Test method and test system for detection performance of laser radar

Abstract

The invention provides a method and system for testing the detection performance of a laser radar, and the method comprises the steps: determining a stray field of view of a to-be-tested laser radar, and enabling the stray field of view to be a field of view, which can be formed by the light detected by the to-be-tested laser radar, outside a nominal field of view of the to-be-tested laser radar; and adjusting a stray field of view of ambient light incident to the to-be-tested laser radar at a target angle, and controlling the to-be-tested laser radar to detect a preset target so as to test the to-be-tested laser radar. By adopting the scheme, the dependence on environmental factors can be eliminated to a great extent, so that the detection performance of the laser radar can be objectively and accurately reflected.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of laser radar, and in particular to a testing method and a testing system for the detection performance of a laser radar. Background Art

[0002] When the light beam enters the lens barrel through the laser radar optical path, it will be diffusely reflected at different positions of optical devices such as the inner wall of the lens barrel and the end face of the lens, and then after complex reflection, it will finally shine on the photosensitive device of the laser radar, forming a field of view within a certain range, which is called the stray field of view.

[0003] When sunlight in the environment enters the stray field of view of the LiDAR, it will illuminate the photosensitive devices inside the LiDAR, forming ambient light noise, which will affect the point cloud performance of the LiDAR, such as the distance measurement capability and ground line detection capability. Therefore, it is necessary to test the impact of sunlight entering the stray field of view of the LiDAR on the point cloud performance of the LiDAR to ensure the working performance of the LiDAR.

[0004] Existing testing solutions usually use the method of testing the stray field of view with direct sunlight. However, due to environmental factors such as the sun's position, building occlusion, and road direction, it is difficult to objectively and accurately reflect the detection performance of the LiDAR. In addition, existing solutions often only subjectively evaluate the changes in point cloud performance by comparing the point cloud performance of targets or ground lines with and without sunlight. The test results cannot accurately reflect the detection performance of the LiDAR.

[0005] The contents of the background technology section are merely the technologies known to the public and do not necessarily represent the existing technologies in the field. Summary of the invention

[0006] In response to the above technical problems, the present invention provides a test method and a test system for the detection performance of a laser radar, which can largely get rid of the dependence on environmental factors, thereby being able to objectively and accurately reflect the detection performance of the laser radar.

[0007] First, the present invention provides a method for testing the detection performance of a laser radar, comprising:

[0008] Determine a stray field of view of the laser radar to be tested, wherein the stray field of view is a field of view formed by light outside the nominal field of view of the laser radar to be tested that can be detected by the laser radar to be tested;

[0009] The ambient light is adjusted to be incident on the stray field of view of the laser radar to be tested at a target angle, and the laser radar to be tested is controlled to detect a preset target object to test the laser radar to be tested.

[0010] Optionally, adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle includes:

[0011] Determine a target angle at which the ambient light is incident on the stray field of view of the laser radar to be tested;

[0012] The position and posture of the preset reflection unit is adjusted so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target angle.

[0013] Optionally, determining a target angle at which the ambient light is incident on a stray field of view of the laser radar to be tested includes:

[0014] Determine the target azimuth and target altitude of the ambient light incident on the stray field of view of the laser radar to be tested.

[0015] Optionally, adjusting the preset position and posture of the reflection unit includes:

[0016] Adjusting the position of the preset reflective unit relative to the laser radar to be tested; and / or

[0017] Adjust the posture of the preset reflection unit.

[0018] Optionally, adjusting the position of the preset reflection unit relative to the laser radar to be measured includes:

[0019] Adjust any two parameters of the preset reflection unit among the longitudinal distance, the lateral distance and the vertical distance relative to the horizontal plane where the laser radar to be measured is located.

[0020] Optionally, the adjusting any two parameters of the longitudinal distance, the lateral distance, and the vertical distance of the preset reflective unit relative to the laser radar to be measured relative to the horizontal plane where the laser radar to be measured is located includes:

[0021] Determining the longitudinal distance of the preset reflection unit relative to the laser radar to be measured;

[0022] Based on the longitudinal distance, adjust the lateral distance of the preset reflection unit relative to the laser radar to be measured and the vertical distance relative to the horizontal plane where the laser radar to be measured is located.

[0023] Optionally, the testing method further comprises:

[0024] When adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle and controlling the laser radar to be tested to detect a preset target object, obtaining first point cloud data corresponding to the preset target object;

[0025] Under the condition of no ambient light, controlling the laser radar to be tested to detect a preset target object, and obtaining second point cloud data corresponding to the preset target object;

[0026] Based on the first point cloud data and the second point cloud data corresponding to the preset target object, the test result of the laser radar detection performance to be tested is obtained.

[0027] Optionally, the testing method further comprises:

[0028] A signal attenuation unit is provided between the laser radar to be tested and the preset target object, so that the signal strengths corresponding to the acquired first point cloud data and the second point cloud data are within a preset range.

[0029] Optionally, obtaining the test result of the detection performance of the laser radar to be tested based on the first point cloud data and the second point cloud data corresponding to the preset target object includes:

[0030] Acquire a first average signal strength and a first average noise strength corresponding to each point cloud in the first point cloud data and a second average signal strength and a second average noise strength corresponding to the second point cloud data;

[0031] Based on the first average signal strength, the first average noise strength, the second average signal strength and the second average noise strength, the test result of the laser radar detection performance to be tested is obtained.

[0032] Optionally, obtaining a test result of the detection performance of the laser radar to be tested based on the first average signal strength, the first average noise strength, the second average signal strength, and the second average noise strength includes:

[0033] Obtain a change amplitude of the ratio of the first average signal strength to the first average noise strength relative to the ratio of the second average signal strength to the second average noise strength as a test result of the laser radar detection performance to be tested.

[0034] Optionally, the ambient light comprises sunlight.

[0035] The present invention also provides a laser radar detection performance testing system, comprising:

[0036] A target object, adapted to reflect the detection beam emitted by the laser radar to be measured back to the laser radar to be measured;

[0037] An optical path adjustment device is arranged between the laser radar to be tested and the target object, and is suitable for adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle, wherein the stray field of view is the field of view formed by light outside the nominal field of view of the laser radar to be tested that can be detected by the laser radar to be tested.

[0038] Optionally, the optical path adjustment device includes:

[0039] A reflective unit, whose posture is suitable for free adjustment, and by adjusting its posture, the ambient light is reflected by the reflective unit and is incident on the stray field of view of the laser radar to be tested at a target angle;

[0040] The shifting unit is adapted to adjust the position of the reflecting unit.

[0041] Optionally, the shifting unit comprises:

[0042] a posture adjustment component, adapted to fix the reflection unit and adjust the posture of the reflection unit in response to a posture adjustment signal;

[0043] A transmission assembly, movably connected to the attitude adjustment assembly, adapted to drive the attitude adjustment assembly in response to a position adjustment signal to adjust the position of the reflection unit relative to the laser radar to be measured;

[0044] The control component is in communication connection with the posture adjustment component and the transmission component, and is suitable for outputting the posture adjustment signal and the position adjustment signal to control the operation of the posture adjustment component and the transmission component.

