A laser radar response time test system and test method

Abstract

The present invention relates to the technical field of laser radar performance evaluation, and discloses a laser radar response time test system and a test method. A laser radar response time test system includes a laser radar, a disc rotating motor, a notched disc test target, a support structure and a control circuit; the disc rotating motor is connected to the control circuit, the disc rotating motor and the laser radar are fixedly arranged at the support structure, the axial direction of the drive shaft of the disc rotating motor is perpendicular to the light spot emission direction of the laser radar, the drive shaft of the disc rotating motor is connected to the notched disc test target, and the outer edge of the notched disc test target is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle. In the present invention, each notch on the notched disc test target is equivalent to a round-trip test of a track system, and the laser radar can collect a large amount of effective data in a very short time, which greatly improves the test efficiency of the laser radar response time test system.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar performance evaluation, and in particular to a laser radar response time testing system and testing method. Background Art

[0002] LiDAR is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of a target. When a LiDAR is testing distance, if the test distance suddenly changes, the time from the last true distance value output by the LiDAR to the next true distance value is the response time of the LiDAR. Therefore, testing the response time of the LiDAR is an important step in evaluating the performance of the LiDAR.

[0003] The relevant LiDAR response time test system is set on a track, and the LiDAR scans the target through track movement. However, the track needs to move back and forth, repeating the acceleration-constant speed-deceleration process. There are only two effective tests in one round trip, resulting in poor test efficiency of the LiDAR response time, which affects the evaluation results of the LiDAR performance. Summary of the invention

[0004] In view of this, the present invention provides a laser radar response time test system and a test method to solve the problem of poor test efficiency of a laser radar response time test system set on a track.

[0005] In a first aspect, the present invention provides a laser radar response time test system, the system comprising: a laser radar, a disc rotating motor, a notched disc test target, a support structure and a control circuit; the disc rotating motor is connected to the control circuit, the disc rotating motor and the laser radar are fixedly arranged at the support structure, the axial direction of the drive shaft of the disc rotating motor is perpendicular to the light spot emission direction of the laser radar, the drive shaft of the disc rotating motor is connected to the notched disc test target, and the outer edge of the notched disc test target is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle;

[0006] A control circuit, used for controlling the speed of the disc rotating motor;

[0007] A laser radar is used to emit a light spot vertically to the outer edge of a notched disc test target, collect standard distance values ​​of the light spot irradiating the outer and inner ends of the notched disc test target when the notched disc test target is in a stationary state, and test distance values ​​of multiple ranging points of the notched disc test target when the notched disc test target is in a uniformly rotating state, compare the standard distance value with the test distance values ​​of multiple ranging points, determine the number of transition distance points, and determine the laser radar response time test result based on the number of transition distance points.

[0008] The present invention provides a laser radar response time test system, which provides a notched disc test target, with multiple notches evenly spaced at the outer edge of the notched disc test target, and drives the notched disc test target to rotate through a disc rotating motor, thereby reducing the footprint and avoiding the limitation of the track. In addition, the laser radar response time test system has a simple overall structure, and only needs to repair and replace the notched disc or the disc rotating motor in case of a fault, so that maintenance is convenient. Secondly, the laser radar collects the standard distance value of the outer end and the inner end of the notched disc test target when the notched disc test target is in a stationary state, and the standard distance value of the light spot irradiating the notched disc test target when the notched disc test target is in a uniformly rotating state. The test distance values ​​of multiple ranging points are measured, and the standard distance value is compared with the test distance values ​​of multiple ranging points to determine the number of transition distance points, and then the lidar response time test result is determined according to the number of transition distance points; wherein, during the lidar response time test process, after the disc rotating motor maintains a stable speed, the distance switching time of the notched disc test target can be kept constant for a long time, and the constant holding time is much longer than that of the track system. At the same time, each notch on the notched disc test target is equivalent to a round-trip test of the track system. The lidar can collect a large amount of effective data in a very short time, and the test efficiency is much better than that of the track system, which greatly improves the test efficiency of the lidar response time test system.

[0009] In an optional embodiment, the drive shaft of the disc rotating motor is coaxially arranged with the disc rotating motor.

[0010] The present invention provides a laser radar response time testing system. Since the distance switching speed is controlled by the rotation speed of the rotary machine, the driving shaft of the disc rotating motor is coaxially arranged with the disc rotating motor, and the rotation speed of the disc rotating motor is changed by the control circuit, so the time required for distance switching can be adjusted at will. It is suitable for both high-speed testing and low-speed testing, which is far better than the speed control range of track linear motion.

