Lidar ranging capability evaluation method and device, measuring device and electronic equipment

Abstract

The application provides a laser radar ranging capability evaluation method and device, a measuring device and electronic equipment, and relates to the technical field of laser radar. A first amplitude of a return signal obtained after a laser signal emitted by a target laser radar passes through an attenuation effect of an optical attenuation subsystem with adjustable attenuation is obtained, and the return signal is received by the target laser radar; a first ranging value of the target laser radar at the present moment is obtained according to a first corresponding relationship between amplitude and distance and the first amplitude; the attenuation of the optical attenuation subsystem is adjusted, and the first ranging value of the target laser radar after the attenuation is adjusted is obtained until the attenuation of the optical attenuation subsystem is stopped; and the ranging capability of the target laser radar is analyzed according to the obtained first ranging value. In this way, the indoor ranging range of the laser radar can be increased by using the attenuation effect of the optical attenuation subsystem, and the evaluation of the ranging capability of the laser radar can be completed in a smaller experimental site based on the corresponding relationship between amplitude and distance.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and more specifically, to a lidar ranging capability evaluation method, apparatus, measuring device, and electronic equipment. Background Technology

[0002] LiDAR, with its advantages of ranging capabilities of hundreds of meters or even kilometers, ultra-high resolution, and a large field of view, has been widely used in fields such as autonomous driving, robotics, security monitoring, surveying and mapping, and smart cities. Among these, the ranging capability of LiDAR is a core and crucial indicator that has received widespread attention. The ranging capability of LiDAR needs to be calibrated to meet factory requirements, and the actual detection distance requires a relatively spacious area. A large experimental space increases research and development and testing costs. Therefore, how to achieve an equivalent ranging capability of hundreds of meters or even kilometers in a laboratory setting (10m) has become a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0003] This application provides a method, apparatus, measuring device, electronic device, and readable storage medium for evaluating the ranging capability of a lidar. It can increase the indoor ranging range of the lidar by utilizing the attenuation effect of the optical attenuation subsystem, and complete the evaluation of the lidar ranging capability in a small experimental space based on the correspondence between amplitude and distance.

[0004] The embodiments of this application can be implemented as follows:

[0005] In a first aspect, embodiments of this application provide a method for evaluating the ranging capability of a lidar system, applied to a measuring device, the measuring device including an adjustable optical attenuation subsystem, the method comprising:

[0006] The first amplitude of the echo signal obtained after the laser signal emitted by the target lidar is attenuated by the optical attenuation subsystem is obtained, wherein the echo signal is received by the target lidar.

[0007] Based on the first correspondence between amplitude and distance obtained in advance and the first amplitude, the first ranging value of the target lidar at the current time is obtained;

[0008] Adjust the attenuation amount of the optical attenuation subsystem and obtain the first ranging value of the target lidar after the attenuation amount is adjusted, until the adjustment of the attenuation amount of the optical attenuation subsystem is stopped;

[0009] The ranging capability of the target lidar is obtained by analyzing the first ranging value.

[0010] In an optional embodiment, the measuring device further includes an ambient light simulation unit. Before obtaining the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar has undergone attenuation by the optical attenuation subsystem, the method further includes:

[0011] The ambient light simulation unit is controlled according to the preset ambient light requirements to simulate the corresponding ambient light. The echo signal is a signal obtained under the ambient light simulated by the ambient light simulation unit.

[0012] In an optional implementation, when obtaining the first correspondence, the measuring device further includes a light source and a receiving module, the optical attenuation subsystem includes at least one fixed optical attenuation unit, the fixed optical attenuation unit includes an attenuator frame and a plurality of attenuators disposed on the attenuator frame, and the method further includes:

[0013] The light source is controlled to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar;

[0014] The optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects are obtained, and the distance corresponding to the optical power of the second laser signal is obtained, so as to obtain the first correspondence. The different attenuation effects are achieved by adjusting the number of fixed optical attenuation units in the measuring device and / or the attenuator used in the optical path.

[0015] In an optional implementation, when obtaining the first correspondence, the measuring device further includes an electrically adjustable light attenuator located between the light source and the light attenuation subsystem, and the method further includes:

[0016] Obtain a second correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal output by the electrically adjustable optical attenuator;

[0017] The step of obtaining the optical power of the second laser signal received by the receiving module under different attenuation conditions includes:

[0018] Under various attenuation scenarios, the optical power of the laser signal currently output by the electrically adjustable optical attenuator is obtained based on the current attenuation value of the electrically adjustable optical attenuator and the second correspondence. The optical power of the second laser signal is calculated based on the optical power of the laser signal currently output by the electrically adjustable optical attenuator and the attenuation amount currently provided by the optical attenuation subsystem.

[0019] In an optional implementation, when obtaining the second correspondence, the measuring device further includes an optical power meter, which is disposed between the electrically adjustable optical attenuator and the optical attenuation subsystem. Obtaining the second correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal output by the electrically adjustable optical attenuator includes:

[0020] The attenuation value of the electrically adjustable optical attenuator is adjusted to the minimum, and the optical power of the current third laser signal is obtained through the optical power meter;

[0021] The attenuation value of the electrically adjustable optical attenuator is increased sequentially, and the optical power of the third laser signal output after the attenuation value of the electrically adjustable optical attenuator is increased is obtained by the optical power meter until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

[0022] In an optional implementation, obtaining the optical power and amplitude of the second laser signal received by the receiving module under different attenuation conditions includes:

[0023] The fixed optical attenuation unit in the optical attenuation subsystem is adjusted until the amplitude of the laser signal received by the receiving module is a preset amplitude, wherein the preset amplitude is set based on the amplitude corresponding to the maximum ranging value of the target lidar.

[0024] While maintaining the current attenuation value of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased, and the optical power and waveform of the second laser signal received by the receiving module are recorded after each increase, until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

[0025] The attenuation of the optical attenuation subsystem is adjusted according to the preset amplitude adjustment requirements. Then, while maintaining the current attenuation of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased. The optical power and waveform of the second laser signal received by the receiving module are recorded after each increase until the optical power of the second laser signal received by the receiving module reaches the maximum.

[0026] In an optional implementation, the first correspondence includes a first sub-correspondence corresponding to different bias voltages. Before obtaining the optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects, and obtaining the distance corresponding to the optical power of the second laser signal to obtain the first correspondence, the method further includes:

[0027] The bias voltage used by the receiving module is adjusted to obtain a first sub-correspondence relationship corresponding to different bias voltages. The first sub-correspondence relationship includes the correspondence between the amplitude and distance of the second laser signal received by the receiving module under the corresponding bias voltage.

[0028] The step of obtaining the first ranging value of the target lidar at the current time based on the pre-obtained first correspondence between amplitude and distance and the first amplitude includes:

[0029] The first ranging value is determined based on the first sub-correspondence relationship corresponding to different bias voltages, the bias voltage currently used by the target lidar, and the first amplitude.

[0030] Secondly, embodiments of this application provide a measuring device, which includes an adjustable optical attenuation subsystem, a light source, a receiving module, and a processing unit. The optical attenuation subsystem is disposed between the light source and the receiving module.