[0045] Optionally, the transmission assembly includes:

[0046] a transmission component, movably connected to the attitude adjustment component, and adapted to drive the attitude adjustment component in response to a position adjustment signal to adjust a lateral distance of the reflection unit relative to the laser radar to be measured;

[0047] A lifting component, wherein the transmission component is arranged on the lifting component and is suitable for adjusting the vertical distance of the reflection unit relative to the horizontal plane where the laser radar to be measured is located.

[0048] Optionally, the reflection unit includes: a metal-film-coated reflector.

[0049] Optionally, the posture adjustment component includes: an electric pan-tilt head.

[0050] Optionally, the transmission component includes: an electric slide rail;

[0051] The lifting component comprises: a retractable bracket.

[0052] Optionally, the testing system further includes:

[0053] A processing device, adapted to obtain first point cloud data and second point cloud data, and obtain a test result of the detection performance of the laser radar to be tested based on the first point cloud data and the second point cloud data;

[0054] Among them, the first point cloud data is the point cloud data corresponding to the target object when the laser radar to be tested detects the target object under the condition that ambient light is incident on the stray field of view of the laser radar to be tested at a target angle; the second point cloud data is the point cloud data corresponding to the target object when the laser radar to be tested detects the target object under the condition that there is no ambient light.

[0055] Optionally, the testing system further includes:

[0056] The signal attenuation unit is arranged between the laser radar to be tested and the target object, and is suitable for attenuating the signal so that the signal strength corresponding to the first point cloud data and the second point cloud data obtained is within a preset range.

[0057] Optionally, the processing device is suitable for obtaining the first average signal strength and the first average noise intensity corresponding to each point cloud in the first point cloud data and the second average signal strength and the second average noise intensity corresponding to the second point cloud data; based on the first average signal strength, the first average noise intensity, the second average signal strength and the second average noise intensity, obtaining the test results of the laser radar detection performance to be tested.

[0058] Optionally, the processing device is suitable for obtaining the change amplitude of the ratio of the first average signal strength and the first average noise strength relative to the ratio of the second average signal strength and the second average noise strength as the test result of the laser radar detection performance to be tested.

[0059] The laser radar detection performance testing method in the embodiment of the present invention is adopted. By determining the stray field of view of the laser radar to be tested, the ambient light is adjusted to be incident on the stray field of view of the laser radar to be tested at a target angle, and the laser radar to be tested is controlled to detect a preset target object, so as to test the laser radar to be tested. In the above process, since the ambient light can be freely adjusted to be incident on the stray field of view of the laser radar to be tested at a desired target angle, the dependence on environmental factors can be largely eliminated, thereby being able to objectively and accurately reflect the detection performance of the laser radar.

[0060] Furthermore, after determining the target angle at which the ambient light is incident on the stray field of view of the laser radar to be tested, by adjusting the position of the preset reflection unit, the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle. This can not only get rid of the dependence on environmental factors to a large extent and objectively and accurately reflect the detection performance of the laser radar, but also control the optical path of the ambient light through the reflection unit so that the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle. This is easy to implement and has high test efficiency.

[0061] Furthermore, after determining the target azimuth and target altitude of the ambient light incident on the stray field of view of the laser radar to be tested, the position of the reflection unit can be adjusted quickly and accurately so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target azimuth and target altitude. On the one hand, the efficiency of the test can be further improved, and on the other hand, the accuracy of the test on the detection performance of the laser radar to be tested can be further improved.

[0062] Furthermore, by adjusting the position of the preset reflection unit relative to the laser radar to be tested or adjusting the posture of the preset reflection unit, it can be ensured that the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle, thereby further improving the accuracy of the test of the detection performance of the laser radar to be tested.

[0063] Furthermore, since the longitudinal distance, lateral distance and vertical distance of the preset reflection unit relative to the laser radar to be tested and the horizontal plane where the laser radar to be tested are easy to measure and adjust, the position of the preset reflection unit relative to the laser radar to be tested can be adjusted conveniently and accurately by adjusting any two of the above parameters, thereby ensuring that the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle, which can further improve the accuracy of the test of the detection performance of the laser radar to be tested.

[0064] Furthermore, by first determining the longitudinal distance of the preset reflection unit relative to the laser radar to be tested, and then adjusting the lateral distance of the preset reflection unit relative to the laser radar to be tested and the vertical distance relative to the horizontal plane where the laser radar to be tested is located based on the longitudinal distance, so as to adjust the position of the preset reflection unit relative to the laser radar to be tested, it can not only ensure that the ambient light is incident on the stray field of view of the laser radar to be tested at the target angle after being reflected by the reflection unit, but also is easy to implement, which can further improve the efficiency of the test.

[0065] Furthermore, by adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle, the laser radar to be tested is controlled to detect a preset target, and the first point cloud data corresponding to the preset target is obtained, and in the absence of ambient light, the laser radar to be tested is controlled to detect the preset target and the second point cloud data corresponding to the preset target is obtained, and then based on the first point cloud data and the second point cloud data corresponding to the preset target, the test result of the detection performance of the laser radar to be tested is obtained, which can quantitatively reflect the detection performance of the laser radar, thereby further improving the accuracy of the test of the detection performance of the laser radar to be tested.

[0066] Furthermore, when the signal intensity of the echo of the laser radar to be tested is saturated, it is easy to cause the test results of the detection performance of the laser radar to be tested to have large errors. By setting a signal attenuation unit between the laser radar to be tested and the preset target object, the (echo) signal intensity corresponding to the acquired first point cloud data and the second point cloud data is within a preset range, which can avoid the error in the test results caused by the saturation of the (echo) signal intensity corresponding to the point cloud data, and can further improve the accuracy of the obtained test results, so as to objectively and accurately reflect the detection performance of the laser radar.

[0067] Furthermore, since the detection performance of the laser radar is related to the signal strength and noise intensity corresponding to the point cloud data, by obtaining the first average signal strength and the first average noise intensity corresponding to each point cloud in the first point cloud data and the second average signal strength and the second average noise intensity corresponding to the second point cloud data, and then based on the first average signal strength, the first average noise intensity, the second average signal strength and the second average noise intensity, the test results of the detection performance of the laser radar to be tested are obtained, which can quantitatively reflect the detection performance of the laser radar.

[0068] Furthermore, since the detection performance of the laser radar is proportional to the signal-to-noise ratio of the echo corresponding to the point cloud data, by obtaining the change amplitude of the ratio of the first average signal strength and the first average noise intensity relative to the ratio of the second average signal strength and the second average noise intensity, as the test result of the detection performance of the laser radar to be tested, it can not only quantitatively reflect the detection performance of the laser radar, but also be objective, accurate and easy to implement.

[0069] An embodiment of the present invention also provides a test system for the detection performance of a laser radar, including a target object and an optical path adjustment device. The optical path adjustment device is arranged between the laser radar to be tested and the target object, and adjusts the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle, and controls the laser radar to be tested to detect the target object, so as to test the laser radar to be tested. Since the optical path adjustment device can freely adjust the ambient light to be incident on the stray field of view of the laser radar to be tested at a desired target angle, it can largely get rid of the dependence on environmental factors, thereby being able to objectively and accurately reflect the detection performance of the laser radar.

