, this application embodiment can continue to perform baseline voltage monitoring mode detection. The baseline voltage monitoring mode is used to indicate the mode of turning off the laser and cancellation circuit and determining the ambient light noise signal.

[0069] Possibly, in the embodiments of this application, when the transceiver modules in the reference signal monitoring mode, the first optical preamble monitoring mode, and the second optical preamble monitoring mode are all functioning normally, and when the laser and the cancellation circuit are both turned off, the ambient light noise signal in the scene can be obtained through the optical receiving device.

[0070] S1005, determine the number of ambient light noise signals within a preset time period.

[0071] It is understandable that when both the laser and the cancellation circuit are turned off, the optical receiver can receive the ambient light noise signal and then further determine the amount of the ambient light signal within a preset time.

[0072] S1006: If the number of ambient light noise signals exceeds a preset threshold within a preset time period, it is determined that the baseline voltage is abnormal.

[0073] In this embodiment, the baseline voltage is used to represent the voltage applied to the optical receiving device in the receiving unit.

[0074] In a specific example, the preset threshold number is 12, and the baseline voltage is 10V. The echo detector receives ambient light noise signals from the scene and generates 15 pulse signals within a preset time of 2ms. Since the number of ambient light noise signals (15) within the preset time is greater than the preset threshold number (12), it can be determined that there is an anomaly in the baseline voltage. The processor should adjust the baseline voltage applied to the receiving unit to improve the accuracy of the lidar measurement.

[0075] Therefore, this embodiment of the application can determine whether the baseline voltage applied to the receiving unit is normal by setting a baseline voltage monitoring mode during the blanking period. If it is abnormal, a baseline voltage abnormality reminder can be sent directly to the processor of the lidar. This not only improves the detection efficiency of lidar performance, but also improves the accuracy of lidar measurement.

[0076] In some implementations... Figure 11 An exemplary flowchart of a lidar performance testing method provided in an embodiment of this application is shown. Figure 11 As shown, the lidar performance testing method may include at least the following steps: S1101 acquires the laser echo signal of the first optical preamble monitoring mode.

[0077] The transmitting unit may include a laser and a transmitting circuit, while the receiving unit may include an optical receiving device and a receiving circuit, wherein the receiving circuit includes a cancellation circuit. The cancellation circuit is used to reduce the influence of ambient light noise signals on the laser echo signal. Furthermore, the first optical preamble monitoring mode indicates a mode where the laser is on and the cancellation circuit is off.

[0078] S1102, based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode.

[0079] S1103, if the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, it is determined that there is an abnormality in the transceiver module, and an abnormality reminder signal is output.

[0080] S1104, if the second ranging value is within the second preset distance range and / or the second waveform area value is within the second preset range, the transceiver module is determined to be normal.

[0081] S1105, acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit.

[0082] S1106, based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode.

[0083] S1107, if the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, determine that the cancellation circuit in the receiving circuit is abnormal.

[0084] In this embodiment, a first optical preamble monitoring mode can be run first to determine whether the laser, optical receiver, transmitting circuit, and receiving circuit in the transceiver module are functioning correctly. If the first optical preamble monitoring mode is functioning correctly, running a second optical preamble monitoring mode can more accurately pinpoint whether the cancellation circuit is malfunctioning. This improves the efficiency of lidar performance detection and allows for more precise location of any abnormalities in the cancellation circuit, even when the first optical preamble monitoring mode is functioning correctly.

[0085] In some implementations... Figure 12 An exemplary flowchart of a lidar performance testing method provided in an embodiment of this application is shown. Figure 12 As shown, the lidar performance testing method may include at least the following steps: S1201, acquire the transmit reference signal in the reference signal monitoring mode during the blanking period.

[0086] S1202, determine the first ranging value and / or the first waveform area value of the reference signal monitoring mode based on the transmit drive signal of the reference signal monitoring mode.

[0087] S1203, if the first ranging value is not within the first preset distance range and / or the first waveform area value is not within the first preset range, determine that the transmitting circuit in the transmitting module is faulty or the receiving circuit is abnormal, stop the detection, and issue an abnormality prompt.

[0088] S1204, if the first ranging value is within a first preset distance range and / or the first waveform area value is within a first preset range, determine that the transmitting circuit in the transmitting module is faulty or the receiving circuit is normal.