[0031] The light source is used to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar to be evaluated for ranging capability.

[0032] The receiving module is used to obtain the optical power of the second laser signal received under different attenuation effects, wherein the different attenuation effects are achieved by adjusting the optical attenuation subsystem;

[0033] The processing unit is used to obtain the amplitude of the second laser signal received under different attenuation effects, and to obtain the distance corresponding to the optical power of the second laser signal, so as to obtain a first correspondence between amplitude and distance. The first correspondence is used to determine the corresponding first ranging value based on the first amplitude of the echo signal obtained during the evaluation of the laser radar ranging capability using the optical attenuation subsystem.

[0034] In an optional embodiment, the measuring device further includes an electrically adjustable optical attenuator located between the light source and the optical attenuation subsystem. The optical attenuation subsystem includes at least one fixed optical attenuation unit, which includes an attenuator frame and a plurality of attenuators disposed on the attenuator frame.

[0035] The electrically adjustable optical attenuator is used to cooperate with the optical attenuation subsystem when the first correspondence is obtained, so as to provide different attenuation effects.

[0036] In an optional embodiment, the measuring device further includes an ambient light simulation unit.

[0037] The ambient light simulation unit is used to simulate the corresponding ambient light according to the preset ambient light requirements when evaluating the range measurement capability of lidar. The echo signal is a signal obtained under the ambient light simulated by the ambient light simulation unit.

[0038] Thirdly, embodiments of this application provide a lidar ranging capability evaluation device, applied to a measuring device, the measuring device including an adjustable attenuation optical attenuation subsystem, the lidar ranging capability evaluation device comprising:

[0039] The processing module is used to obtain the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar is attenuated by the optical attenuation subsystem, wherein the echo signal is received by the target lidar.

[0040] The processing module is further configured to obtain the first ranging value of the target lidar at the current time based on the first correspondence between amplitude and distance obtained in advance and the first amplitude;

[0041] The processing module also adjusts the attenuation amount of the optical attenuation subsystem and obtains the first ranging value of the target lidar after the attenuation amount is adjusted, until the adjustment of the attenuation amount of the optical attenuation subsystem is stopped.

[0042] The analysis module is used to analyze the ranging capability of the target lidar based on the obtained first ranging value.

[0043] In an optional embodiment, the measuring device further includes an ambient light simulation unit. Before obtaining the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar has been attenuated by the optical attenuation subsystem, the processing module is further configured to:

[0044] The ambient light simulation unit is controlled according to the preset ambient light requirements to simulate the corresponding ambient light. The echo signal is a signal obtained under the ambient light simulated by the ambient light simulation unit.

[0045] In an optional implementation, when obtaining the first correspondence, the measuring device further includes a light source and a receiving module; the optical attenuation subsystem includes at least one fixed optical attenuation unit; the fixed optical attenuation unit includes an attenuator frame and a plurality of attenuators disposed on the attenuator frame; and the lidar ranging capability evaluation device further includes a relationship acquisition module, which is used for:

[0046] The light source is controlled to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar;

[0047] The optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects are obtained, and the distance corresponding to the optical power of the second laser signal is obtained, so as to obtain the first correspondence. The different attenuation effects are achieved by adjusting the number of fixed optical attenuation units in the measuring device and / or the attenuator used in the optical path.

[0048] In an optional implementation, when obtaining the first correspondence, the measuring device further includes an electrically adjustable light attenuator located between the light source and the light attenuation subsystem. The relationship obtaining module is further configured to:

[0049] Obtain a second correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal output by the electrically adjustable optical attenuator;

[0050] The relationship acquisition module is specifically used for:

[0051] Under various attenuation scenarios, the optical power of the laser signal currently output by the electrically adjustable optical attenuator is obtained based on the current attenuation value of the electrically adjustable optical attenuator and the second correspondence. The optical power of the second laser signal is calculated based on the optical power of the laser signal currently output by the electrically adjustable optical attenuator and the attenuation amount currently provided by the fixed optical attenuation unit.

[0052] In an optional implementation, when obtaining the second correspondence, the measuring device further includes an optical power meter, which is disposed between the electrically adjustable optical attenuator and the optical attenuation subsystem. The relationship obtaining module is specifically used for:

[0053] The attenuation value of the electrically adjustable optical attenuator is adjusted to the minimum, and the optical power of the current third laser signal is obtained through the optical power meter;

[0054] The attenuation value of the electrically adjustable optical attenuator is increased sequentially, and the optical power of the third laser signal output after the attenuation value of the electrically adjustable optical attenuator is increased is obtained by the optical power meter until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

[0055] In an optional implementation, the relationship acquisition module is specifically used for:

[0056] The fixed optical attenuation unit in the optical attenuation subsystem is adjusted until the amplitude of the laser signal received by the receiving module is a preset amplitude, wherein the preset amplitude is set based on the amplitude corresponding to the maximum ranging value of the target lidar.

[0057] While maintaining the current attenuation value of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased, and the optical power and waveform of the second laser signal received by the receiving module are recorded after each increase, until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

[0058] The attenuation of the optical attenuation subsystem is adjusted according to the preset amplitude adjustment requirements. Then, while maintaining the current attenuation of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased. The optical power and waveform of the second laser signal received by the receiving module are recorded after each increase until the optical power of the second laser signal received by the receiving module reaches the maximum.

[0059] In an optional implementation, the first correspondence includes a first sub-correspondence corresponding to different bias voltages. Before obtaining the optical power and amplitude of the second laser signal received by the receiving module under different attenuation conditions, and obtaining the distance corresponding to the optical power of the second laser signal, the relationship obtaining module is further configured to:

[0060] The bias voltage used by the receiving module is adjusted to obtain a first sub-correspondence relationship corresponding to different bias voltages. The first sub-correspondence relationship includes the correspondence between the amplitude and distance of the second laser signal received by the receiving module under the corresponding bias voltage.

[0061] The processing module is specifically used for:

[0062] The first ranging value is determined based on the first sub-correspondence relationship corresponding to different bias voltages, the bias voltage currently used by the target lidar, and the first amplitude.

[0063] Fourthly, embodiments of this application provide an electronic device, including a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the lidar ranging capability evaluation method described in any of the foregoing embodiments.

[0064] Fifthly, embodiments of this application provide a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the lidar ranging capability evaluation method as described in any of the foregoing embodiments.

[0065] The lidar ranging capability evaluation method, apparatus, measuring device, electronic device, and readable storage medium provided in this application embodiment allow the laser signal emitted by the target lidar to pass through an adjustable attenuation subsystem. The target lidar then obtains the echo signal after passing through the attenuation subsystem, and obtains the first amplitude of this echo signal. Subsequently, based on a pre-obtained first correspondence between amplitude and distance, and the first amplitude, a first ranging value of the target lidar is obtained. The attenuation of the attenuation subsystem can then be changed, and the above process is repeated until the attenuation of the attenuation subsystem is stopped, thereby obtaining multiple first ranging values. Finally, the ranging capability of the target lidar can be analyzed based on the obtained first ranging values. In this way, the attenuation effect of the optical attenuation subsystem is used to increase the indoor ranging range of the lidar, and the ranging capability of the lidar can be evaluated in a relatively small experimental area based on the correspondence between amplitude and distance. Attached Figure Description

[0066] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 A schematic diagram of the measuring device provided in the embodiments of this application;

[0068] Figure 2 A block diagram illustrating an electronic device provided in an embodiment of this application;

[0069] Figure 3 This is one of the flowcharts illustrating the lidar ranging capability evaluation method provided in the embodiments of this application;

[0070] Figure 4 This is a schematic diagram illustrating the calibration of a lidar using a measuring device according to an embodiment of this application.