[0070] Furthermore, the optical path adjustment device may include a reflection unit and a displacement unit. The displacement unit is used to adjust the posture of the reflection unit so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at a target angle. This not only can largely get rid of the dependence on environmental factors and objectively and accurately reflect the detection performance of the laser radar, but the reflection unit also controls the optical path of the ambient light based on the principle of light reflection, so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target angle. This is easy to implement and has high test efficiency.

[0071] Furthermore, the shift unit may include a posture adjustment component, a transmission component and a control component. The control component controls the posture adjustment component to adjust the posture of the reflection unit relative to the laser radar to be tested, and controls the transmission component to adjust the position of the reflection unit. On the one hand, the control component can quantitatively control the posture adjustment component and the transmission component, so as to ensure that the ambient light is reflected by the reflection unit and is incident on the stray field of view of the laser radar to be tested at the target angle, which can further improve the accuracy of the test of the detection performance of the laser radar to be tested; on the other hand, the control component can control the posture adjustment component and the transmission component to perform automatic adjustment, so as to further improve the test efficiency.

[0072] Furthermore, the transmission assembly may include a transmission component and a lifting component. The transmission component can be used to adjust the lateral distance of the reflection unit relative to the laser radar to be tested, and the lifting component can be used to adjust the vertical distance of the reflection unit relative to the horizontal plane where the laser radar to be tested is located. On the one hand, through the above-mentioned transmission assembly, the required lateral distance and vertical distance can be freely traversed, thereby being able to get rid of dependence on environmental factors to a large extent; on the other hand, since the lateral distance of the reflection unit relative to the laser radar to be tested and the vertical distance relative to the horizontal plane where the laser radar to be tested are easy to measure and easy to adjust, by adjusting the above two parameters, the position of the preset reflection unit relative to the laser radar to be tested can be conveniently and accurately adjusted, thereby ensuring that the ambient light is reflected by the reflection unit and is incident on the stray field of view of the laser radar to be tested at the target angle, which can further improve the accuracy of the test of the detection performance of the laser radar to be tested.

[0073] Furthermore, the test system may also include a processing device, by which first point cloud data corresponding to the target object is obtained when the laser radar to be tested detects the target object under the condition that ambient light is incident on the stray field of view of the laser radar to be tested at a target angle, and second point cloud data corresponding to the target object is obtained when the laser radar to be tested detects the target object under the condition that there is no ambient light. Then, based on the first point cloud data and the second point cloud data, a test result of the detection performance of the laser radar to be tested is obtained, which can quantitatively reflect the detection performance of the laser radar, thereby further improving the accuracy of the test of the detection performance of the laser radar to be tested.

[0074] Furthermore, the test system may also include a signal attenuation unit. When the signal intensity of the echo of the laser radar to be tested is saturated, it is easy to cause the test results of the detection performance of the laser radar to be tested to have large errors. By setting a signal attenuation unit between the laser radar to be tested and the target object, the (echo) signal intensity corresponding to the first point cloud data and the second point cloud data obtained is within a preset range, which can avoid the error in the test results caused by the saturation of the (echo) signal intensity corresponding to the point cloud data, and can further improve the accuracy of the obtained test results, so as to objectively and accurately reflect the detection performance of the laser radar.

[0075] Furthermore, since the detection performance of the laser radar is related to the signal strength and noise intensity corresponding to the point cloud data, the processing device can obtain the first average signal strength and the first average noise intensity corresponding to each point cloud in the first point cloud data and the second average signal strength and the second average noise intensity corresponding to the second point cloud data, and then obtain the test results of the detection performance of the laser radar to be tested based on the first average signal strength, the first average noise intensity, the second average signal strength and the second average noise intensity, so as to quantitatively reflect the detection performance of the laser radar.

[0076] Furthermore, since the detection performance of the laser radar is proportional to the signal-to-noise ratio of the echo corresponding to the point cloud data, the processing device can obtain the change amplitude of the ratio of the first average signal strength and the first average noise intensity relative to the ratio of the second average signal strength and the second average noise intensity as the test result of the detection performance of the laser radar to be tested, which can not only quantitatively reflect the detection performance of the laser radar, but also objectively and accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0078] Figure 1 A flow chart showing a method for testing laser radar detection performance in an embodiment of this specification is shown;

[0079] Figure 2 A schematic diagram of the formation process of a stray field of view of a laser radar is shown;

[0080] Figure 3 A schematic diagram of a simulated stray field of view and a nominal field of view of a laser radar is shown;

[0081] Figure 4 A schematic diagram of a light path of ambient light in an embodiment of this specification is shown;

[0082] Figure 5 A schematic diagram of the structure of a laser radar detection performance testing system in an embodiment of this specification is shown;

[0083] Figures 6A to 6C The specific structural diagram of a laser radar detection performance test system in an embodiment of this specification is shown, wherein: Fig. 6A shows a front view of the test system, Figure 6B shows a side view of the test system, Figure 6C shows a top view of the test system;

[0084] Figure 7 A schematic diagram of measuring point distribution in an embodiment of this specification is shown. DETAILED DESCRIPTION

[0085] As described in the background technology, when testing the impact of sunlight entering the stray field of view of the LiDAR on the performance of the LiDAR point cloud, existing solutions usually use the test method of direct sunlight incident on the stray field of view. However, due to environmental factors such as the sun's position, building occlusion, and road direction, it is difficult to objectively and accurately reflect the detection performance of the LiDAR. In addition, existing solutions often only subjectively evaluate the changes in point cloud performance by comparing the point cloud performance of the target object or ground line with and without sunlight, and the test results cannot accurately reflect the detection performance of the LiDAR.

[0086] In response to the above problems, an embodiment of the present specification provides a method for testing the detection performance of a laser radar, by determining the stray field of view of the laser radar to be tested, and then adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle, and controlling the laser radar to be tested to detect a preset target object, so as to test the laser radar to be tested. In the above process, since the ambient light can be freely adjusted to be incident on the stray field of view of the laser radar to be tested at a desired target angle, the dependence on environmental factors can be largely eliminated, thereby being able to objectively and accurately reflect the detection performance of the laser radar.

[0087] In order to enable those skilled in the art to better understand and implement the embodiments of this specification, the concepts, schemes, principles and advantages of the embodiments of this specification are described in detail below with reference to the drawings and through specific application examples.

[0088] First, the present invention provides a method for testing the detection performance of a laser radar. Figure 1 The flowchart of a method for testing the detection performance of a laser radar is shown in FIG. 1 . In the embodiment of this specification, the laser radar can be tested by the following steps:

[0089] Step A, determining the stray field of view of the laser radar to be tested.

[0090] Specifically, the stray field of view is the field of view formed by light outside the nominal field of view of the laser radar to be tested that can be detected by the laser radar to be tested.

[0091] Reference Figure 2 A schematic diagram of the formation process of a stray field of view of a laser radar is shown in FIG. Figure 2 As shown, light L1 and the light parallel to it, light L2 and the light parallel to it are the light rays within the nominal field of view of the laser radar, and the light L1 and the light parallel to it, light L2 and the light parallel to it pass through the lens groups RX1, RX2 and RX3 of the laser radar and converge onto the detectors T1 and T2 on the focal plane respectively.