[0089] S1205, acquire the laser echo signal of the first optical preamble monitoring mode; the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit.

[0090] S1206, based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode.

[0091] S1207: If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, it is determined that there is an abnormality in the transmitter and receiver in the transceiver module, the detection is stopped, and an abnormality prompt is issued.

[0092] S1208, if the second ranging value is within a second preset distance range and / or the second waveform area value is within a second preset range, determine that the transmitter and receiver in the transceiver module are normal.

[0093] S1209, acquire the laser echo signal of the second optical preamble monitoring mode.

[0094] In the embodiments of this application, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit.

[0095] S1210, based on the laser echo signal of the second optical preamble monitoring mode, determines the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode.

[0096] S1211, if the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, determine that there is an abnormality in the cancellation circuit, stop the detection, and issue an abnormality prompt.

[0097] S1212, if the third ranging value is within the third preset distance range and / or the third waveform area value is within the third preset range, determine that the entire transceiver module is without abnormality.

[0098] The embodiments of this application can improve the efficiency of transceiver module performance detection by sequentially running the reference signal monitoring mode, the first optical preamble monitoring mode, and the second optical preamble monitoring mode during the blanking period. It can also more accurately locate the unit that generates abnormal data, avoiding the detection of other unrelated devices during subsequent maintenance.

[0099] As an optional implementation, in the above embodiment, if no abnormality is detected in the transceiver module, the method further includes: turning off the laser in the transmitting circuit and the cancellation circuit in the receiving circuit of the transceiver module, and acquiring the ambient noise signal; determining the number of ambient light noise signals within a preset time; if the number of ambient light noise signals within the preset time is greater than a preset threshold, determining that the baseline voltage is abnormal; and sending an abnormality prompt. If the number of ambient light noise signals within the preset time is not greater than the preset threshold, determining that the baseline voltage is normal.

[0100] As an optional implementation, this application embodiment further includes: when abnormal data is detected, acquiring the target signal under the corresponding monitoring mode for a first preset number of times, determining the measurement value of the target model each time, and determining that an abnormality exists in the lidar when the total number of times the measurement value is outside the preset range is greater than a second preset number of times, stopping detection and issuing an abnormality prompt. The first preset number of times is greater than the second preset number of times.

[0101] Figure 13 This is a schematic diagram of a lidar performance testing device provided in an exemplary embodiment of this application. The device is used during the blanking period, which represents the time from the completion of the first frame of data scanning by the lidar to the start of the second frame of data scanning, to perform lidar performance testing according to any of the above embodiments of this application. Figure 13 As shown, the lidar performance testing device may include: Acquisition module 131 is used to acquire the target signal under the target monitoring mode during the blanking period; 1 The first determining module 132 is used to determine the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period; The second determining module 133 is used to determine that there is an anomaly in the transceiver module of the lidar when the measured value in the target monitoring mode is not within a preset range.

[0102] In this embodiment, the target signal under target monitoring mode during the blanking period can be acquired; based on the target signal under target monitoring mode during the blanking period, the measurement value under target monitoring mode can be determined; if the measurement value under target monitoring mode is not within a preset range, it can be determined that there is an anomaly in the transceiver module of the lidar. Therefore, this embodiment detects the performance of the lidar during the time interval of each frame of data after the lidar scan is completed, to ensure the accuracy of the lidar's next scan of the target object. In this way, this application can utilize the blanking period in the lidar's detection cycle to perform real-time performance detection, avoiding the situation in the prior art where the system only issues an alarm signal when the lidar's performance significantly degrades.

[0103] In some implementations, the target monitoring mode includes any one or more of the following: reference signal monitoring mode, first optical preamble monitoring mode, and second optical preamble monitoring mode.

[0104] In some implementations, when the target monitoring mode is the reference signal monitoring mode, The acquisition module 131 is specifically used for: Acquire the transmission reference signal under the reference signal monitoring mode during the blanking period; wherein, the reference signal monitoring mode is to turn off the laser and the photoelectric receiving device; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the transmitted reference signal of the reference signal monitoring mode, a first ranging value and / or a first waveform area value of the reference signal monitoring mode are determined. When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the first ranging value is not within the first preset distance range and / or the first waveform area value is not within the first preset range, it is determined that the transmitting circuit or receiving circuit in the transceiver module has failed.