[0071] Figure 5 A second schematic flowchart illustrating the lidar ranging capability evaluation method provided in this application embodiment;

[0072] Figure 6 The third schematic flowchart of the lidar ranging capability evaluation method provided in the embodiments of this application;

[0073] Figure 7 The fourth flowchart illustrates the lidar ranging capability evaluation method provided in the embodiments of this application.

[0074] Figure 8 for Figure 7A flowchart illustrating the sub-steps included in step S120;

[0075] Figure 9 for Figure 7 A flowchart illustrating the sub-steps included in step S140;

[0076] Figure 10 Fifth flowchart illustrating the lidar ranging capability evaluation method provided in the embodiments of this application;

[0077] Figure 11 One of the block diagrams of the lidar ranging capability evaluation device provided in the embodiments of this application;

[0078] Figure 12 This is a second block diagram of the lidar ranging capability evaluation device provided in the embodiments of this application.

[0079] Icons: 100-Measuring device; 101-Black box; 110-Light source; 120-Collimator; 130-Aperture; 140-Electrically adjustable optical attenuator; 150-Power meter; 160-Fixed optical attenuation unit; 170-Receiver module; 180-Oscilloscope; 190-Ambient light simulation unit; 200-Electronic equipment; 210-Memory; 220-Processor; 230-Communication unit; 300-LiDAR ranging capability evaluation device; 301-Relationship acquisition module; 310-Processing module; 320-Analysis module. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0081] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0082] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] Currently, the most common method for evaluating the ranging capabilities of lidar to obtain accurate ranging information is the direct measurement method. This method requires ranging sites at the hundred-meter or even kilometer level. Such sites significantly increase research and development and production costs. Furthermore, because the divergence angle of lidar spots is on the order of mrad, locating the spot over distances of hundreds of meters or even kilometers becomes extremely difficult, hindering mass production and reducing efficiency.

[0084] In response to the above situation, this application provides a method, apparatus, measuring device, electronic device and readable storage medium for evaluating the ranging capability of lidar. It increases the indoor ranging range of lidar by utilizing the attenuation effect of the optical attenuation subsystem, and completes the evaluation of lidar ranging capability in a small experimental field based on the correspondence between amplitude and distance.

[0085] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0086] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a measuring device 100 provided in an embodiment of this application. In this embodiment, the measuring device 100 includes an optical attenuation subsystem, a light source 110, a receiving module 170, and a processing unit. The optical attenuation subsystem is located between the light source 110 and the receiving module 170, and the attenuation amount of the optical attenuation subsystem is adjustable.

[0087] The light source 110 is used to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar to be evaluated for ranging capability. Optionally, the light source 110 can be a standard pulse light source, and if the power of the standard pulse light source is adjustable, the power of the standard pulse light source can be set to the target emission power. Alternatively, a transmitting module can be selected from the target lidar as the light source 110.

[0088] The optical attenuation subsystem is located on the optical path and is used to attenuate the first laser signal. The attenuation provided by the optical attenuation subsystem can be adjusted to attenuate the first laser signal to different degrees. The receiving module is used to receive the corresponding second laser signal under different attenuation conditions provided by the optical attenuation subsystem and obtain the optical power of the second laser signal; the processing unit is used to obtain the amplitude of the second laser signal received under different attenuation conditions and obtain the distance corresponding to the optical power of the second laser signal, so as to obtain a first correspondence between amplitude and distance.

[0089] Optionally, such as Figure 1 As shown, the measuring device 100 may further include an oscilloscope 180, which is communicatively connected to the receiving module 170. After receiving the second laser signal, the receiving module 170 can send the electrical signal obtained through photoelectric conversion to the oscilloscope 180, thereby obtaining the waveform of the second laser signal and thus its amplitude. This facilitates manual viewing of the waveform and may also allow for the acquisition of the corresponding amplitude. It is understood that obtaining the waveform and amplitude through the oscilloscope 180 is merely an illustrative example; amplitude can also be obtained through other methods.

[0090] Here, the first correspondence represents the relationship between the signal received by the receiving module and the detection distance (i.e., the ranging value, the distance). This first correspondence can be used to determine the corresponding first ranging value based on the first amplitude of the echo signal obtained during the evaluation of the lidar ranging capability using the optical attenuation subsystem.

[0091] Alternatively, as one possible implementation, such as Figure 1As shown, the optical attenuation subsystem includes at least one fixed optical attenuation unit 160. The specific number of the fixed optical attenuation units can be set according to actual needs; for example, the number may differ when used to obtain the first correspondence and when used for ranging capability evaluation. Each fixed optical attenuation unit 160 includes an attenuator frame and multiple attenuators disposed on the attenuator frame. The attenuators of the fixed optical attenuation unit 160 can be positioned along the optical path according to actual needs, thereby controlling the attenuation effect provided by the fixed optical attenuation unit 160, and consequently controlling the attenuation effect provided by the optical attenuation subsystem. The attenuation effect of each attenuator is fixed.

[0092] Optionally, in this embodiment, when the measuring device 100 is used to obtain the first correspondence, the measuring device 100 further includes a black box 101, and the light attenuation subsystem is disposed in the black box 101 to avoid light interference.

[0093] Optionally, in this embodiment, the measuring device 100 may further include a collimator 120 and an aperture 130. The collimator 120 and the aperture 130 are sequentially disposed between the light source 110 and the optical attenuation subsystem. The collimator 120 and the aperture 130 are located within the black box 101. The collimator 120 and the aperture 130 are used to shape the first laser signal, and the aperture 130 is also used to block stray light. The first laser signal emitted by the light source 110 passes sequentially through the collimator 120, the aperture 130, and the optical attenuation subsystem, and is received by the receiving module 170.

[0094] Optionally, in this embodiment, the measuring device 100 may further include an electrically adjustable light attenuator 140, which is disposed in the black box 101 between the aperture 130 and the light attenuation subsystem. The electrically adjustable light attenuator 140 is used to fine-tune the light attenuation, while the light attenuation subsystem is used to coarsely adjust the light attenuation. Thus, when obtaining the first correspondence using the measuring device 100, the ranging interval can be refined through the cooperation of the electrically adjustable light attenuator 140 and the light attenuation subsystem, thereby ensuring the accuracy of the first correspondence.

[0095] Optionally, in this embodiment, the measuring device 100 may further include a power meter 150, the probe of which may be disposed between the electrically adjustable optical attenuator 140 and the optical attenuation subsystem, for detecting the optical power of the laser signal output by the electrically adjustable optical attenuator 140.

