Lidar test system, application and computer program product
By using an electronically controlled linear guide device in the lidar test system, the lidar to be tested and the test target move in the straight direction, the problem of the distance measurement performance and distance measurement accuracy test of the lidar over its entire FOV range is solved, and the problem of the distance measurement performance and distance measurement accuracy test is achieved. Efficient and reliable performance testing.
Patent Information
- Application Number
- CN202411528773.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-02-07
AI Technical Summary
It is difficult for the prior art to effectively test the performance parameters of lidars, especially the ranging performance and ranging accuracy over its entire FOV range.
By setting up an electronically controlled linear guide device on the test platform, the lidar to be tested and the test target are allowed to move in the linear direction, thereby changing the relative posture between them, especially the azimuth and pitch angles.
The performance testing of lidar in a short time is achieved, especially within its entire FOV range, improving the reliability and efficiency of the test.
Smart Images
Figure CN119395668A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to a laser radar test system. In addition, the present application relates to an application of the laser radar test system and a computer program product. Background Art
[0002] In the field of autonomous driving, LiDAR is playing an increasingly important role. One of the most pressing issues is to test or verify the performance parameters of LiDAR, such as ranging performance (e.g., detection distance), ranging accuracy, FOV (Field of View, including horizontal and vertical directions), angular resolution, etc. For example, there are slight differences in the energy of laser pulses in various directions within the FOV of the LiDAR, which will lead to corresponding differences in ranging performance and ranging accuracy, so that the laser beam at the edge of the LiDAR's FOV may not meet the specification requirements as the laser beam in the center area of the LiDAR's FOV. Summary of the invention
[0003] The object of the present application is to provide a laser radar testing system so as to at least solve the problems raised in the above-mentioned background technology.
[0004] This object is solved by a laser radar test system, an application of the laser radar test system and a computer program product. Preferred embodiments of the present application will be described in detail below.
[0005] According to a first aspect of the present application, a laser radar test system is provided, the laser radar test system comprising:
[0006] - a test platform, on which a laser radar to be tested is arranged,
[0007] - Test target,
[0008] - an electrically controlled linear guide arrangement, the electrically controlled linear guide arrangement comprising at least a first electrically controlled linear guide arrangement extending in a first direction and / or a second electrically controlled linear guide arrangement extending in a second direction, and
[0009] - control devices,
[0010] Wherein, the laser radar to be tested and / or the test target can be moved in a straight line in the first direction and / or in the second direction by means of the electrically controlled linear guide device.
[0011] According to the present application, the electrically controlled linear guide device is used to control the laser radar to be tested and / or the test target to move in a straight line in the first direction and / or in the second direction, thereby changing the relative posture, especially the azimuth and / or pitch angle, between the laser radar to be tested and the test target, so that the performance of the laser radar can be tested in a short time, especially the ranging performance and ranging accuracy can be tested within the entire FOV range of the laser radar, which not only improves reliability but also increases efficiency.
[0012] According to a preferred embodiment of the present application, the control device is configured to control the laser radar to be tested and / or the test target to move along the first electrically-controlled linear guide device so that the horizontal angle of the test target relative to the laser radar to be tested changes, and / or control the laser radar to be tested and / or the test target to move along the second electrically-controlled linear guide device so that the pitch angle of the test target relative to the laser radar to be tested changes.
[0013] According to a preferred embodiment of the present application, the electrically-controlled linear guide device also includes a third electrically-controlled linear guide device extending in a third direction, and the laser radar to be tested and / or the test target can be moved in a straight line in the third direction with the help of the third electrically-controlled linear guide device, and the control device is configured to control the laser radar to be tested and / or the test target to move along the third electrically-controlled linear guide device so that the distance of the test target relative to the laser radar to be tested changes.
[0014] According to a preferred embodiment of the present application, the control device is configured to control the electrically-controlled linear guide device so that the laser radar to be tested and / or the test target moves at a constant speed with the aid of the electrically-controlled linear guide device, or so that the laser radar to be tested and / or the test target moves at a first speed in a central area and at a second speed lower than the first speed in an edge area with the aid of the electrically-controlled linear guide device.
[0015] According to a preferred embodiment of the present application, the laser radar test system further includes a laser filtering device, which is arranged between the laser radar to be tested and the test target. Preferably, the laser filtering device is arranged at the test platform and arranged directly in front of the laser radar to be tested. In this way, it is advantageous that the required moving distance or test space can be greatly reduced.
[0016] According to a preferred embodiment of the present application, the laser filter device is configured to have an adjustable transmittance, wherein the transmittance of the laser filter device is adjusted according to the distance of the test object relative to the laser radar to be tested and / or according to the test object. In this way, it is advantageously possible to flexibly adapt the test conditions depending on the application.
[0017] According to a preferred embodiment of the present application, the test target is configured as a reflective plate having a consistent reflectivity, or the reflective plate is composed of a plurality of parts having different reflectivities.