[0105] In some embodiments, the receiving unit in the transceiver module includes a cancellation circuit; When the target monitoring mode is the first optical preamble monitoring mode, the acquisition module 131 is specifically used for: Acquire the laser echo signal of the first optical preamble monitoring mode; wherein, the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode; When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, the transceiver module is determined to be malfunctioning.

[0106] In some embodiments, the receiving unit in the transceiver module includes a cancellation circuit; When the transceiver module is functioning normally after completing the reference signal monitoring mode and the target monitoring mode is the first optical preamble monitoring mode, the acquisition module 131 is specifically used for: Acquire the laser echo signal of the first optical preamble monitoring mode; wherein, the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode; When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, it is determined that the laser and / or optical receiver in the transceiver module of the first optical preamble monitoring mode is abnormal.

[0107] In some embodiments, the receiving unit in the transceiver module includes a cancellation circuit; When the target monitoring mode is the second optical preamble monitoring mode, the acquisition module 111 is specifically used for: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode; When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, it is determined that the transceiver module is malfunctioning.

[0108] In some embodiments, the receiving unit in the transceiver module includes a cancellation circuit; If the transceiver module is functioning normally after completing the first optical preamble monitoring mode, and the target monitoring mode includes the second optical preamble monitoring mode, the acquisition module 131 is specifically used for: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode. When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, the cancellation circuit in the receiving circuit is determined to be faulty.

[0109] In some implementations, when the transceiver module is functioning normally after sequentially completing the reference signal monitoring mode and the first optical preamble monitoring mode, and the target monitoring mode is the second optical preamble monitoring mode, the acquisition module 131 is specifically used for: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode. When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, the cancellation circuit in the receiving circuit is determined to be faulty.

[0110] In some embodiments, after the first determining module 132, the device further includes: The third determining module is used to determine that there is no abnormality in the transceiver module of the lidar when the measured value in the target monitoring mode is within a preset range. The shutdown module is used to shut down the laser in the transmitting circuit and the cancellation circuit in the receiving circuit of the transceiver module, thereby acquiring the ambient noise signal. The fourth determining module is used to determine the number of ambient light noise signals within a preset time period; The fifth determining module is used to determine that the baseline voltage is abnormal when the number of ambient light noise signals is greater than a preset number threshold within the preset time period; wherein the baseline voltage is used to represent the voltage applied to the light receiving device.

[0111] In some implementations, the second determining module 133 includes: The acquisition unit is used to acquire the target signal for each of the first preset number of times under the target monitoring mode, and to determine the measured value of the target signal for each time; The determining unit is configured to determine that the transceiver module in the lidar is abnormal when the total number of times the measured value is not within the preset range is greater than the second preset number; wherein the first preset number is greater than the second preset number.

[0112] In some embodiments, after the second determining module 133, the device further includes a reminder module for issuing a reminder signal. It should be noted that the radar performance testing device provided in the above embodiments is only illustrated by the division of the above functional modules when performing radar performance testing. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the radar performance testing device provided in the above embodiments and the radar performance testing embodiments belong to the same concept, and its implementation process is detailed in the method embodiments, which will not be repeated here.

[0113] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0114] Please see Figure 14 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Figure 14 As shown, the terminal 140 may include: at least one processor 141, at least one network interface 144, a user interface 143, a memory 145, and at least one communication bus 142.

[0115] The communication bus 142 is used to enable communication between these components.

[0116] The user interface 143 may include a display screen and a camera. Optionally, the user interface 143 may also include a standard wired interface and a wireless interface.

[0117] The network interface 144 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0118] The processor 141 may include one or more processing cores. The processor 141 connects to various parts within the terminal 140 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 145, and by calling data stored in the memory 145. Optionally, the processor 141 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 141 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 141.

[0119] The memory 145 may include random access memory (RAM) or read-only memory. Optionally, the memory 145 may include a non-transitory computer-readable storage medium. The memory 125 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 145 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 145 may also be at least one storage device located remotely from the aforementioned processor 141. Figure 14 As shown, the memory 145, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a mixing application.