[0096] The black box can be divided into left and right parts. The collimator 120, aperture 130, and electrically adjustable optical attenuator 140 are located in the left black box, which is also a case. The power meter 150 and the optical attenuation subsystem are located in the right black box. When placing the power meter 150 or manually adjusting the fixed optical attenuation unit 160 in the optical attenuation subsystem, the cover of the right black box can be removed for operation. Optionally, to prevent interference light from entering the left black box from the right black box when the right black box cannot be closed, a partition can be placed between the left and right black boxes to prevent interference light from entering the left black box from the right black box.

[0097] Optionally, in this embodiment, the measuring device 100 may further include an ambient light simulation unit 190. The ambient light simulation unit 190 is used to simulate corresponding ambient light according to preset ambient light requirements when evaluating the ranging capability of the lidar. In this way, the ambient light simulation unit 190 can simulate the sunlight interference experienced by the lidar in a real scene, so as to measure the ranging value under the corresponding ambient light, thereby more accurately verifying the ranging capability of the lidar before it leaves the factory.

[0098] Optionally, in this embodiment, the components of the measuring device 100 can be selected for corresponding tests according to the actual application scenario. For example, when used to obtain the first correspondence, the following can be utilized: Figure 1 The measurement device 100 shown, excluding the ambient light simulation unit 190, obtains this first correspondence. When calibrating a lidar, calibration can be performed using the optical attenuation subsystem and the ambient light simulation unit 190.

[0099] In this embodiment, the measuring device 100 can be used to measure and calculate the incident light power entering the photodetector of the receiving module 170, thereby obtaining the correspondence between the light power and the amplitude of the electrical signal converted by the photodetector. Then, combined with the lidar equation, the correspondence between the light power and the equivalent distance can be obtained, and the correspondence between the amplitude and the distance can be obtained, which can be used for ranging capability evaluation.

[0100] When the photodetector on the receiving module is a SIMP (Silicon photomultiplier tube), the average photoelectron data generated by a single SPAD in the SIPM for a single-pulse laser can be calculated using radar equations:

[0101]

[0102]

[0103] Where ρ represents the target reflectivity, η f η represents the efficiency of the transmitting optical system. r η represents the efficiency of the receiving optical system.t Indicates one-way atmospheric transmittance, S r The effective area of ​​the receiving lens is represented by t, P represents the peak power of the laser, and t represents the effective area of ​​the receiving lens. pulse η represents the laser pulse width, d represents the detection distance, and η represents the detection distance. TRX η represents the receiving field-of-view matching efficiency. PDE The photoelectric detection efficiency of the detector is represented by hv, and the single-photon energy is represented by N. cell This indicates the number of SIPM SPAD units.

[0104] When obtaining the first correspondence using the aforementioned measuring device 100, the obtained value is the average optical power, while the aforementioned formula uses the peak optical power. The relationship between the two is as follows:

[0105]

[0106] Therefore: Based on this formula and the optical power of the signal measured by the receiving module 170 in the measuring device 100, the corresponding distance value can be calculated.

[0107] In the aforementioned measuring device 100, the electrically adjustable optical attenuator 140 can finely adjust the light intensity, and the attenuator assembly (i.e., the optical attenuation subsystem) can coarsely adjust the light intensity. The two are used on the same optical path, which can greatly increase the measurable dynamic range and obtain the correspondence between optical power and distance measurement value more accurately, thereby obtaining the correspondence between amplitude and distance measurement value more accurately.

[0108] By adding an optical attenuator and placing a diffuse reflector at a certain distance (e.g., 10 meters or 15 meters), and observing the intensity of the echo signal displayed on an oscilloscope, the receiving optical path can be adjusted, enabling indoor ranging from tens of meters to hundreds of meters. This can be used as a calibration station during production. Furthermore, the ambient light simulation unit 190 can simulate sunlight, thereby simulating the overall ranging capability of the lidar under different ambient light conditions, minimizing the error between the test value and the true value. The ambient light simulation unit 190 can provide a DC optical signal ranging from 0 to 100 klux.

[0109] The aforementioned measuring device 100 can use a standard pulsed light source to test the time jitter of the lidar receiving segment, thereby providing a reference for evaluating the overall accuracy level of the device. The measuring device 100 also features simple operation and good stability.

[0110] Please refer to Figure 2 , Figure 2This is a block diagram of an electronic device 200 provided in an embodiment of this application. The electronic device 200 includes a memory 210, a processor 220, and a communication unit 230. The memory 210, processor 220, and communication unit 230 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0111] The memory 210 is used to store programs or data. The memory 210 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0112] The processor 220 is used to read / write data or programs stored in the memory 210 and execute corresponding functions. For example, the memory 210 stores a lidar ranging capability evaluation device 300, which includes at least one software function module that can be stored in the memory 210 in the form of software or firmware. The processor 220 executes various functional applications and data processing by running the software programs and modules stored in the memory 210, such as the lidar ranging capability evaluation device 300 in this embodiment, thereby realizing the lidar ranging capability evaluation method in this embodiment.

[0113] The communication unit 230 is used to establish a communication connection between the electronic device 200 and other communication terminals through the network, and to send and receive data through the network.

[0114] It should be understood that, Figure 2 The structure shown is only a schematic diagram of the electronic device 200. The electronic device 200 may also include components that are larger than... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown. Figure 2 The components shown can be implemented using hardware, software, or a combination thereof.

[0115] Please refer to Figure 3 , Figure 3This is one of the flowcharts illustrating the lidar ranging capability evaluation method provided in this application. This method can be applied to measuring devices. Figure 4 As shown, the measuring device includes an optical attenuation subsystem with adjustable attenuation. In this embodiment, the method may include steps S220 to S260.

[0116] Step S220: Obtain the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar has been attenuated by the optical attenuation subsystem.

[0117] The target lidar is a lidar whose ranging capability needs to be evaluated. For example, assuming that a batch of lidars produced all require ranging capability evaluation, then each lidar can be used sequentially as the target lidar.

[0118] like Figure 4 As shown, in a far-field environment greater than 10m, by placing the target lidar indoors and positioning a suitable optical attenuation subsystem at the light emission point, different distances can be simulated by changing the optical attenuation value of the subsystem. Therefore, by placing diffuse reflectors with different reflectivities at relatively close ranges, the ranging capability of the lidar at long distances can be simulated quite accurately. The TX module of the target lidar emits a laser signal, which is reflected by the diffuse reflector to form a reflected signal. This reflected signal is attenuated by the optical attenuation subsystem and then received by the RX module of the target lidar. Thus, the target lidar receives the echo signal formed by its own emitted laser signal.

[0119] The first amplitude of the electrical signal corresponding to the echo signal can be obtained in any way, that is, the voltage of the echo signal. This voltage is the maximum voltage value of the electrical signal corresponding to the echo signal. For example, such as Figure 4 As shown, the radar RX module of the target lidar is communicatively connected to an oscilloscope, thereby obtaining the waveform of the echo signal using the oscilloscope, and then using the maximum voltage value of the echo signal waveform as the first amplitude of the echo signal. It is understood that the above is merely an example, and the first amplitude of the echo signal can also be obtained in other ways. The method for obtaining the first amplitude of the electrical signal corresponding to the echo signal in step S220 is the same as the method for obtaining the amplitude when obtaining the first correspondence.