[0011] In an optional implementation, it also includes:

[0012] The radar base is fixedly connected to the supporting structure and the laser radar and is used to fix the position of the laser radar.

[0013] A laser radar response time test system provided by the present invention ensures the relative position of each laser radar and a notched disk test target by setting a radar base to fix the position of the laser radar, thereby ensuring the accuracy of the laser radar response time test.

[0014] In an optional implementation, it also includes:

[0015] The display screen is connected with the control circuit and is used for displaying the rotation speed of the disc rotating motor.

[0016] The present invention provides a laser radar response time testing system. By setting a display screen, the staff can clearly grasp the rotation speed of the disc rotating motor, and then adjust the rotation speed of the disc rotating motor according to the test requirements, thereby further improving the test efficiency.

[0017] In an optional implementation, the disc rotation motor is an AC brushless servo motor.

[0018] In a second aspect, the present invention provides a laser radar response time testing method, which is applied to a laser radar response time testing system in the first aspect or any corresponding embodiment thereof, the method comprising:

[0019] Collect the standard distance values ​​of the light spot emitted by the laser radar irradiating the outer end and the inner end of the notched disk test target when the notched disk test target is in a stationary state;

[0020] Collect the test distance values ​​of multiple distance measurement points of the notched disc test target when the notched disc test target is in a uniform rotation state;

[0021] Comparing the standard distance value with the test distance values ​​of the multiple distance measurement points, and determining the number of transition distance points based on the comparison result;

[0022] Determine the lidar response time test results based on the number of transition distance points.

[0023] The present invention provides a laser radar response time testing method, wherein the laser radar collects standard distance values ​​when a spot of light irradiates the outer end and the inner end of a notched disk test target when the notched disk test target is in a stationary state, and test distance values ​​when the spot of light irradiates multiple distance measuring points of the notched disk test target when the notched disk test target is in a uniformly rotating state, and compares the standard distance value with the test distance values ​​of the multiple distance measuring points to determine the number of transition distance points; wherein, after the disk rotating motor maintains a stable rotation speed, the distance switching time of the notched disk test target can be kept constant for a long time, and the constant keeping time is much longer than that of a track system, and at the same time, each notch on the notched disk test target is equivalent to a round-trip test of the track system, and the laser radar can collect a large amount of effective data in a very short time, and the test efficiency is much better than that of the track system, which greatly improves the test efficiency of the laser radar response time testing system.

[0024] In an optional implementation, comparing the standard distance value with the test distance values ​​of the plurality of distance measurement points, and determining the number of transition distance points based on the comparison result, includes:

[0025] Compare the standard distance value with the test distance values ​​of multiple distance measurement points respectively;

[0026] The number of distance measurement points of the offset standard distance value is determined based on the comparison result, and the number of transition distance points is determined based on the number of distance measurement points of the offset standard distance value.

[0027] In an optional implementation, determining a laser radar response time test result based on the number of transition distance points includes:

[0028] Obtain the ranging frame rate of the laser radar, and determine the single point time based on the ranging frame rate of the laser radar;

[0029] Calculates the lidar response time based on the single point time and the number of transition distance points.

[0030] In an optional embodiment, before collecting the test distance values ​​of the plurality of distance measurement points of the notched disk test target when the notched disk test target is in a uniformly rotating state, the method further includes:

[0031] Acquire the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculate the rotation speed of the disc rotating motor based on the angular velocity of the notched disc test target;

[0032] The speed of the disc rotating motor is adjusted through the control circuit until the notched disc test target is in a uniform rotating state.

[0033] In an optional embodiment, the standard distance value includes a first distance value and a second distance value, the first distance value is the distance value of the light spot irradiated on the outer end of the notched disk test target, and the second distance value is the distance value of the light spot irradiated on the inner end of the notched disk test target. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 is a structural block diagram of a laser radar response time testing system according to an embodiment of the present invention;

[0036] Figure 2 is a top view of a laser radar response time testing system according to an embodiment of the present invention;

[0037] Figure 3 is a schematic diagram of a light spot irradiating the outer end of a notched disk test target according to an embodiment of the present invention;

[0038] Figure 4 is a schematic diagram of a light spot irradiated at a distance mutation point according to an embodiment of the present invention;