[0120] exist Figure 14In the terminal 140 shown, the user interface 143 is mainly used to provide an input interface for the user and to obtain the user's input data; while the processor 141 can be used to call the mixing application stored in the memory 145 and specifically perform the following operations: Acquire the target signal under the target monitoring mode during the blanking period; Based on the target signal under the target monitoring mode during the blanking period, determine the measurement value under the target monitoring mode; If the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar.

[0121] In one possible embodiment, the target monitoring mode includes any one or more of the following: a reference signal monitoring mode, a first optical preamble monitoring mode, and a second optical preamble monitoring mode.

[0122] In one possible embodiment, when the target monitoring mode is the reference signal monitoring mode, the processor 141, when executing the step of acquiring the target signal under the target monitoring mode during the blanking period, specifically performs the following: Acquire the transmission reference signal under the reference signal monitoring mode during the blanking period; wherein, the reference signal monitoring mode is to turn off the laser and the photoelectric receiving device; When the processor 141 executes the determination of the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period, it specifically performs the following: Based on the transmitted reference signal of the reference signal monitoring mode, a first ranging value and / or a first waveform area value of the reference signal monitoring mode are determined. When the processor 141 determines that the transceiver module in the lidar is malfunctioning because the measured value in the target monitoring mode is not within a preset range, it specifically executes the following: If the first ranging value is not within the first preset distance range and / or the first waveform area value is not within the first preset range, it is determined that the transmitting circuit or receiving circuit in the transceiver module has failed.

[0123] In one possible embodiment, the receiving unit in the transceiver module includes a cancellation circuit; When the processor 141 executes the step of acquiring the target signal under the target monitoring mode during the blanking period when the target monitoring mode is the first optical preamble monitoring mode, it specifically performs the following: Acquire the laser echo signal of the first optical preamble monitoring mode; wherein, the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit; When the processor 141 executes the determination of the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period, it specifically performs the following: Based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode; When the processor 141 determines that the transceiver module in the lidar is malfunctioning because the measured value in the target monitoring mode is not within a preset range, it specifically executes the following: If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, the transceiver module is determined to be malfunctioning.

[0124] In one possible embodiment, the receiving unit in the transceiver module includes a cancellation circuit; When the target monitoring mode is the second optical preamble monitoring mode, the processor 141, when acquiring the target signal under the target monitoring mode during the blanking period, specifically performs the following: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; When the processor 141 executes the determination of the measurement value under the target monitoring mode based on the target signal during the blanking period, it specifically performs the following: Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode. When the processor 141 determines that the transceiver module in the lidar is malfunctioning because the measured value in the target monitoring mode is not within a preset range, it specifically executes the following: If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, it is determined that the transceiver module is malfunctioning.

[0125] In one possible embodiment, the receiving unit in the transceiver module includes a cancellation circuit; When the transceiver module is functioning normally after completing the reference signal monitoring mode and the target monitoring mode is the first optical preamble monitoring mode, the processor 141, when executing the step of acquiring the target signal under the target monitoring mode during the blanking period, specifically performs the following: Acquire the laser echo signal of the first optical preamble monitoring mode; wherein, the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit; Based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode; If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, the laser and / or optical receiver in the transceiver module are determined to be abnormal, the detection is stopped, and an abnormal signal is issued.

[0126] If the second ranging value is within a second preset distance range and / or the second waveform area value is within a second preset range, it is determined that the laser and / or optical receiver in the transceiver module are normal.

[0127] Continue testing of the second optical preamble monitoring mode: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode. If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, the cancellation circuit in the receiving circuit is determined to be faulty, the detection is stopped, and an abnormal signal is issued.

[0128] In one possible embodiment, the receiving unit in the transceiver module includes a cancellation circuit; If the transceiver module is functioning normally after completing the first optical preamble monitoring mode, and the target monitoring mode includes the second optical preamble monitoring mode, then when the processor 121 executes the step of acquiring the target signal under the target monitoring mode during the blanking period, it specifically performs the following: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; When the processor 141 executes the determination of the measurement value under the target monitoring mode based on the target signal during the blanking period, it specifically performs the following: Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode. When the processor 141 determines that the transceiver module in the lidar is malfunctioning because the measured value in the target monitoring mode is not within a preset range, it specifically executes the following: If the second ranging value is within the second preset distance range and / or the second waveform area value is within the second preset range, and the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, then the cancellation circuit in the receiving circuit is determined to be faulty.