[0092] The light L3 and the light parallel to it, and the light L4 and the light parallel to it are outside the nominal field of view of the laser radar. The light L3 and the light parallel to it, and the light L4 and the light parallel to it cannot directly pass through the lens groups RX1, RX2 and RX3 to converge to the detector on the focal plane, but will eventually be detected by the detector on the focal plane after being reflected by the inner wall of the laser radar. For example, the reflection surface of the light L4 and the light parallel to it is mainly the mechanical surface of the lens barrel between the lens groups RX1 and RX2, as shown by arrow P1, and the reflection surface of the light L3 and the light parallel to it is mainly the mechanical surface of the lens barrel between the lens groups RX2 and RX3, as shown by arrow P2.

[0093] In a specific implementation, the stray field of view of the laser radar to be tested can be obtained through simulation calculation.

[0094] As a specific example, refer to Figure 3 A schematic diagram of a simulated stray field of view and a nominal field of view of a laser radar is shown in FIG. Figure 3 As shown, area K is the nominal field of view of the laser radar, and the centrally symmetrical eyebrow-shaped area Z1 and eyebrow-shaped area Z2 are the stray fields of view of the laser radar, and the eyebrow-shaped area Z1 and eyebrow-shaped area Z2 do not overlap with the area K.

[0095] Step B, adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle, controlling the laser radar to be tested to detect a preset target object, so as to test the laser radar to be tested.

[0096] In a specific implementation, the target angle can be any angle at which the ambient light can enter the stray field of view of the laser radar to be tested, and can be freely set according to test requirements.

[0097] By adopting the above embodiment, the stray field of view of the laser radar to be tested is determined, and then the ambient light is adjusted to be incident on the stray field of view of the laser radar to be tested at a target angle, and the laser radar to be tested is controlled to detect a preset target object, so as to test the laser radar to be tested. In the above process, since the ambient light can be freely adjusted to be incident on the stray field of view of the laser radar to be tested at a desired target angle, the dependence on environmental factors can be largely eliminated, thereby being able to objectively and accurately reflect the detection performance of the laser radar.

[0098] In order to enable those skilled in the art to better understand and implement, the present invention is described in detail below through specific examples and in combination with specific application scenarios.

[0099] In some embodiments of this specification, for step B, the following steps may be specifically adopted:

[0100] Step B1, determining a target angle at which the ambient light is incident on the stray field of view of the laser radar to be tested.

[0101] Step B2, adjusting the position and posture of the preset reflection unit so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be measured at the target angle.

[0102] Specifically, the optical path of the ambient light can be controlled based on the principle of light reflection. Therefore, by presetting a reflection unit and then adjusting the position of the preset reflection unit, the ambient light can be reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle.

[0103] By adopting the above embodiment, after determining the target angle at which the ambient light is incident on the stray field of view of the laser radar to be tested, based on the principle of light reflection, by adjusting the position of the preset reflection unit, the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle. This can not only get rid of the dependence on environmental factors to a large extent and objectively and accurately reflect the detection performance of the laser radar, but also control the optical path of the ambient light through the reflection unit, so that the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle. This is easy to implement and has high test efficiency.

[0104] In a specific implementation, step B1 may specifically include determining a target azimuth angle and a target altitude angle of the ambient light incident on the stray field of view of the laser radar to be tested.

[0105] Specifically, refer to Figure 4 A schematic diagram of the optical path of ambient light is shown, in which, in three-dimensional space, there is parallel incident ambient light with an initial azimuth angle of α1 and an initial altitude angle of β1, and according to the target azimuth angle α2 and target altitude angle β2 of the ambient light incident on the stray field of view of the laser radar to be tested, and the incident point A of the ambient light incident on the laser radar to be tested (the incident point position is located in a certain area of ​​the laser radar), the position and posture of the preset reflection unit M can be determined by calculation, and then the position and posture of the preset reflection unit M can be adjusted so that the ambient light, after being reflected by the reflection unit M, is incident on the stray field of view of the laser radar to be tested with the target azimuth angle α2 and the target altitude angle β2.

[0106] By adopting the above embodiment, after determining the target azimuth angle and target altitude angle of the ambient light incident on the stray field of view of the laser radar to be tested, the position of the reflection unit can be adjusted quickly and accurately, so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target azimuth angle and target altitude angle. On the one hand, the efficiency of the test can be further improved, and on the other hand, the accuracy of the test on the detection performance of the laser radar to be tested can be further improved.

[0107] In some embodiments of the present specification, based on the determined target azimuth angle and target altitude angle of the ambient light incident on the stray field of view of the laser radar to be tested, the position of the preset reflection unit relative to the laser radar to be tested can be adjusted so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target angle.

[0108] In other embodiments of the present specification, based on the determined target azimuth angle and target altitude angle of the ambient light incident on the stray field of view of the laser radar to be tested, the posture of the preset reflection unit can also be adjusted so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target angle.

[0109] In some other embodiments of the present specification, based on the determined target azimuth angle and target altitude angle of the ambient light incident on the stray field of view of the laser radar to be tested, the position of the preset reflection unit relative to the laser radar to be tested and the posture of the preset reflection unit can be adjusted simultaneously, so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target angle.

[0110] By adopting the above-mentioned embodiment, by adjusting the position of the preset reflection unit relative to the laser radar to be tested or adjusting the posture of the preset reflection unit, it can be ensured that the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle, thereby further improving the accuracy of the test of the detection performance of the laser radar to be tested.

[0111] In a specific implementation, since the longitudinal distance, lateral distance and vertical distance of the preset reflection unit relative to the laser radar to be tested and the horizontal plane where the laser radar to be tested are located are easy to measure and adjust, the position of the preset reflection unit relative to the laser radar to be tested can be adjusted conveniently and accurately by adjusting any two of the above parameters, thereby ensuring that the ambient light is reflected by the reflection unit and then incident on the stray field of view of the laser radar to be tested at the target angle, which can further improve the accuracy of the test of the detection performance of the laser radar to be tested.

[0112] Specifically, continue to refer to Figure 4 , as shown below:

[0113]

[0114]

[0115] Among them, α2 is the target azimuth angle, β2 is the target altitude angle, x is the lateral distance of the preset reflection unit M relative to the laser radar to be measured, d is the longitudinal distance of the preset reflection unit M relative to the laser radar to be measured, and △h is the vertical distance of the preset reflection unit M relative to the horizontal plane where the laser radar to be measured is located.

[0116] As a specific example, continue to refer to Figure 4When x=0, it means that the preset reflection unit M is located at the north side of the laser radar to be tested, that is, the position where the horizontal viewing angle of the laser radar to be tested is 90°.

[0117] It can be seen from equations (1) and (2) that by adjusting any two parameters among x, d, and △h, multiple sets of different target azimuth angles α2 and target altitude angles β2 can be determined, which can largely get rid of the dependence on environmental factors and thus objectively and accurately reflect the detection performance of the lidar.