[0120] Step S230: Based on the first correspondence between amplitude and distance obtained in advance and the first amplitude, obtain the first ranging value of the target lidar at the current time.

[0121] In this embodiment, the pre-obtained first correspondence includes the relationship between amplitude and distance. Optionally, the first correspondence may include different amplitudes and the distances corresponding to each amplitude, or it may include a function describing the relationship between amplitude and distance. When the first amplitude is obtained through step S220, the distance corresponding to the first amplitude can be determined based on the first amplitude and the first correspondence, and the determined distance can be used as the first ranging value of the target lidar at the current time.

[0122] Optionally, as a possible implementation, the first correspondence includes a first sub-correspondence corresponding to different bias voltages, which can obtain the bias voltage used by the radar RX module of the target lidar, and then determine the first amplitude based on the bias voltage currently used by the target lidar, the first amplitude, and the first correspondence.

[0123] Step S240: Determine whether it is necessary to adjust the attenuation amount of the optical attenuation subsystem.

[0124] If necessary, proceed to step S250, and then proceed to steps S220 to S230 again.

[0125] Step S250: Adjust the attenuation amount of the optical attenuation subsystem.

[0126] If not required, proceed to step S260.

[0127] Step S260: Analyze the ranging capability of the target lidar based on the obtained first ranging value.

[0128] After obtaining a first ranging value, it can be determined whether the attenuation of the optical attenuation subsystem needs to be adjusted based on the distribution of the currently obtained first ranging values ​​and / or the adjustments already made to the optical attenuation subsystem. For example, if the previously obtained first ranging value differs significantly from the desired ranging range of the target lidar, it can be determined that the attenuation of the optical attenuation subsystem needs to be adjusted. If it is determined that the attenuation of the optical attenuation subsystem needs adjustment, the attenuation provided by the optical attenuation subsystem can be adjusted in any manner. Optionally, the adjustment can be performed in ascending order of attenuation, descending order of attenuation, or other adjustment methods; no specific limitation is made here. After adjusting the attenuation provided by the optical attenuation subsystem, the current first ranging value can be obtained again through steps S220 to S230.

[0129] In one possible implementation, the optical attenuation subsystem includes at least one fixed optical attenuation unit, which includes an attenuator holder and a plurality of attenuators disposed on the attenuator holder. The attenuation provided by the optical attenuation subsystem can be adjusted by changing the number of fixed optical attenuation units and / or adjusting the attenuators positioned in the optical path of the fixed optical attenuation unit. Optionally, the fixed optical attenuation unit may include a roller holder, allowing the attenuators positioned in the optical path of the fixed optical attenuation unit to be replaced by rolling the roller holder.

[0130] If it is determined that no adjustment is needed to the attenuation provided by the optical attenuation subsystem, the ranging capability of the target lidar can be analyzed based on the obtained first ranging value. For example, the maximum value among the obtained first ranging values ​​can be used to describe the ranging capability of the target lidar, or the maximum and minimum values ​​can be determined from the obtained first ranging values ​​and used to describe the ranging capability of the target lidar.

[0131] Please refer to Figure 4 and Figure 5 , Figure 5 This is a second schematic flowchart illustrating the lidar ranging capability evaluation method provided in this application embodiment. In this embodiment, the measuring device may further include an ambient light simulation unit, the light emitted by which can illuminate a diffuse reflector plate. In this embodiment, before step S220, the method may further include step S210.

[0132] Step S210: Control the ambient light simulation unit according to the preset ambient light requirements, so as to simulate the corresponding ambient light using the ambient light simulation unit.

[0133] In this embodiment, a preset ambient light requirement can be set according to test needs. Then, the light intensity provided by the ambient light simulation unit is controlled based on this preset ambient light requirement, thereby obtaining an echo signal under the corresponding ambient light. That is, the echo signal is the signal obtained under the ambient light simulated by the ambient light simulation unit. It is understood that the ambient light simulation unit can be controlled multiple times according to test needs to simulate ambient light of different intensities. In this way, by adjusting the ambient light intensity provided by the ambient light simulation unit, the impact of different ambient light conditions on the ranging capability of the target lidar can be simulated, thereby more accurately verifying the ranging capability of the target lidar before it leaves the factory.

[0134] Currently, many tests are conducted outdoors to verify ranging capabilities. However, outdoor environments are easily affected by weather, especially sunlight, which can lead to inaccurate test results and impact research and development or production. In this embodiment, by adding an ambient light simulation unit to the optical path, the sunlight interference experienced by the lidar in a real-world scenario can be simulated. Furthermore, the light intensity of this ambient light simulation unit is adjustable, and the attenuation provided by the attenuation subsystem in the optical path is also adjustable, allowing for effective control of variables.

[0135] Please refer to Figure 6 , Figure 6 This is the third flowchart illustrating the lidar ranging capability evaluation method provided in this application embodiment. In this embodiment, when obtaining the first correspondence, as... Figure 1 As shown, the measuring device may further include a light source and a receiving module, with the optical attenuation subsystem located between the light source and the receiving module. The first correspondence can be established through... Figure 6 The steps shown are as follows. In this embodiment, as... Figure 6 As shown, the method may further include steps S110 and S140.

[0136] Step S110: Control the light source to emit a first laser signal.

[0137] In this embodiment, it can be done according to Figure 1 The light source, collimator, aperture, optical attenuation subsystem, and receiving module are set up as shown. Then, the light source and receiving module are powered on and run for 30 minutes to preheat the device. Next, the receiving optical path is adjusted. For example, a photosensitive card can be used to direct the laser emitted by the light source onto the center of the photodetector in the receiving module, and then the receiving module is fixed in place. Alternatively, the receiving module can convert the received optical signal through photoelectric conversion and connect it to an oscilloscope. Based on the waveform on the oscilloscope, the XYZ axes of the multi-dimensional optical adjustment frame used to place the receiving module are adjusted so that the laser signal reaches the optimal position of the receiver in the receiving module. The emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar.

[0138] Step S140: Obtain the optical power and amplitude of the second laser signal received by the receiving module under different attenuation conditions, and obtain the distance corresponding to the optical power of the second laser signal, so as to obtain the first correspondence.

[0139] Next, different attenuation effects can be achieved by adjusting the number of fixed optical attenuation units in the measuring device and / or the attenuators used in the optical path, and the optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects can be obtained. Then, the first correspondence can be obtained by combining the radar equation statistically. Here, the amplitude of the second laser signal represents the maximum voltage value of the waveform of the electrical signal converted from the second laser signal.

[0140] Optionally, such as Figure 1 As shown, when obtaining the first correspondence, the measuring device may further include an electrically adjustable light attenuator, which is located between the light source and the light attenuation subsystem. Please refer to... Figure 7 , Figure 7 This is the fourth flowchart illustrating the lidar ranging capability evaluation method provided in this application embodiment. In this embodiment, the method may further include step S120 before step S140.

[0141] Step S120: Obtain a second correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal output by the electrically adjustable optical attenuator.