[0039] Figure 5is a schematic diagram of a light spot irradiating the inner end of a notched disk test target according to an embodiment of the present invention;

[0040] Figure 6 is a curve diagram of a laser radar response time test result according to an embodiment of the present invention;

[0041] Figure 7 is a schematic flow chart of a laser radar response time testing method according to an embodiment of the present invention;

[0042] Figure 8 is a flow chart of another laser radar response time testing method according to an embodiment of the present invention;

[0043] Fig. 9 It is a flowchart of another laser radar response time testing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] During the distance calculation process of the LiDAR, the output distance value of the LiDAR is affected by the location of the light spot and the algorithm. When the LiDAR light spot is at a sudden change distance, there are reflected lights at two distances, and abnormal distance values ​​will appear when the distance is output. For example, the distance calculation method can use the Kalman algorithm, which is a recursive algorithm. Its calculation process is in the process of prediction and update. According to the trade-off between the measured value and the model prediction, a weighted average is performed to obtain the best state estimate.

[0046] If the test distance changes suddenly, the algorithm outputs a set of slowly changing iterative distance values ​​between the last real distance value and the next real distance value, which in turn causes the response time of the LiDAR to increase. In order to test the response time, the test system requires a test object with a sudden distance change. At the same time, in order to control the time the light spot stays at the distance change point, the test object needs to move at a controllable and arbitrary uniform speed.

[0047] The relevant laser radar test response time system has the following defects: (1) The distance switching speed is limited by the track movement speed and is difficult to increase; (2) The track system occupies too much area, and the higher the speed, the longer the track is required for acceleration; (3) The maintenance cost of the track system is high, and it is difficult to repair it after damage; (4) The track needs to move back and forth, repeating the acceleration-constant speed-deceleration process. There are only two effective tests in one round trip, and it takes a long time to collect multiple data, resulting in poor work efficiency.

[0048] The present invention provides a laser radar response time test system. Figure 1 As shown, the system includes: a laser radar 101, a disc rotating motor 102, a notched disc test target 103, a support structure 104 and a control circuit 105; the disc rotating motor 102 is connected to the control circuit 105, the disc rotating motor 102 and the laser radar 101 are fixedly arranged on the support structure 104, the axial direction of the driving shaft of the disc rotating motor 102 is perpendicular to the light spot emission direction of the laser radar 101, the driving shaft of the disc rotating motor 102 is connected to the notched disc test target 103, and the outer edge of the notched disc test target 103 is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle.

[0049] The control circuit 105 is used to control the rotation speed of the disc rotating motor 102 .

[0050] Specifically, the laser radar 101 spot is vertically projected onto the edge of the notched disc test target 103 to control the rotation speed of the disc rotating motor 102 , and its angular velocity can be obtained according to the rotation speed of the disc rotating motor 102 .

[0051] Furthermore, the control circuit 105 is connected to the disc rotating motor 102, and the speed of the disc rotating motor 102 is controlled by changing the input voltage of the disc rotating motor 102. The specific steps include: according to the preset angular velocity ω of the disc test target, the speed n of the disc rotating motor 102 is obtained by using the formula n=ω / 2π, and the speed is adjusted to n by the control circuit 105, and the disc rotating motor 102 is operated for a period of time to make it in a stable operating state (i.e., a uniform speed operating state).

[0052] Furthermore, the disc rotating motor 102 is an AC brushless servo motor.

[0053] The laser radar 101 is used to emit a light spot vertically to the outer edge of the notched disc test target 103, collect standard distance values ​​when the light spot irradiates the outer end and the inner end of the notched disc test target 103 when the notched disc test target 103 is in a stationary state, and test distance values ​​when the light spot irradiates multiple ranging points of the notched disc test target 103 when the notched disc test target 103 is in a uniformly rotating state, compare the standard distance value with the test distance values ​​of the multiple ranging points, determine the number of transition distance points, and determine the laser radar response time test result based on the number of transition distance points.

[0054] Specifically, Figure 2 As shown, the center of the notch is symmetrical. When the notch disc test target 103 is stationary, the laser radar 101 emits a light spot that hits the outer end (i.e., the outside of the notch at the outer edge of the notch disc test target 103) and the inner end (i.e., the inside of the notch at the outer edge of the notch disc test target 103) of the notch disc test target 103, and two distance values ​​can be obtained respectively. Based on the two distance values ​​as standards, the distance data measured by the laser radar 101 after the notch disc test target 103 rotates are compared to determine the transition zone of the distance switching, thereby judging the response time of the laser radar distance switching at different speeds.