[0118] In some embodiments of the present specification, with continued reference to equations (1) and (2), the longitudinal distance d of the preset reflective unit relative to the laser radar to be measured can be first determined, and then based on the longitudinal distance d, the lateral distance x of the preset reflective unit relative to the laser radar to be measured and the vertical distance △h relative to the horizontal plane where the laser radar to be measured are located can be adjusted to adjust the position of the preset reflective unit relative to the laser radar to be measured.

[0119] The above embodiment can not only ensure that the ambient light is incident on the stray field of view of the laser radar to be tested at the target angle after being reflected by the reflection unit, but also is easy to implement, which can further improve the efficiency of the test.

[0120] In other embodiments of this specification, continue to refer to Figure 1 The method for testing the detection performance of the laser radar may further include the following steps:

[0121] Step C, when adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle and controlling the laser radar to be tested to detect a preset target object, obtain the first point cloud data corresponding to the preset target object.

[0122] Step D: Under the condition of no ambient light, control the laser radar to be tested to detect the preset target object and obtain the second point cloud data corresponding to the preset target object.

[0123] Step E: obtaining the test result of the laser radar detection performance to be tested based on the first point cloud data and the second point cloud data corresponding to the preset target object.

[0124] Specifically, by analyzing the changes in the first point cloud data corresponding to the preset target object under ambient light conditions relative to the second point cloud data corresponding to the preset target object under no ambient light conditions, the changes in the detection performance of the laser radar under test can be obtained.

[0125] By adopting the above-mentioned embodiment, the detection performance of the laser radar can be quantitatively reflected, thereby further improving the accuracy of the test on the detection performance of the laser radar to be tested.

[0126] The detection beam emitted by the laser radar is reflected by the target object to form an echo. When the signal strength of the echo is saturated, it is easy to cause the point cloud data generated based on the echo to be inaccurate, which in turn causes the test results of the detection performance of the laser radar to be tested to have large errors. In some embodiments of the present specification, a signal attenuation unit can be set between the laser radar to be tested and the preset target object, so that the signal strength corresponding to the first point cloud data and the second point cloud data obtained is within a preset range.

[0127] In a specific implementation, the signal strength corresponding to the point cloud data can be controlled within a linear region by the signal attenuation unit.

[0128] By adopting the above-mentioned embodiment, the error of the test result caused by the saturation of the signal intensity corresponding to the point cloud data can be avoided, and the accuracy of the obtained test result can be further improved, so as to objectively and accurately reflect the detection performance of the laser radar.

[0129] In other embodiments of the present specification, a light sensing unit may be provided to measure the intensity of the ambient light reflected by the reflecting unit, thereby ensuring the stability of the ambient light and the accuracy of the test results obtained, and objectively and accurately reflecting the detection performance of the laser radar.

[0130] In a specific implementation, for step E, the following steps may be specifically adopted:

[0131] Step E1, obtaining a first average signal strength and a first average noise strength corresponding to each point cloud in the first point cloud data and a second average signal strength and a second average noise strength corresponding to the second point cloud data.

[0132] Step E2, based on the first average signal strength, the first average noise strength, the second average signal strength and the second average noise strength, obtain the test results of the laser radar detection performance to be tested.

[0133] Using the above embodiment, since the detection performance of the laser radar is related to the signal strength and noise intensity of the echo corresponding to the point cloud data, by obtaining the first average signal strength and the first average noise intensity corresponding to each point cloud in the first point cloud data and the second average signal strength and the second average noise intensity corresponding to the second point cloud data, and then based on the first average signal strength, the first average noise intensity, the second average signal strength and the second average noise intensity, the test result of the detection performance of the laser radar to be tested is obtained, which can quantitatively reflect the detection performance of the laser radar.

[0134] As a specific example, the variation amplitude of the ratio of the first average signal intensity to the first average noise intensity relative to the ratio of the second average signal intensity to the second average noise intensity can be obtained as the test result of the detection performance of the laser radar to be tested. In the above description, each point cloud in the first point cloud data corresponds to multiple groups of target azimuth angles and target altitude angles of ambient light, that is, each point cloud corresponds to the point cloud data of the preset target object obtained when the ambient light is incident on the stray field of view of the laser radar to be tested at different target angles. Specifically, a set of target azimuth angles and target altitude angles of ambient light corresponds to a frame of point cloud data in the first point cloud data.

[0135] Using the above embodiment, since the detection performance of the laser radar is proportional to the signal-to-noise ratio of the echo corresponding to the point cloud data, by obtaining the change amplitude of the ratio of the first average signal strength and the first average noise intensity relative to the ratio of the second average signal strength and the second average noise intensity, as the test result of the detection performance of the laser radar to be tested, it can not only quantitatively reflect the detection performance of the laser radar, but also be objective, accurate and easy to implement.

[0136] It should be noted that the embodiments of this specification do not impose any specific restrictions on the ambient light. The ambient light can be any light source in the operating environment of the laser radar to be tested. For example, it can be the sunlight that cannot be avoided when the laser radar is used in an outdoor environment, or it can be some artificial light sources, such as street lights.

[0137] For ease of implementation, the present specification also provides a laser radar detection performance test system, referring to Figure 5 The structural diagram of a laser radar detection performance test system shown in FIG. 1 , the test system T may include:

[0138] The target object T1 is suitable for reflecting the detection beam emitted by the laser radar LA to be measured back to the laser radar LA to be measured;

[0139] The optical path adjustment device T2 is arranged between the laser radar LA to be tested and the target object T1, and is suitable for adjusting the stray field of view of the ambient light incident on the laser radar LA to be tested at a target angle, wherein the stray field of view is the field of view formed by the light outside the nominal field of view of the laser radar LA to be tested that can be detected by the laser radar LA to be tested.

[0140] By adopting the above embodiment, the ambient light is adjusted by the optical path adjustment device to be incident on the stray field of view of the laser radar to be tested at a target angle, and the laser radar to be tested is controlled to detect the target object, so as to test the laser radar to be tested. Since the optical path adjustment device can freely adjust the ambient light to be incident on the stray field of view of the laser radar to be tested at the required target angle, it can largely get rid of the dependence on environmental factors, thereby being able to objectively and accurately reflect the detection performance of the laser radar.

[0141] In a specific implementation, the optical path adjustment device T2 may include:

[0142] The reflective unit T21 has a posture suitable for free adjustment. By adjusting its posture, the ambient light is reflected by it and then incident on the stray field of view of the laser radar to be tested at a target angle.

[0143] As a specific example, the reflection unit T21 may be a metal-film-coated reflector.

[0144] It can be understood that the above embodiments are only preferred embodiments, and the embodiments of this specification do not impose any specific limitations on the reflection unit.

[0145] The shift unit T22 is suitable for adjusting the position and posture of the reflection unit.

[0146] By adopting the above embodiment, the position of the reflecting unit is adjusted by the shifting unit, so that the ambient light is incident on the stray field of view of the laser radar to be tested at the target angle after being reflected by the reflecting unit. This can not only get rid of the dependence on environmental factors to a large extent and objectively and accurately reflect the detection performance of the laser radar, but also the reflecting unit controls the optical path of the ambient light based on the reflection principle of light, so that the ambient light is incident on the stray field of view of the laser radar to be tested at the target angle after being reflected by the reflecting unit. This is easy to implement and has high test efficiency.