[0129] In one possible embodiment, after performing the determination of the measurement value in the target monitoring mode, the processor 141 further performs: If the measured value in the target monitoring mode is within a preset range, it is determined that there is no abnormality in the transceiver module of the lidar; After determining that there is no abnormality in the transceiver module of the lidar, the processor 141 also executes: The laser in the transmitting circuit and the cancellation circuit in the receiving circuit of the transceiver module are turned off to obtain the ambient noise signal. Determine the number of ambient light noise signals within a preset time period; If the number of ambient light noise signals exceeds a preset threshold within the preset time period, it is determined that the baseline voltage is abnormal; wherein, the baseline voltage is used to represent the voltage applied to the optical receiving device.

[0130] In one possible embodiment, when the processor 141 determines that the transceiver module in the lidar is malfunctioning because the measured value in the target monitoring mode is not within a preset range, it specifically performs the following: Acquire the target signal for each of the first preset number of times under the target monitoring mode, and determine the measured value of the target signal for each time; If the total number of times the measured value is outside the preset range is greater than the second preset number, it is determined that there is an anomaly in the transceiver module of the lidar; wherein the first preset number is greater than the second preset number.

[0131] In one possible embodiment, after determining that there is an anomaly in the transceiver module of the lidar, the processor 141 also issues a warning signal.

[0132] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the above-described instructions. Figure 2 , Figure 4 , Figure 6 , Figure 8 , Figure 10 , Figure 11 , Figure 12One or more steps in the illustrated embodiment. If the constituent modules of the above-described radar performance testing device are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0133] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0134] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium includes various media capable of storing program code, such as Read Only Memory (ROM), Random Access Memory (RAM), magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation schemes can be combined arbitrarily.

[0135] The embodiments described above are merely preferred embodiments of this application and are not intended to limit the scope of this application. Any modifications and improvements made by those skilled in the art to the technical solutions of this application without departing from the spirit of this application should fall within the protection scope defined by the claims of this application.

Claims

1. A method for testing the performance of a lidar system, characterized in that, The method is applied during the blanking period, which represents the time from when the lidar completes scanning the first frame of data to when scanning the second frame of data begins. The method includes: Acquire the target signal under the target monitoring mode during the blanking period, wherein the target monitoring mode includes any one or more of the reference signal monitoring mode, the first optical preamble monitoring mode, and the second optical preamble monitoring mode; Based on the target signal under the target monitoring mode during the blanking period, determine the measurement value under the target monitoring mode; If the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar; Wherein, the target monitoring mode is the reference signal monitoring mode; The acquisition of the target signal under the target monitoring mode during the blanking period includes: Acquire the transmit reference signal under the reference signal monitoring mode during the blanking period; wherein, the reference signal monitoring mode is a mode used to indicate that the laser and optical receiving device in the transceiver module are turned off, and to determine whether the transmit circuit and receive circuit in the transceiver module are turned on; The step of determining the measurement value under the target monitoring mode based on the target signal during the blanking period includes: Based on the transmitted reference signal of the reference signal monitoring mode, a first ranging value and / or a first waveform area value of the reference signal monitoring mode are determined. When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the first ranging value is not within the first preset distance range and / or the first waveform area value is not within the first preset range, it is determined that the transmitting circuit and / or receiving circuit in the transceiver module has failed.

2. The method according to claim 1, characterized in that, The receiving circuit in the transceiver module includes a cancellation circuit; When the target monitoring mode is the first optical preamble monitoring mode, acquiring the target signal under the target monitoring mode during the blanking period further includes: Acquire the laser echo signal of the first optical preamble monitoring mode; wherein, the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period further includes: Based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode; When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, the transceiver module is determined to be malfunctioning.

3. The method according to claim 1, characterized in that, The receiving unit in the transceiver module includes a cancellation circuit; When the target monitoring mode is the second optical preamble monitoring mode, acquiring the target signal under the target monitoring mode during the blanking period further includes: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; The step of determining the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period further includes: Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode; When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, it is determined that the transceiver module is malfunctioning.