[0142] Optionally, the optical power of the third laser signal output by the electrically adjustable optical attenuator can be obtained by any method when the attenuation value of the electrically adjustable optical attenuator is a certain value, thereby obtaining the second correspondence. The third laser signal is the signal after the first laser signal emitted by the light source has been attenuated by the electrically adjustable optical attenuator.

[0143] Alternatively, as one possible implementation, when obtaining the second correspondence, such as Figure 1 As shown, the measuring device may further include an optical power meter, which is disposed between the electrically adjustable optical attenuator and the optical attenuation subsystem. This can be achieved through... Figure 8 The second correspondence is obtained as shown. Please refer to... Figure 8 , Figure 8 for Figure 7 A flowchart illustrating the sub-steps included in step S120. In this embodiment, step S120 may include sub-steps S121 to S122.

[0144] In sub-step S121, the attenuation value of the electrically adjustable optical attenuator is adjusted to the minimum, and the optical power of the current third laser signal is obtained through the optical power meter.

[0145] In sub-step S122, the attenuation value of the electrically adjustable optical attenuator is increased sequentially, and the optical power of the third laser signal output after the attenuation value of the electrically adjustable optical attenuator is increased is obtained through the optical power meter until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

[0146] In this embodiment, when obtaining the second correspondence, the probe of the optical power meter can be placed between the output end of the electrically adjustable optical attenuator and the receiving module. Then, the light source and the electrically adjustable optical attenuator are started, completing their initialization. Next, the attenuation value of the electrically adjustable optical attenuator is adjusted to the minimum, that is, the attenuation amount of the electrically adjustable optical attenuator is adjusted to the minimum. In this case, a 30-minute preheating period is allowed. During this process, the readings of the optical power meter are read, and the average value is recorded as the optical power of the third laser signal corresponding to the current attenuation value.

[0147] Next, the attenuation value of the electrically adjustable optical attenuator can be increased sequentially, and the optical power meter reading can be recorded after each increase. This adjustment process can then be repeated a preset number of times, recording the optical power meter reading during each repetition. Finally, the correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal can be obtained by averaging. Thus, a second correspondence between the attenuation value of the electrically adjustable optical attenuator and the output optical power can be established.

[0148] Optionally, the attenuation value of the electrically adjustable optical attenuator can be adjusted in certain steps. The attenuation value of the electrically adjustable optical attenuator can also be adjusted using other methods, which are not specifically limited here.

[0149] Having obtained the second correspondence, the light source can emit a first laser signal. Then, under various attenuation scenarios, based on the current attenuation value of the electrically adjustable optical attenuator and the second correspondence, the optical power of the laser signal currently output by the electrically adjustable optical attenuator is obtained. Furthermore, based on the optical power of the laser signal currently output by the electrically adjustable optical attenuator and the attenuation amount currently provided by the optical attenuation subsystem, the optical power of the second laser signal is calculated. This allows for a more refined ranging interval, thereby ensuring the accuracy of the obtained first correspondence.

[0150] Alternatively, as a possible implementation, upon obtaining the second correspondence, it can be achieved through... Figure 9 The first correspondence is obtained as shown. Please refer to... Figure 9 , Figure 9 for Figure 7A flowchart illustrating the sub-steps included in step S140. In this embodiment, step S140 may include sub-steps S141 to S143.

[0151] Sub-step S141: Adjust the fixed optical attenuation unit in the optical attenuation subsystem until the amplitude of the laser signal received by the receiving module is a preset amplitude.

[0152] In sub-step S142, while maintaining the current attenuation value of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased, and the optical power and waveform of the second laser signal received by the receiving module are recorded after each increase, until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

[0153] Sub-step S143: Adjust the attenuation of the optical attenuation subsystem according to the preset amplitude adjustment requirements, and while maintaining the current attenuation of the optical attenuation subsystem, gradually increase the attenuation value of the electrically adjustable optical attenuator, and record the optical power and waveform of the second laser signal received by the receiving module after each increase, until the optical power of the second laser signal received by the receiving module reaches the maximum.

[0154] Optionally, in this embodiment, after the transceiver module of the measuring device has been powered on and running for 30 minutes and the receiving optical path has been adjusted, the fixed optical attenuation unit in the optical attenuation subsystem can be adjusted so that the amplitude of the laser signal received by the receiving module is a preset amplitude. It is understood that the amplitude of the laser signal refers to the maximum voltage value of the waveform of the electrical signal converted from the laser signal. The adjustment method may include adding or removing fixed optical attenuation units and / or adjusting the attenuator located on the optical path of the fixed optical attenuation unit. The preset amplitude is set based on the amplitude corresponding to the maximum ranging value of the target lidar, and the preset amplitude is a voltage value. Optionally, the receiving module can be communicatively connected to the oscilloscope to determine whether the amplitude of the laser signal received by the receiving module reaches the preset amplitude through the waveform displayed on the oscilloscope. The preset amplitude can be used to represent the minimum intensity or energy of the laser signal received by the lidar; signals below this preset amplitude will be considered noise or invalid signals and ignored. The setting of this preset amplitude can affect the detection range and accuracy of the lidar. Generally speaking, the lower the receiving threshold (i.e., the preset amplitude), the more distant the LiDAR can detect, but it is also more susceptible to interference from environmental noise.

[0155] Then, while maintaining the current attenuation level provided by the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased, and the optical power and waveform of the second laser signal received by the receiving module are recorded after each increase. Specifically, after each increase in the attenuation value of the electrically adjustable optical attenuator, the optical power of the laser signal currently output by the electrically adjustable optical attenuator can be obtained based on the adjusted attenuation value and the second correspondence. This power, combined with the current attenuation level provided by the optical attenuation subsystem, is then used to calculate the optical power of the second laser signal received by the receiving module at that moment. This process can be expressed as: Actual optical power entering the photodetector = Output optical power of the electrically adjustable optical attenuator * Attenuation level of the fixed optical attenuation unit * Coefficient, where the coefficient is a preset value used to represent a certain proportion of light entering a specific channel.

[0156] The attenuation value of the electrically adjustable optical attenuator can be gradually increased in certain steps, or it can be adjusted in other ways, without being specifically limited here.

[0157] Specifically, the waveform of the second laser signal received by the receiving module after each increase in the attenuation value of the electrically adjustable optical attenuator can be obtained using an oscilloscope, thereby analyzing and obtaining the maximum voltage value (i.e., amplitude) of the second laser signal received by the receiving module after each increase in the attenuation value of the electrically adjustable optical attenuator.

[0158] While maintaining the current attenuation level of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased to its maximum. The attenuation level of the optical attenuation subsystem can then be adjusted according to a preset amplitude requirement. Optionally, the preset amplitude requirement can be a preset voltage value or a percentage.

[0159] After adjusting the attenuation of the optical attenuation subsystem according to the preset amplitude adjustment requirement, the attenuation value of the electrically adjustable optical attenuator can be gradually increased while maintaining the current attenuation value of the optical attenuation subsystem. The optical power and waveform of the second laser signal received by the receiving module are recorded after each increase; that is, sub-step S142 is repeated. Then, the attenuation of the optical attenuation subsystem is adjusted again according to the preset amplitude increase requirement, and sub-step S143 is repeated again until the optical power of the second laser signal received by the receiving module reaches its maximum.