[0147] In some other embodiments of this specification, the shift unit T22 may include:

[0148] The posture adjustment component T221 is suitable for fixing the reflection unit T21 and adjusting the posture of the reflection unit T21 in response to a posture adjustment signal.

[0149] As a specific example, the posture adjustment component T221 may be an electric pan-tilt platform. Specifically, the electric pan-tilt platform may perform a series of posture adjustments such as horizontal rotation and vertical pitch in response to the posture adjustment signal, thereby adjusting the posture of the reflection unit T21 fixedly connected thereto.

[0150] The transmission component T222 is movably connected to the posture adjustment component T221, and is suitable for driving the posture adjustment component T222 in response to a position adjustment signal to adjust the position of the reflection unit T21 relative to the laser radar LA to be measured.

[0151] In a specific implementation, the transmission component T222 may include:

[0152] The transmission component T2221 is movably connected to the posture adjustment component T221, and is suitable for driving the posture adjustment component T221 in response to a position adjustment signal to adjust the lateral distance of the reflection unit T21 relative to the laser radar LA to be measured.

[0153] As a specific example, the transmission component T2221 may be an electric slide rail. Specifically, the attitude adjustment component T221 may be fixedly connected to a slider of the electric slide rail, and the electric slide rail may drive the attitude adjustment component T221 in response to a position adjustment signal, thereby driving the reflection unit T21 fixedly connected thereto, so as to adjust the lateral distance of the reflection unit T21 relative to the laser radar LA to be measured.

[0154] The lifting component T2222, the transmission component T2221 is arranged on the lifting component T2222, and is suitable for adjusting the vertical distance of the reflection unit T21 relative to the horizontal plane where the laser radar LA to be measured is located.

[0155] As a specific example, the lifting component T2222 may be a retractable bracket. Specifically, by retracting the retractable bracket, the horizontal height of the transmission component T2221 disposed on the retractable bracket is adjusted, and thus the vertical distance of the reflective unit T21 relative to the horizontal plane where the laser radar LA to be measured is located can be adjusted.

[0156] By adopting the above embodiment, on the one hand, the required lateral distance and vertical distance can be freely traversed through the transmission component and the lifting component, thereby being able to get rid of dependence on environmental factors to a large extent; on the other hand, since the lateral distance of the reflection unit relative to the laser radar to be tested and the vertical distance relative to the horizontal plane where the laser radar to be tested are located are easy to measure and easy to adjust, the position of the preset reflection unit relative to the laser radar to be tested can be adjusted conveniently and accurately by adjusting the above two parameters, thereby ensuring that the ambient light is reflected by the reflection unit and incident on the stray field of view of the laser radar to be tested at the target angle, which can further improve the accuracy of the test of the detection performance of the laser radar to be tested.

[0157] The control component T223 is in communication connection with the posture adjustment component T221 and the transmission component T222, and is suitable for outputting the posture adjustment signal and the position adjustment signal to control the operation of the posture adjustment component T221 and the transmission component T222.

[0158] By adopting the above embodiment, the control component T223 controls the posture adjustment component T221 to adjust the posture of the reflection unit T21 relative to the laser radar LA to be tested, and controls the transmission component T222 to adjust the position of the reflection unit T21. On the one hand, the control component T223 can quantitatively control the posture adjustment component T221 and the transmission component T222, so as to ensure that the ambient light is reflected by the reflection unit T221 and is incident on the stray field of view of the laser radar to be tested at the target angle, which can further improve the accuracy of the test of the detection performance of the laser radar to be tested; on the other hand, the control component T223 can control the posture adjustment component T221 and the transmission component T222 to perform automatic adjustment, so as to further improve the test efficiency.

[0159] It should be noted that the embodiments of this specification do not impose any specific restrictions on the manner in which the control component establishes a communication connection with the posture adjustment component and the transmission component.

[0160] In some embodiments of the present specification, the control component T223 can establish a communication connection with the posture adjustment component T221 and the transmission component T222 through a physical entity connection, and the transmission speed is fast and the transmission process is relatively stable.

[0161] In other embodiments of the present specification, the control component T223 can also establish a communication connection with the posture adjustment component T221 and the transmission component T222 through a wireless communication module, for example, wireless remote control is achieved by a remote controller. With the above embodiment, the circuit structure of the entire test system is simple and easy to repair and maintain.

[0162] In the specific implementation, continue to refer to Figure 5 , the test system T may further include:

[0163] The processing device T3 is adapted to obtain the first point cloud data and the second point cloud data, and obtain the test result of the detection performance of the laser radar LA to be tested based on the first point cloud data and the second point cloud data;

[0164] Among them, the first point cloud data is the point cloud data corresponding to the target object T1 when the laser radar LA to be tested detects the target object T1 under the condition that ambient light is incident on the stray field of view of the laser radar LA to be tested at a target angle; the second point cloud data is the point cloud data corresponding to the target object T1 when the laser radar LA to be tested detects the target object T1 under the condition that there is no ambient light.

[0165] As a specific example, the processing device may be a computer.

[0166] It is understandable that the embodiments of this specification do not impose any specific restrictions on the processing device, which can be any electronic device that can process information and complete computing tasks.

[0167] By adopting the above embodiment, the first point cloud data and the second point cloud data are obtained through the processing device, and then based on the first point cloud data and the second point cloud data, the test results of the detection performance of the laser radar to be tested are obtained, which can quantitatively reflect the detection performance of the laser radar, thereby further improving the accuracy of the test of the detection performance of the laser radar to be tested.

[0168] In a specific implementation, since the detection performance of the laser radar is related to the signal strength and noise intensity corresponding to the point cloud data, the processing device T3 can obtain the first average signal strength and the first average noise intensity corresponding to each point cloud in the first point cloud data and the second average signal strength and the second average noise intensity corresponding to the second point cloud data, and then obtain the test results of the detection performance of the laser radar to be tested based on the first average signal strength, the first average noise intensity, the second average signal strength and the second average noise intensity, so as to quantitatively reflect the detection performance of the laser radar.

[0169] As a specific example, the processing device T3 can obtain the change amplitude of the ratio of the first average signal strength and the first average noise strength relative to the ratio of the second average signal strength and the second average noise strength as the test result of the laser radar detection performance to be tested.

[0170] Using the above embodiment, since the detection performance of the laser radar is proportional to the signal-to-noise ratio of the echo corresponding to the point cloud data, the processing device can obtain the change amplitude of the ratio of the first average signal intensity and the first average noise intensity relative to the ratio of the second average signal intensity and the second average noise intensity as the test result of the detection performance of the laser radar to be tested, which can not only quantitatively reflect the detection performance of the laser radar, but also be objective, accurate and easy to implement.

[0171] In some embodiments of this specification, continue to refer to Figure 5 , the test system T may further include:

[0172] The signal attenuation unit T4 is disposed between the laser radar LA to be measured and the target object T1, and is suitable for attenuating the signal so that the signal strength corresponding to the acquired first point cloud data and the second point cloud data is within a preset range.