4. The method according to claim 1, characterized in that, The receiving unit in the transceiver module includes a cancellation circuit; If the first ranging value is within a first preset distance range and / or the first waveform area value is within a first preset range, it is determined that the transmitting circuit and / or receiving circuit in the transceiver module are normal. After confirming that there are no abnormalities in the transmitting circuit and / or receiving circuit of the transceiver module, the method further includes: Acquire the laser echo signal of the first optical preamble monitoring mode; wherein, the first optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning off the cancellation circuit; Based on the laser echo signal of the first optical preamble monitoring mode, determine the second ranging value and / or the second waveform area value of the first optical preamble monitoring mode; If the second ranging value is not within the second preset distance range and / or the second waveform area value is not within the second preset range, it is determined that the laser and / or the optical receiving device is abnormal.

5. The method according to claim 4, characterized in that, If the second ranging value is within a second preset distance range and / or the second waveform area value is within a second preset range, it is determined that the laser and / or the optical receiving device are normal. After confirming that the laser and / or the optical receiver are not malfunctioning, the method further includes: Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode; If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, the cancellation circuit is determined to be abnormal.

6. The method according to claim 2, characterized in that, If the second ranging value is within a second preset distance range and / or the second waveform area value is within a second preset range, it is determined that the transceiver module is normal under the first optical preamble monitoring mode; Acquire the laser echo signal of the second optical preamble monitoring mode; wherein, the second optical preamble monitoring mode is used to indicate the mode of turning on the laser and turning on the cancellation circuit; Based on the laser echo signal of the second optical preamble monitoring mode, determine the third ranging value and / or the third waveform area value of the second optical preamble monitoring mode; If the third ranging value is not within the third preset distance range and / or the third waveform area value is not within the third preset range, the cancellation circuit in the receiving circuit is determined to be abnormal.

7. The method according to claim 1, characterized in that, If the measured value in the target monitoring mode is within the preset range, it is determined that the transceiver module in the lidar is normal. After determining that the transceiver module in the lidar is functioning normally, the method further includes: The laser in the transmitting circuit and the cancellation circuit in the receiving circuit of the transceiver module are turned off to obtain the ambient light noise signal. Determine the number of ambient light noise signals within a preset time period; If the number of ambient light noise signals exceeds a preset threshold within the preset time period, an anomaly is determined in the baseline voltage; wherein, the baseline voltage is used to represent the voltage applied to the optical receiving device.

8. The method according to claim 1, characterized in that, If the measured value in the target monitoring mode is not within a preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: Acquire the target signal for each of the first preset number of times under the target monitoring mode, and determine the measured value of the target signal for each time; If the total number of times the measured value is outside the preset range is greater than the second preset number, it is determined that there is an anomaly in the transceiver module of the lidar; wherein the first preset number is greater than the second preset number.

9. A lidar performance testing device, characterized in that, The device is used during the blanking period, which represents the time from when the lidar completes scanning of the first frame of data to when scanning of the second frame of data begins. The device includes: The acquisition module is used to acquire the target signal under the target monitoring mode during the blanking period. The target monitoring mode includes any one or more of the following: reference signal monitoring mode, first optical preamble monitoring mode, and second optical preamble monitoring mode. The first determining module is used to determine the measurement value under the target monitoring mode based on the target signal under the target monitoring mode during the blanking period; The second determining module is used to determine that there is an abnormality in the transceiver module of the lidar when the measured value in the target monitoring mode is not within a preset range. Wherein, the target monitoring mode is the reference signal monitoring mode; The acquisition module is specifically used for: Acquire the transmit reference signal under the reference signal monitoring mode during the blanking period; wherein, the reference signal monitoring mode is a mode used to indicate that the laser and optical receiving device in the transceiver module are turned off, and to determine whether the transmit circuit and receive circuit in the transceiver module are turned on; The first determining module is specifically used for: Based on the transmitted reference signal of the reference signal monitoring mode, a first ranging value and / or a first waveform area value of the reference signal monitoring mode are determined. When the measured value in the target monitoring mode is not within the preset range, it is determined that there is an anomaly in the transceiver module of the lidar, including: If the first ranging value is not within the first preset distance range and / or the first waveform area value is not within the first preset range, it is determined that the transmitting circuit and / or receiving circuit in the transceiver module has failed.

10. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the method steps as claimed in any one of claims 1-8.

11. A terminal, characterized in that, include: A processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and executed the method steps as claimed in any one of claims 1-8.

Images