[0160] In one possible implementation, the preset amplitude adjustment requirement is a preset percentage, which is used to require that the amplitude (i.e., value) of the second laser signal after adjustment according to the preset amplitude requirement increases by the percentage compared to the amplitude of the second laser signal before adjustment according to the preset amplitude requirement. For example, the preset percentage is 5%, and the above process is as follows: S1. First, adjust the optical attenuation subsystem so that the maximum voltage of the electrical signal output by the receiving module is a preset voltage V1; S2. Keep the optical attenuation subsystem stationary (i.e., do not adjust), and gradually increase the attenuation value of the electrically adjustable optical attenuator. During this process, record the optical power and voltage of the signal output by the receiving module. When it is adjusted to the maximum, execute S3; S3. By adjusting the optical attenuation subsystem, increase the amplitude of the signal received by the receiving module by 5%, reaching V2, where V2 is 5% larger than V1. That is, V2 = V1 + V1 * 5%. Then, the optical attenuation subsystem remains unchanged, and the attenuation value of the electrically adjustable optical attenuator is gradually increased. When it is adjusted to the maximum, S4 is executed. S4. By adjusting the optical attenuation subsystem, the amplitude of the signal received by the receiving module is increased by 5%, which is V3. V3 is 5% larger than V2, that is, V3 = V2 + V2 * 5%. Then, the optical attenuation subsystem remains unchanged, and the attenuation value of the electrically adjustable optical attenuator is gradually increased. When it is adjusted to the maximum, the above method is repeated until the receiving module receives the maximum optical power.

[0161] Optionally, when the first laser signal emitted by the light source is in the form of a sine wave, it can be determined whether the receiving module has received the maximum optical power in the following way: when the bottom of the waveform of the signal received by the receiving module is no longer an arc but a straight line, it can be determined whether the receiving module has received the maximum optical power.

[0162] Please refer to Figure 10 , Figure 10 This is the fifth flowchart illustrating the lidar ranging capability evaluation method provided in this application embodiment. In this embodiment, before step 140, the method may further include step S130.

[0163] Step S130: Adjust the bias voltage used by the receiving module.

[0164] In this embodiment, the first correspondence includes first sub-correspondences corresponding to different bias voltages. A first sub-correspondence corresponding to one bias voltage is used to represent the relationship between the amplitude and distance of the second laser signal received by the receiving module under that bias voltage. Before obtaining the optical power and amplitude of the signal obtained under different attenuation effects, the bias voltage used by the receiving module can be set first. Then, under the set bias voltage, step S140 is executed to obtain the correspondence between amplitude and distance under the current bias voltage. Afterwards, the bias voltage used by the receiving module is reset, and the correspondence between amplitude and distance under the newly set bias voltage is obtained. This continues until the bias voltage used by the receiving module is stopped. The bias voltage of the receiving module can be set according to the bias voltage usable by the target lidar, which facilitates accurate acquisition of the corresponding first ranging value when evaluating the ranging capability based on the first correspondence.

[0165] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a lidar ranging capability evaluation device 300 is given below. Optionally, the lidar ranging capability evaluation device 300 can adopt the above-described... Figure 2 The device structure of the electronic device 200 shown. Further, please refer to... Figure 11 , Figure 11 This is one of the block diagrams of the lidar ranging capability evaluation device 300 provided in this application embodiment. It should be noted that the lidar ranging capability evaluation device 300 provided in this embodiment has the same basic principle and technical effects as the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The lidar ranging capability evaluation device 300 is applied to a measuring device, which includes an adjustable optical attenuation subsystem. The lidar ranging capability evaluation device 300 may include a processing module 310 and an analysis module 320.

[0166] The processing module 310 is used to obtain the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar has been attenuated by the optical attenuation subsystem. The echo signal is received by the target lidar.

[0167] The processing module 310 is further configured to obtain the first ranging value of the target lidar at the current time based on the first correspondence between amplitude and distance and the first amplitude obtained in advance.

[0168] The processing module 310 further adjusts the attenuation amount of the optical attenuation subsystem and obtains the first ranging value of the target lidar after the attenuation amount adjustment, until the adjustment of the attenuation amount of the optical attenuation subsystem is stopped.

[0169] The analysis module 320 is used to analyze the ranging capability of the target lidar based on the obtained first ranging value.

[0170] Please refer to Figure 12 , Figure 12 This is a second block diagram of a lidar ranging capability evaluation device 300 provided in an embodiment of this application. In this embodiment, the lidar ranging capability evaluation device 300 may further include a relationship acquisition module 301. When acquiring the first correspondence relationship, the measuring device further includes a light source and a receiving module. The optical attenuation subsystem includes at least one fixed optical attenuation unit, which includes an attenuator frame and multiple attenuators disposed on the attenuator frame. The relationship acquisition module 301 is used to: control the light source to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar; obtain the optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects, and obtain the distance corresponding to the optical power of the second laser signal, so as to obtain the first correspondence relationship, wherein different attenuation effects are achieved by adjusting the number of fixed optical attenuation units in the measuring device and / or the attenuators used in the optical path.

[0171] Optionally, the above modules can be stored in the form of software or firmware. Figure 2 The memory 210 shown is either stored in or embedded in the operating system (OS) of the electronic device 200, and can be used by... Figure 2 The processor 220 executes the program. Meanwhile, the data and program code required to execute the above modules can be stored in the memory 210.

[0172] This application also provides a readable storage medium storing a computer program thereon, which, when executed by a processor, implements the aforementioned lidar ranging capability evaluation method.

[0173] In summary, this application provides a method, apparatus, measuring device, electronic device, and readable storage medium for evaluating the ranging capability of a lidar. The method involves passing a laser signal emitted by a target lidar through an adjustable attenuation subsystem, obtaining the echo signal after passing through the attenuation subsystem, and then obtaining the first amplitude of the echo signal. Subsequently, based on a pre-obtained first correspondence between amplitude and distance, and the first amplitude, a first ranging value of the target lidar is obtained. The attenuation of the attenuation subsystem can then be changed, and the above process is repeated until the attenuation of the attenuation subsystem is no longer adjusted, thereby obtaining multiple first ranging values. Finally, the ranging capability of the target lidar can be analyzed based on the obtained first ranging values. In this way, the attenuation effect of the optical attenuation subsystem is used to increase the indoor ranging range of the lidar, and the ranging capability of the lidar can be evaluated in a relatively small experimental area based on the correspondence between amplitude and distance.