[0018] According to a preferred embodiment of the present application, the control device includes a cloud server or is connected to a cloud server. In this way, it is advantageous that the computing power requirements of the local computing device can be greatly reduced and can help to achieve fast and large-scale testing.
[0019] According to a second aspect of the present application, an application of a laser radar test system according to the present application is proposed, which is used to perform performance testing on a laser radar to be tested.
[0020] According to a third aspect of the present application, a computer program product, such as a computer-readable program medium, is proposed, wherein the computer program product includes or stores computer program instructions. When the computer program instructions are executed by a processor or a controller, the computer program instructions can at least partially run or control a lidar test system according to the present application and / or implement an application according to the present application.
[0021] Here, features and details described in conjunction with the lidar test system according to the present application also apply to the use of the lidar test system according to the present application and the computer program product according to the present application, and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] The present application is described in more detail below with reference to the accompanying drawings. The accompanying drawings show:
[0023] Figure 1 A schematic structural diagram of a laser radar test system according to the present application is shown;
[0024] Figure 2 A schematic diagram showing an embodiment of a laser radar test system according to the present application;
[0025] Figure 3 A schematic diagram showing another embodiment of a laser radar test system according to the present application;
[0026] Figure 4 A schematic diagram showing another embodiment of a laser radar test system according to the present application; and
[0027] Figure 5 A schematic diagram showing a computer program product according to the present application. DETAILED DESCRIPTION
[0028] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. In addition, it should be noted that the following description of at least one embodiment is merely exemplary and illustrative, and should not be regarded as any limitation to the present application and its application. In addition, it should be noted that the use of words such as "first", "second", etc. is only for the convenience of distinguishing the corresponding elements, and if not otherwise specified, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of the present application.
[0029] The core concept of the present invention is to change the relative posture, especially the azimuth and / or pitch angle, between the laser radar to be tested and the test target by moving the laser radar to be tested and / or the test target in a straight line in the corresponding direction, so as to realize the performance test of the laser radar, especially the performance test of the laser radar within the entire FOV range of the laser radar.
[0030] In the following, the case where the laser radar to be tested moves in a straight line in the corresponding direction will be described with reference to the accompanying drawings, however, it should be understood that the same or similar situation applies to the case where the test target moves in a straight line in the corresponding direction.
[0031] exist Figure 1 , a schematic structural diagram of a laser radar testing system 100 according to the present application is shown in a perspective view.
[0032] The laser radar test system 100 includes a test platform 10, on which a laser radar 200 to be tested is arranged. Here, exemplarily, the test platform includes a test bench bottom 10-1 that plays a supporting role and a test bench top 10-2 that serves as a carrier platform, on which the laser radar 200 to be tested is fixed. Exemplarily, the laser radar 200 to be tested is fixed by means of bolts arranged according to corresponding assembly requirements, such as in Figure 1 As shown by four arrows and corresponding four circles.
[0033] The laser radar test system 100 includes an electrically controlled linear guide device 20, which includes at least a first electrically controlled linear guide device 20-1 extending in a first direction D1 and / or a second electrically controlled linear guide device 20-2 extending in a second direction D2. Here, the first direction D1 is a horizontal direction and the first electrically controlled linear guide device 20-1 can also be referred to as a horizontal slide, the second direction D2 is a vertical direction perpendicular to the first direction D1 and the second electrically controlled linear guide device 20-2 can also be referred to as a vertical slide.
[0034] For example, as in Figure 1 As shown in , the top 10-2 of the test bench where the laser radar 200 to be tested is located is fixed on a horizontal slide rail 20-1 through a fixed axis, and the movement of the horizontal slide rail is controlled by, for example, a stepper motor, so that the laser radar 200 or the platform 10-2 where the laser radar 200 is located can move or slide accurately left and right along a straight line in the horizontal direction D1 along the horizontal slide rail 20-1 according to an external input signal, such as a control signal from a control device. Exemplarily, the horizontal slide rail 20-1 can be fixed on two vertical vertical slide rails 20-2 on the left and right, and the movement of the vertical slide rails is also controlled by, for example, a stepper motor, so that the laser radar 200 or the platform 10-2 where the laser radar 200 is located can move or slide accurately up and down along a straight line in the vertical direction D2 along the vertical slide rail 20-2 according to an external input signal, such as a control signal from a control device.
[0035] In one embodiment, the electrically controlled linear guide device additionally includes a third electrically controlled linear guide device extending in a third direction D3. Here, the third direction D3 is perpendicular to the horizontal direction D1 and perpendicular to the vertical direction D2, and the third electrically controlled linear guide device can also be referred to as a distance adjustment rail. In other words, the third direction D3 is parallel to the center line of the field of view of the laser radar 200 to be tested. Exemplarily, the laser radar 200 to be tested or the test target 40 is fixed on a distance adjustment rail by another fixed axis, and the movement of the distance adjustment rail is also controlled by a stepper motor, so that the laser radar 200 or the test target 40 can move or slide accurately forward and backward along a straight line in the third direction D3 along the distance adjustment rail according to an external input signal, such as a control signal from a control device.