[0173] By adopting the above embodiment, when the signal intensity of the echo of the laser radar to be tested is saturated, it is easy to cause the test results of the detection performance of the laser radar to be tested to have large errors. By setting a signal attenuation unit between the laser radar to be tested and the target object, the (echo) signal intensity corresponding to the first point cloud data and the second point cloud data obtained is within a preset range, which can avoid the error of the test result caused by the saturation of the (echo) signal intensity corresponding to the point cloud data, and can further improve the accuracy of the obtained test results, so as to objectively and accurately reflect the detection performance of the laser radar.

[0174] In other embodiments of this specification, continue to refer to Figure 5 , the test system T may further include:

[0175] The light sensing unit T5 is adapted to measure the intensity of the ambient light.

[0176] By adopting the above embodiment, the light intensity of the ambient light reflected by the reflecting unit is measured by the light sensing unit, so as to ensure the stability of the ambient light, thereby ensuring the accuracy of the obtained test results, and being able to objectively and accurately reflect the detection performance of the laser radar.

[0177] The following is a specific example to explain in detail the process of testing the laser radar detection performance using the testing method and testing system described in the embodiments of this specification.

[0178] This example takes the case where the ambient light is sunlight.

[0179] Reference Figures 6A to 6C A specific structural diagram of a laser radar detection performance test system is shown in FIG. Fig. 6A shows a front view of the test system, Figure 6B shows a side view of the test system, Figure 6C The top view of the test system is shown. The test system T includes: a target O, a metal-film-coated reflector M, an electric pan / tilt head Y, an electric slide rail G, a retractable bracket Z1 and a retractable bracket Z2.

[0180] In a specific implementation, the laser radar LA to be tested is first started and aligned with a processing device (not shown) so that the time of the laser radar LA to be tested and the processing device are synchronized.

[0181] As a specific example, the processing device may be a computer.

[0182] Furthermore, the stray field of view of the laser radar LA to be tested can be obtained through simulation calculation, and then the distribution of measuring points can be determined according to the determined stray field of view range, wherein one measuring point corresponds to a target angle of ambient light incident on the stray field of view of the laser radar to be tested.

[0183] As a specific example, refer to Figure 7 A schematic diagram of measuring point distribution is shown, wherein, by adjusting the electric slide rail G to 5 different heights of h1~h5, and adjusting the metal-coated reflector M to 9 different positions on the electric slide rail G at each height, the laser radar detection performance can be tested under 45 sets of different target azimuth angles and target altitude angles.

[0184] In the specific implementation, continue to refer to Fig. 6A , 6B as well as Figure 7 After determining the measuring point where sunlight is incident on the stray field of view of the laser radar LA to be measured, the longitudinal distance d of the metal-coated film reflector M relative to the laser radar LA to be measured can be determined first, and then the retractable bracket Z1 and the retractable bracket Z2 are retracted to adjust the vertical distance △h of the metal-coated film reflector M relative to the horizontal plane where the laser radar LA to be measured is located, and the electric slide rail G is adjusted to a height h1, and then a position adjustment signal is sent through a remote control (not shown) to control the electric slide rail G to work, drive the electric pan-tilt platform Y, and then drive the metal-coated film reflector M fixedly connected thereto to adjust the lateral distance x of the metal-coated film reflector M relative to the laser radar LA to be measured, traverse the 9 measuring points at the height h1, continue to retract the retractable bracket Z1 and the retractable bracket Z2, and adjust the lateral distance x of the metal-coated film reflector M relative to the laser radar LA to be measured, until 45 measuring points are traversed.

[0185] In a specific implementation, after adjusting the position of the metal-coated reflector M relative to the laser radar LA to be tested, a posture adjustment signal can be sent through a remote control (not shown) to control the electric pan-tilt head Y to perform a series of posture adjustments such as horizontal rotation and vertical pitch, thereby adjusting the posture of the metal-coated reflector M fixedly connected thereto, so that the sunlight is incident on the stray field of view of the laser radar LA to be tested at a target azimuth angle α2 and a target altitude angle β2, and then reaches the incident point A of the laser radar.

[0186] In a specific implementation, at each measuring point, when controlling the laser radar LA to be measured to detect the target object O, the laser radar LA to be measured can be switched to the peak-rms measurement mode (peak represents the signal strength of the laser radar echo to be measured, and rms represents the noise intensity of the laser radar echo to be measured), the point cloud is recorded, and the time point is recorded to obtain the first point cloud data corresponding to the target object O at each measuring point.

[0187] Furthermore, after obtaining the first point cloud data corresponding to the target object O at each measuring point, a posture adjustment signal is sent through the remote control (not shown) to control the electric pan-tilt platform Y to perform a series of posture adjustments such as horizontal rotation and vertical pitch, so that sunlight is separated from the laser radar to be measured, so as to record the second point cloud data corresponding to the target object O under the condition of no sunlight.

[0188] Furthermore, after the point cloud recording is finished, the point cloud data of the target plate O corresponding to the frame in the point cloud data is exported according to the time point corresponding to each recorded measuring point, and then the average peak / average rms value of the echoes at multiple positions in the corresponding area of ​​the target plate O at each measuring point is calculated. By calculating the change amplitude of the average peak / average rms value of each point cloud in the corresponding area of ​​the target plate O under the condition of direct sunlight relative to the average peak / average rms value under the condition of no ambient light (direct sunlight), the detection performance of the laser radar can be quantitatively reflected. Specifically, for example, when the ambient light corresponds to the first measuring point, a frame of point cloud data of the target plate O includes echoes at multiple positions, and the signal strengths of the echoes at these multiple positions are extracted and averaged, and the noise strengths of the echoes at these multiple positions are extracted and averaged, and then the average peak / average rms value is obtained.

[0189] Specifically, the long-range measurement distance of the laser radar to be tested is proportional to the square root of the overall signal-to-noise ratio of the echo corresponding to the point cloud data. The signal-to-noise ratio is the peak / rms ratio. The greater the decrease in the average peak / average rms value of the echo corresponding to each point cloud in the corresponding area of ​​the target plate O under direct sunlight conditions relative to the average peak / average rms value under conditions without ambient light (direct sunlight), the greater the decrease in the detection performance of the laser radar.

[0190] In a specific implementation, by comparing the change in the average peak / rms value of the echo in the corresponding area of ​​the target plate O under direct sunlight conditions at different measuring points relative to the average peak / average rms value under conditions without ambient light (direct sunlight), the impact of sunlight on the point cloud performance of the laser radar when it is incident on the stray field of view of the laser radar to be tested at different target angles can be obtained, so that targeted improvement designs or avoidance can be carried out to improve the detection performance of the laser radar.

[0191] It should be noted that the terms "first", "second", etc. in the embodiments of this specification are only used to distinguish and describe different point cloud data, signal strengths or noise strengths, and are not used to make any limitations thereon.