[0174] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0175] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0176] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0177] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for evaluating the ranging capability of a lidar system, characterized in that, Applied to a measuring device, the measuring device including an optical attenuation subsystem with adjustable attenuation, the method includes: The first amplitude of the echo signal obtained after the laser signal emitted by the target lidar is attenuated by the optical attenuation subsystem is obtained, wherein the echo signal is received by the target lidar. Based on the pre-obtained first correspondence between amplitude and distance and the first amplitude, the first ranging value of the target lidar at the current time is obtained; Adjust the attenuation amount of the optical attenuation subsystem and obtain the first ranging value of the target lidar after the attenuation amount is adjusted, until the adjustment of the attenuation amount of the optical attenuation subsystem is stopped; The ranging capability of the target lidar is obtained by analyzing the first ranging value. When obtaining the first correspondence, the measuring device further includes a light source and a receiving module. The optical attenuation subsystem includes at least one fixed optical attenuation unit, which includes an attenuator frame and multiple attenuators disposed on the attenuator frame. The method further includes: The light source is controlled to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar; the optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects are obtained, and the distance corresponding to the optical power of the second laser signal is obtained, so as to obtain the first correspondence relationship, wherein different attenuation effects are achieved by adjusting the number of fixed optical attenuation units in the measuring device and / or the attenuator used in the optical path.

2. The method according to claim 1, characterized in that, The measuring device further includes an ambient light simulation unit. Before obtaining the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar has been attenuated by the optical attenuation subsystem, the method further includes: The ambient light simulation unit is controlled according to the preset ambient light requirements to simulate the corresponding ambient light. The echo signal is a signal obtained under the ambient light simulated by the ambient light simulation unit.

3. The method according to claim 1 or 2, characterized in that, When obtaining the first correspondence, the measuring device further includes an electrically adjustable light attenuator, the electrically adjustable light attenuator being located between the light source and the light attenuation subsystem, and the method further includes: Obtain a second correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal output by the electrically adjustable optical attenuator; The process of obtaining the optical power of the second laser signal received by the receiving module under different attenuation conditions includes: Under various attenuation scenarios, the optical power of the laser signal currently output by the electrically adjustable optical attenuator is obtained based on the current attenuation value of the electrically adjustable optical attenuator and the second correspondence. The optical power of the second laser signal is calculated based on the optical power of the laser signal currently output by the electrically adjustable optical attenuator and the attenuation amount currently provided by the optical attenuation subsystem.

4. The method according to claim 3, characterized in that, When obtaining the second correspondence, the measuring device further includes an optical power meter, which is disposed between the electrically adjustable optical attenuator and the optical attenuation subsystem. Obtaining the second correspondence between the attenuation value of the electrically adjustable optical attenuator and the optical power of the third laser signal output by the electrically adjustable optical attenuator includes: The attenuation value of the electrically adjustable optical attenuator is adjusted to the minimum, and the optical power of the current third laser signal is obtained through the optical power meter; The attenuation value of the electrically adjustable optical attenuator is increased sequentially, and the optical power of the third laser signal output after the attenuation value of the electrically adjustable optical attenuator is increased is obtained by the optical power meter until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum.

5. The method according to claim 3, characterized in that, The process of obtaining the optical power and amplitude of the second laser signal received by the receiving module under different attenuation conditions includes: The fixed optical attenuation unit in the optical attenuation subsystem is adjusted until the amplitude of the laser signal received by the receiving module is a preset amplitude, wherein the preset amplitude is set based on the amplitude corresponding to the maximum ranging value of the target lidar. While maintaining the current attenuation value of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased, and the optical power and waveform of the second laser signal received by the receiving module are recorded after each increase, until the attenuation value of the electrically adjustable optical attenuator is adjusted to the maximum. The attenuation of the optical attenuation subsystem is adjusted according to the preset amplitude adjustment requirements. Then, while maintaining the current attenuation of the optical attenuation subsystem, the attenuation value of the electrically adjustable optical attenuator is gradually increased. The optical power and waveform of the second laser signal received by the receiving module are recorded after each increase until the optical power of the second laser signal received by the receiving module reaches the maximum.

6. The method according to claim 1, characterized in that, The first correspondence includes a first sub-correspondence corresponding to different bias voltages. Before obtaining the optical power and amplitude of the second laser signal received by the receiving module under different attenuation effects, and obtaining the distance corresponding to the optical power of the second laser signal to obtain the first correspondence, the method further includes: The bias voltage used by the receiving module is adjusted to obtain a first sub-correspondence relationship corresponding to different bias voltages. The first sub-correspondence relationship includes the correspondence between the amplitude and distance of the second laser signal received by the receiving module under the corresponding bias voltage. The step of obtaining the first ranging value of the target lidar at the current time based on the pre-obtained first correspondence between amplitude and distance and the first amplitude includes: The first ranging value is determined based on the first sub-correspondence relationship corresponding to different bias voltages, the bias voltage currently used by the target lidar, and the first amplitude.

7. A measuring device, characterized in that, The measuring device includes an adjustable optical attenuation subsystem, a light source, a receiving module, and a processing unit. The optical attenuation subsystem is disposed between the light source and the receiving module. The measuring device is used to implement the lidar ranging capability evaluation method according to any one of claims 1-6. The light source is used to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target lidar to be evaluated for ranging capability. The receiving module is used to obtain the optical power of the second laser signal received under different attenuation effects, wherein the different attenuation effects are achieved by adjusting the optical attenuation subsystem; The processing unit is used to obtain the amplitude of the second laser signal received under different attenuation effects, and to obtain the distance corresponding to the optical power of the second laser signal, so as to obtain a first correspondence between amplitude and distance. The first correspondence is used to determine the corresponding first ranging value based on the first amplitude of the echo signal obtained during the evaluation of the laser radar ranging capability using the optical attenuation subsystem.

8. The measuring device according to claim 7, characterized in that, The measuring device further includes an electrically adjustable optical attenuator located between the light source and the optical attenuation subsystem. The optical attenuation subsystem includes at least one fixed optical attenuation unit, which includes an attenuator frame and multiple attenuators mounted on the attenuator frame. The electrically adjustable optical attenuator is used to cooperate with the optical attenuation subsystem when the first correspondence is obtained, so as to provide different attenuation effects.

9. The measuring device according to claim 7 or 8, characterized in that, The measuring device also includes an ambient light simulation unit. The ambient light simulation unit is used to simulate the corresponding ambient light according to the preset ambient light requirements when evaluating the rangefinding capability of lidar.

10. A lidar ranging capability evaluation device, characterized in that, The lidar ranging capability evaluation method according to any one of claims 1-6 is applied to a measuring device, the measuring device including an adjustable optical attenuation subsystem, the lidar ranging capability evaluation device comprising: The processing module is used to obtain the first amplitude of the echo signal obtained after the laser signal emitted by the target lidar is attenuated by the optical attenuation subsystem, wherein the echo signal is received by the target lidar. The processing module is further configured to obtain the first ranging value of the target lidar at the current time based on the first correspondence between amplitude and distance obtained in advance and the first amplitude; The processing module also adjusts the attenuation amount of the optical attenuation subsystem and obtains the first ranging value of the target lidar after the attenuation amount is adjusted, until the adjustment of the attenuation amount of the optical attenuation subsystem is stopped. The analysis module is used to analyze the ranging capability of the target lidar based on the obtained first ranging value.

11. An electronic device, characterized in that, It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, the processor executing the machine-executable instructions to implement the lidar ranging capability evaluation method according to any one of claims 1-6.

12. A readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the lidar ranging capability evaluation method as described in any one of claims 1-6.

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