[0055] Furthermore, since the laser radar 101 emits a light spot vertically irradiating the edge of the notched disk test target 103, the radius of the distance from the center to the edge of the notched disk test target 103 is the same everywhere, so, if Figure 3 As shown, all distances where the light spot is irradiated on the outer end of the notched disk test target 103 are L1; Figure 4 As shown, the light spot is irradiated at the distance mutation point, which is the process that needs to test the response time; Figure 5 As shown, all distances at which the light spot irradiates the inner end of the notched disk test target 103 are L2.

[0056] Further, when the notched disk test target 103 starts to rotate, the light spot will be as follows: Figure 3 → Figure 4 → Figure 5 → Figure 4 → Figure 3 The state is switched repeatedly to test the sudden change of the test distance; each time the light spot emitted by the laser radar 101 passes through a gap, it is equivalent to a round-trip test process of the track system, such as Figure 3 → Figure 4 → Figure 5 It’s the process of going. Figure 5 → Figure 4 → Figure 3 It is the return process.

[0057] Furthermore, the test data collected by the laser radar 101 is read, and the known L1 and L2 are used as the standard of the stable distance value (i.e., the standard distance value). The distance measurement points collected by the laser radar 101 are compared, and the number of distance measurement points offset from L1 and L2 is counted. The count value is the number of transition distance points x between the stable distance values. The single point time T=1 / f is calculated from the distance measurement frame rate f of the laser radar 101, and it is determined whether the laser radar 101 spot is in Figure 4 The response time of the LiDAR .

[0058] The present embodiment provides a laser radar response time test system, which sets a notched disc test target, and has multiple notches evenly spaced on the outer edge of the notched disc test target. The notched disc test target is driven to rotate by a disc rotating motor, thereby reducing the footprint and avoiding track limitations. In addition, the overall structure of the laser radar response time test system is simple, and in case of failure, only the notched disc or the disc rotating motor needs to be repaired and replaced, which is convenient for maintenance. Secondly, the laser radar collects the standard distance value when the notched disc test target is in a stationary state and the standard distance value when the light spot is irradiated on the outer end and the inner end of the notched disc test target, and the standard distance value when the notched disc test target is in a uniformly rotating state and the light spot is irradiated on the notched disc test target. The test distance values ​​of multiple ranging points are measured, and the standard distance value is compared with the test distance values ​​of multiple ranging points to determine the number of transition distance points, and then the lidar response time test result is determined according to the number of transition distance points; wherein, during the lidar response time test process, after the disc rotating motor maintains a stable speed, the distance switching time of the notched disc test target can be kept constant for a long time, and the constant holding time is much longer than that of the track system. At the same time, each notch on the notched disc test target is equivalent to a round-trip test of the track system. The lidar can collect a large amount of effective data in a very short time, and the test efficiency is much better than that of the track system, which greatly improves the test efficiency of the lidar response time test system.

[0059] In some optional embodiments, the drive shaft of the disc rotating motor 102 is coaxially arranged with the disc rotating motor 102 .

[0060] The present invention provides a laser radar response time testing system. Since the distance switching speed is controlled by the rotation speed of the rotary machine, the driving shaft of the disc rotating motor is coaxially arranged with the disc rotating motor, and the rotation speed of the disc rotating motor is changed by the control circuit, so the time required for distance switching can be adjusted at will. It is suitable for both high-speed testing and low-speed testing, which is far better than the speed control range of track linear motion.

[0061] In some optional embodiments, the method further comprises:

[0062] The radar base 106 is fixedly connected to the support structure 104 and the laser radar 101 and is used to fix the position of the laser radar 101 .

[0063] Specifically, Figure 1 As shown, the radar base 106 fixes the position of the laser radar 101 to ensure the relative position of each laser radar 101 and the notched disc test target 103.

[0064] A laser radar response time test system provided by the present invention ensures the relative position of each laser radar and a notched disk test target by setting a radar base to fix the position of the laser radar, thereby ensuring the accuracy of the laser radar response time test.

[0065] In some optional embodiments, the method further comprises:

[0066] The display screen 107 is connected to the control circuit 105 and is used to display the rotation speed of the disc rotating motor 102 .