[0192] Although the embodiments of this specification are disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A method for testing laser radar detection performance, characterized in that: include: Determine a stray field of view of the laser radar to be tested, wherein the stray field of view is a field of view formed by light outside the nominal field of view of the laser radar to be tested that can be detected by the laser radar to be tested; The ambient light is adjusted to be incident on the stray field of view of the laser radar to be tested at a target angle, and the laser radar to be tested is controlled to detect a preset target object to test the laser radar to be tested.

2. The testing method according to claim 1, characterized in that: The step of adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle includes: Determine a target angle at which the ambient light is incident on the stray field of view of the laser radar to be tested; The position and posture of the preset reflection unit is adjusted so that the ambient light, after being reflected by the reflection unit, is incident on the stray field of view of the laser radar to be tested at the target angle.

3. The testing method according to claim 2, characterized in that: The determining of the target angle at which the ambient light is incident on the stray field of view of the laser radar to be tested includes: Determine the target azimuth and target altitude of the ambient light incident on the stray field of view of the laser radar to be tested.

4. The testing method according to claim 2, characterized in that: The adjusting the preset position and posture of the reflection unit includes: Adjusting the position of the preset reflective unit relative to the laser radar to be tested; and / or Adjust the posture of the preset reflection unit.

5. The testing method according to claim 4, characterized in that: The adjusting the position of the preset reflective unit relative to the laser radar to be tested includes: Adjust any two parameters of the preset reflection unit among the longitudinal distance, the lateral distance and the vertical distance relative to the horizontal plane where the laser radar to be measured is located.

6. The testing method according to claim 5, characterized in that: The adjusting of any two parameters of the longitudinal distance, the lateral distance, and the vertical distance of the preset reflective unit relative to the laser radar to be measured relative to the horizontal plane where the laser radar to be measured is located includes: Determining the longitudinal distance of the preset reflection unit relative to the laser radar to be measured; Based on the longitudinal distance, adjust the lateral distance of the preset reflection unit relative to the laser radar to be measured and the vertical distance relative to the horizontal plane where the laser radar to be measured is located.

7. The testing method according to claim 1, characterized in that: Also includes: When adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle and controlling the laser radar to be tested to detect a preset target object, obtaining first point cloud data corresponding to the preset target object; Under the condition of no ambient light, controlling the laser radar to be tested to detect a preset target object, and obtaining second point cloud data corresponding to the preset target object; Based on the first point cloud data and the second point cloud data corresponding to the preset target object, the test result of the laser radar detection performance to be tested is obtained.

8. The testing method according to claim 7, characterized in that: Also includes: A signal attenuation unit is provided between the laser radar to be tested and the preset target object, so that the signal strengths corresponding to the acquired first point cloud data and the second point cloud data are within a preset range.

9. The testing method according to claim 8, characterized in that: The obtaining the test result of the detection performance of the laser radar to be tested based on the first point cloud data and the second point cloud data corresponding to the preset target object includes: Acquire a first average signal strength and a first average noise strength corresponding to each point cloud in the first point cloud data and a second average signal strength and a second average noise strength corresponding to the second point cloud data; Based on the first average signal strength, the first average noise strength, the second average signal strength and the second average noise strength, the test result of the laser radar detection performance to be tested is obtained.

10. The testing method according to claim 9, characterized in that: The obtaining the test result of the detection performance of the laser radar to be tested based on the first average signal strength, the first average noise strength, the second average signal strength and the second average noise strength includes: Obtain a change amplitude of the ratio of the first average signal strength to the first average noise strength relative to the ratio of the second average signal strength to the second average noise strength as a test result of the laser radar detection performance to be tested.

11. The testing method according to any one of claims 1 to 10, characterized in that: The ambient light includes sunlight.

12. A laser radar detection performance testing system, characterized in that: include: A target object, adapted to reflect the detection beam emitted by the laser radar to be measured back to the laser radar to be measured; An optical path adjustment device is arranged between the laser radar to be tested and the target object, and is suitable for adjusting the ambient light to be incident on the stray field of view of the laser radar to be tested at a target angle, wherein the stray field of view is the field of view formed by light outside the nominal field of view of the laser radar to be tested that can be detected by the laser radar to be tested.

13. The test system according to claim 12, characterized in that: The optical path adjustment device comprises: A reflective unit, whose posture is suitable for free adjustment, and by adjusting its posture, the ambient light is reflected by the reflective unit and is incident on the stray field of view of the laser radar to be tested at a target angle; The shifting unit is adapted to adjust the position of the reflecting unit.

14. The test system according to claim 13, characterized in that: The shift unit comprises: a posture adjustment component, adapted to fix the reflection unit and adjust the posture of the reflection unit in response to a posture adjustment signal; A transmission assembly, movably connected to the attitude adjustment assembly, adapted to drive the attitude adjustment assembly in response to a position adjustment signal to adjust the position of the reflection unit relative to the laser radar to be measured; The control component is in communication connection with the posture adjustment component and the transmission component, and is suitable for outputting the posture adjustment signal and the position adjustment signal to control the operation of the posture adjustment component and the transmission component.

15. The test system according to claim 14, characterized in that: The transmission assembly comprises: a transmission component, movably connected to the attitude adjustment component, and adapted to drive the attitude adjustment component in response to a position adjustment signal to adjust a lateral distance of the reflection unit relative to the laser radar to be measured; A lifting component, wherein the transmission component is arranged on the lifting component and is suitable for adjusting the vertical distance of the reflection unit relative to the horizontal plane where the laser radar to be measured is located.

16. The test system according to claim 13, characterized in that: The reflection unit comprises: a metal film-coated reflection mirror.

17. The test system according to claim 14, characterized in that: The posture adjustment component includes: an electric pan-tilt platform.

18. The test system according to claim 15, characterized in that: The transmission components include: an electric slide rail; The lifting component comprises: a retractable bracket.

19. The test system according to claim 12, characterized in that: Also includes: A processing device, adapted to obtain first point cloud data and second point cloud data, and obtain a test result of the detection performance of the laser radar to be tested based on the first point cloud data and the second point cloud data; Among them, the first point cloud data is the point cloud data corresponding to the target object when the laser radar to be tested detects the target object under the condition that ambient light is incident on the stray field of view of the laser radar to be tested at a target angle; the second point cloud data is the point cloud data corresponding to the target object when the laser radar to be tested detects the target object under the condition that there is no ambient light.

20. The test system according to claim 19, characterized in that: Also includes: The signal attenuation unit is arranged between the laser radar to be tested and the target object, and is suitable for attenuating the signal so that the signal strength corresponding to the first point cloud data and the second point cloud data obtained is within a preset range.

21. The test system according to claim 19, characterized in that: The processing device is suitable for obtaining the first average signal strength and the first average noise strength corresponding to each point cloud in the first point cloud data and the second average signal strength and the second average noise strength corresponding to the second point cloud data; based on the first average signal strength, the first average noise strength, the second average signal strength and the second average noise strength, obtaining the test results of the laser radar detection performance to be tested.

22. The test system according to claim 21, characterized in that: The processing device is suitable for obtaining the change amplitude of the ratio of the first average signal strength and the first average noise strength relative to the ratio of the second average signal strength and the second average noise strength as the test result of the detection performance of the laser radar to be tested.

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