[0067] Specifically, the built-in sensor of the disc rotating motor 102 generates an electrical signal to the control circuit 105 during rotation, and the control circuit 105 receives and calculates the rotation speed of the disc rotating motor 102 . The control circuit 105 displays the rotation speed of the disc rotating motor 102 on the display screen 107 connected thereto.

[0068] Furthermore, the display screen 107 may be disposed in the control circuit 105 , or the display screen 107 may be connected to the control circuit 105 as a separate component.

[0069] The present invention provides a laser radar response time testing system. By setting a display screen, the staff can clearly grasp the rotation speed of the disc rotating motor, and then adjust the rotation speed of the disc rotating motor according to the test requirements, thereby further improving the test efficiency.

[0070] The working process of a laser radar response time testing system is described below through a specific embodiment.

[0071] Embodiment 1:

[0072] The working process of a laser radar response time test system is as follows:

[0073] When the notched disc test target is stationary, Figure 3 As shown in Figure 1, the distance from the outer end of the notched disk test target illuminated by the laser radar is L1. Figure 5 As shown, the distance to the inner end of the notched disk test target is L2, and the two distance records are used as the standard for subsequent comparison of response time;

[0074] According to the required distance switching speed ω, the speed n of the disc rotating motor is obtained by n=ω / 2π, and the speed n is adjusted by the control circuit, and the disc rotating motor is allowed to run for a period of time to be in a stable operating state;

[0075] Use laser radar to conduct continuous testing and collect test distance values ​​of multiple distance measurement points;

[0076] Use the laser radar to perform continuous tests and collect the test distance values ​​of multiple ranging points; compare the test distance values ​​of multiple ranging points with the standard distance values ​​L1 and L2, count the number of ranging points offset from L1 and L2, and the count value is the number of transition distance points x between stable distance values. Then, the response time of the laser radar distance switching at different speeds is calculated using the laser radar ranging frame rate, i.e., the laser radar response time test result, such as Figure 6 shown.

[0077] The embodiment of the present invention further provides a laser radar response time testing method, which can be used for the above-mentioned laser radar response time testing system. Figure 7 is a flow chart of a laser radar response time testing method according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps:

[0078] Step S701, collecting standard distance values ​​of the light spot emitted by the laser radar irradiating the outer end and the inner end of the notched disk test target when the notched disk test target is in a stationary state.

[0079] Specifically, the standard distance value includes a first distance value and a second distance value, the first distance value is the distance value when the light spot is irradiated on the outer end of the notched disk test target, and the second distance value is the distance value when the light spot is irradiated on the inner end of the notched disk test target.

[0080] Furthermore, since the laser radar emits a light spot vertically irradiated on the edge of the notched disk test target, the radius of the distance from the center to the edge of the notched disk test target is the same everywhere, so, if Figure 3 As shown in FIG. 1 , all distances at which the light spot is irradiated on the outer end of the notched disk test target are L1 (i.e., the first distance value); Figure 4 As shown, the light spot is irradiated at the distance mutation point, which is the process that needs to test the response time; Figure 5 As shown, all distances where the light spot is irradiated on the inner end of the notched disk test target are L2 (i.e., the second distance value).

[0081] Step S702, collecting test distance values ​​of multiple distance measurement points of the notched circular disk test target when the notched circular disk test target is in a uniformly rotating state and the light spot is irradiated on the notched circular disk test target.

[0082] Specifically, when the notched disk test target starts to rotate, the light spot will Figure 3 → Figure 4 → Figure 5 → Figure 4 → Figure 3The state is switched repeatedly to test the sudden change of the test distance; each time the light spot emitted by the laser radar passes through a gap, it is equivalent to a round-trip test process of the track system, such as Figure 3 → Figure 4 → Figure 5 It’s the process of going. Figure 5 → Figure 4 → Figure 3 It is the return process.

[0083] Step S703: compare the standard distance value with the test distance values ​​of the multiple distance measurement points, and determine the number of transition distance points based on the comparison result.

[0084] Step S704, determining the laser radar response time test result based on the transition distance points.

[0085] The present invention provides a laser radar response time testing method, wherein the laser radar collects standard distance values ​​when a spot of light irradiates the outer end and the inner end of a notched disk test target when the notched disk test target is in a stationary state, and test distance values ​​when the spot of light irradiates multiple distance measuring points of the notched disk test target when the notched disk test target is in a uniformly rotating state, and compares the standard distance value with the test distance values ​​of the multiple distance measuring points to determine the number of transition distance points; wherein, after the disk rotating motor maintains a stable rotation speed, the distance switching time of the notched disk test target can be kept constant for a long time, and the constant keeping time is much longer than that of a track system, and at the same time, each notch on the notched disk test target is equivalent to a round-trip test of the track system, and the laser radar can collect a large amount of effective data in a very short time, and the test efficiency is much better than that of the track system, which greatly improves the test efficiency of the laser radar response time testing system.

[0086] The embodiment of the present invention further provides a laser radar response time testing method, which can be used for the above-mentioned laser radar response time testing system. Figure 8 is a flow chart of a laser radar response time testing method according to an embodiment of the present invention. Figure 8 As shown, the process includes the following steps:

[0087] Step S801, collect the standard distance values ​​of the light spot emitted by the laser radar irradiating the outer end and the inner end of the notched disk test target when the notched disk test target is in a stationary state. Figure 7 Step S701 of the illustrated embodiment will not be described in detail here.

[0088] Step S802, collecting the test distance values ​​of multiple distance measurement points of the notched disc test target when the notched disc test target is in a uniform rotation state. Figure 7 Step S702 of the illustrated embodiment will not be described in detail here.

[0089] Step S803: compare the standard distance value with the test distance values ​​of the multiple distance measurement points, and determine the number of transition distance points based on the comparison result.

[0090] Specifically, the above step S803 includes:

[0091] Step S8031, comparing the standard distance value with the test distance values ​​of multiple distance measurement points respectively.

[0092] Step S8032: determine the number of distance measurement points that are offset from the standard distance value based on the comparison result, and determine the number of transition distance points based on the number of distance measurement points that are offset from the standard distance value.

[0093] Specifically, the test data collected by the lidar is read, and the known distances L1 and L2 are used as the standard for stable distance values ​​(i.e., standard distance values). The ranging points collected by the lidar are compared, and the number of ranging points offset from L1 and L2 is counted. The count value is the number of transition distance points x between the stable distance values.

[0094] Step S804, determining the laser radar response time test result based on the transition distance points.

[0095] Specifically, the above step S804 includes:

[0096] Step S8041, obtain the ranging frame rate of the laser radar, and determine the single point time based on the ranging frame rate of the laser radar.

[0097] Specifically, assuming that the ranging frame rate of the laser radar is f, the calculation formula for the single point time T is as follows:

[0098] T=1 / f

[0099] Step S8042, calculating the laser radar response time based on the single point time and the number of transition distance points.

[0100] Specifically, the calculation formula of the laser radar response time t is as follows:

[0101]

[0102] A laser radar response time testing method provided by the present invention compares a standard distance value with a test distance value of a plurality of ranging points, and then uses the number of ranging points that offset the standard distance value as the number of transition distance points, thereby achieving accurate acquisition of the number of times a light spot is irradiated at a distance mutation point, and calculates the laser radar response time through the ranging frame rate of the laser radar and the number of transition distance points, thereby achieving accurate calculation of the response time of the laser radar distance switching at different speeds.

[0103] The embodiment of the present invention further provides a laser radar response time testing method, which can be used for the above-mentioned laser radar response time testing system. Fig. 9 is a flow chart of a laser radar response time testing method according to an embodiment of the present invention. Fig. 9 As shown, the process includes the following steps:

[0104] Step S901, collect the standard distance values ​​of the light spot emitted by the laser radar irradiating the outer end and the inner end of the notched disk test target when the notched disk test target is in a stationary state. Figure 8 Step S801 of the illustrated embodiment will not be described in detail here.

[0105] Step S902, obtaining the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculating the rotation speed of the disc rotating motor based on the angular velocity of the notched disc test target.

[0106] Specifically, the calculation formula of the rotation speed n of the disc rotating motor is as follows:

[0107] n=ω / 2π

[0108] where ω represents the angular velocity of the notched disk test target.

[0109] Step S903, adjusting the rotation speed of the disc rotating motor through the control circuit until the notched disc test target is in a uniform rotation state.

[0110] Specifically, the control circuit is connected to the disc rotating motor, and controls the rotation speed of the disc rotating motor by changing the input voltage of the disc rotating motor; and the control circuit displays the rotation speed of the disc rotating motor on a display screen.

[0111] Step S904, collecting the test distance values ​​of multiple distance measurement points of the notched disc test target when the notched disc test target is in a uniform rotation state. Figure 8 Step S802 of the illustrated embodiment will not be described in detail here.

[0112] Step S905: compare the standard distance value with the test distance values ​​of multiple distance measurement points, and determine the number of transition distance points based on the comparison result. Figure 8 Step S803 of the illustrated embodiment will not be described in detail here.

[0113] Step S906: Determine the laser radar response time test result based on the transition distance points. Figure 8 Step S804 of the illustrated embodiment will not be described in detail here.

[0114] The present invention provides a laser radar response time testing method. Since the distance switching speed is controlled by the rotation speed of the turntable, the time required for distance switching can be adjusted at will by changing the rotation speed of the disc rotating motor through the control circuit. It is suitable for both high-speed testing and low-speed testing, which is far better than the speed control range of track linear motion.

[0115] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present application.

[0116] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0117] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0120] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0121] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A laser radar response time test system, characterized in that: The system comprises: a laser radar, a disc rotating motor, a notched disc test target, a support structure and a control circuit; the disc rotating motor is connected to the control circuit, the disc rotating motor and the laser radar are fixedly arranged at the support structure, the axial direction of the driving shaft of the disc rotating motor is perpendicular to the light spot emission direction of the laser radar, the driving shaft of the disc rotating motor is connected to the notched disc test target, and a plurality of notches are evenly spaced on the outer edge of the notched disc test target, and the notches are symmetrical across the center of the circle; The control circuit is used to control the rotation speed of the disc rotating motor; The laser radar is used to emit a light spot vertically to the outer edge of the notched disc test target, collect standard distance values ​​of the light spot irradiating the outer end and the inner end of the notched disc test target when the notched disc test target is in a stationary state, and test distance values ​​of multiple ranging points of the notched disc test target irradiated by the light spot when the notched disc test target is in a uniformly rotating state, compare the standard distance value with the test distance values ​​of the multiple ranging points, determine the number of transition distance points, and determine the laser radar response time test result based on the number of transition distance points.

2. The system according to claim 1, characterized in that The driving shaft of the disc rotating motor is coaxially arranged with the disc rotating motor.

3. The system according to claim 1, characterized in that Also includes: A radar base, wherein the radar base is fixedly connected to the supporting structure and the laser radar and is used to fix the position of the laser radar.

4. The system according to claim 1, characterized in that Also includes: A display screen is connected to the control circuit and is used to display the rotation speed of the disc rotating motor.

5. The system according to claim 1, characterized in that The disc rotating motor adopts an AC brushless servo motor.

6. A laser radar response time testing method, characterized in that: Applied to a laser radar response time testing system as claimed in any one of claims 1 to 5, the method comprising: Collecting the standard distance value when the notched disc test target is in a stationary state and the light spot emitted by the laser radar irradiates the outer end and the inner end of the notched disc test target; Collecting test distance values ​​of a plurality of distance measurement points of the notched circular disk test target irradiated by the light spot when the notched circular disk test target is in a uniformly rotating state; Comparing the standard distance value with the test distance values ​​of the multiple distance measurement points, and determining the number of transition distance points based on the comparison result; The laser radar response time test result is determined based on the transition distance points.

7. The method according to claim 6, characterized in that The step of comparing the standard distance value with the test distance values ​​of the multiple distance measurement points and determining the number of transition distance points based on the comparison result includes: Comparing the standard distance value with the test distance values ​​of the multiple distance measurement points respectively; The number of distance measurement points that are offset from the standard distance value is determined based on the comparison result, and the number of transition distance points is determined based on the number of distance measurement points that are offset from the standard distance value.

8. The method according to claim 6, characterized in that The step of determining the laser radar response time test result based on the transition distance points includes: Obtaining a ranging frame rate of a laser radar, and determining a single point time based on the ranging frame rate of the laser radar; The laser radar response time is calculated based on the single point time and the number of transition distance points.

9. The method according to claim 6, characterized in that When the notched disc test target is in a uniformly rotating state, before the light spot is irradiated on the test distance values ​​of multiple distance measurement points of the notched disc test target, the method further includes: Acquiring the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculating the rotation speed of the disc rotating motor based on the angular velocity of the notched disc test target; The rotation speed of the disc rotating motor is adjusted by a control circuit until the notched disc test target is in a uniform rotation state.

10. The method according to claim 6, characterized in that The standard distance value includes a first distance value and a second distance value, wherein the first distance value is a distance value when the light spot is irradiated on the outer end of the notched disk test target, and the second distance value is a distance value when the light spot is irradiated on the inner end of the notched disk test target.

Images