[0036] The laser radar test system 100 includes a test target 40. Here, the test target 40 is configured as a reflective plate, for example, which has a consistent reflectivity and is, for example, a 10% diffuse reflective plate. Alternatively, the reflective plate 40 can be composed of multiple parts with different reflectivities and form different reflection patterns required for the test. This is not limited here.
[0037] The laser radar test system 100 includes a laser filter 30 for reducing the laser energy passing therethrough. This can significantly save the test site. The laser filter 30 is arranged between the laser radar 200 to be tested and the test target 40. Preferably, as in Figure 1 As shown in FIG. 1 , the laser filtering device 30 is fixed on a test platform, that is, a test bench top 10 - 2 and is arranged directly in front of the laser radar 200 to be tested.
[0038] In one embodiment, the laser filter device 30 is constructed to have adjustable transmittance, wherein the transmittance of the laser filter device 30 is adjusted according to the distance of the test target 40 relative to the laser radar 200 to be tested and / or according to the test target 40. For example, a laser filter device with a smaller transmittance can be selected for long-distance testing or a large detection distance, while a laser filter device with a larger transmittance can be selected for close-range testing or a small detection distance. For example, the transmittance of the laser filter device 30 is adjusted according to the characteristics of the test target 40, such as according to the reflectivity of the reflector. In this way, the test conditions can be flexibly adapted. In the following, a laser filter device 30 (laser filter cover plate) with a transmittance of 10% will be described as an example, however, it can be understood that the present invention is not limited to this.
[0039] The laser radar test system 100 includes a control device. The control device may be or may include a local computing device, for example, respectively assigned to each individual laser radar to be tested or respectively assigned to each individual test platform. Alternatively or additionally, the control device may include a cloud server or be connected to a cloud server in communication. This can greatly reduce the computing power requirements of the local computing device and can help achieve fast and large-scale testing and is particularly conducive to centralized processing and unified management by users.
[0040] exist Figure 2 1 is a schematic diagram of an embodiment of a laser radar test system 100 according to the present application in a side view. Here, a verification scenario of the measurement capability in the central area of the laser radar 200 to be tested is shown.
[0041] At the initial position of the laser radar 200, the horizontal slide rail 20-1 and the vertical slide rail 20-2 are both at the center position. At this time, the detection distance and measurement accuracy in the center area of the laser radar 200 can be measured. It should be pointed out that a 10% transmittance laser filter cover plate 30 (at the front of the laser radar 200) is arranged in front of the laser radar 200. Figure 2(shown by diagonal hatching in FIG. 1 ), the energy of the laser beam emitted from the laser radar 200 becomes 0.1 of the initial energy after passing through the laser filter cover plate 30, and passes through the laser filter cover plate 20 again when it is reflected back to the laser radar 200 after reaching the test target 40, so that when it reaches the window of the laser radar 200, its energy is about 10%*10%=0.01 of the energy without the laser filter cover plate 30. With this design, the test target 40 of the laser radar 200 does not need to be placed at the originally planned measurement distance, but only needs to be placed at about 0.01 times the originally planned measurement distance. In other words, the measurement distance is about 0.01 of the actual required measurement distance. For example, the maximum detection distance in the center area of the laser radar 200 is 200m, and the test target 40 needs to be placed 200m in front of the center. However, by setting the laser filter cover 30, it is only necessary to place the test target 40 2m in front of the center to measure whether the 200m ranging capability is achieved in the center area of the laser radar under the same conditions. This can significantly reduce the required test space and the required test time.
[0042] exist Figure 3 1 is a schematic diagram of another embodiment of a laser radar test system 100 according to the present application in a top view. Here, a verification scenario of the measurement capability in the edge area of the laser radar 200 to be tested in the horizontal direction is shown.
[0043] It should be noted that a laser filter cover plate 30 with a transmittance of 10% is arranged in front of the laser radar 200 (at Figure 2 (shown by diagonal hatching in FIG. 1 ), the energy of the laser beam emitted from the laser radar 200 becomes 0.1 of the initial energy after passing through the laser filter cover plate 30, and passes through the laser filter cover plate 20 again when it is reflected back to the laser radar 200 after reaching the test target 40, so that when it reaches the window of the laser radar 200, its energy is about 10%*10%=0.01 of the energy without the laser filter cover plate 30. With this design, the test target 40 of the laser radar 200 does not need to be placed at the originally planned measurement distance, but only needs to be placed at about 0.01 times the originally planned measurement distance. In other words, the measurement distance is about 0.01 of the actual required measurement distance.
[0044] For example, assuming that the maximum detection distance in the central area of the laser radar 200 is 200m and assuming that the lateral FOV or horizontal FOV of the laser radar 200 is 120°, the laser radar 200 is originally required to be moved along the first linear guide device 20-1 by approximately 200m*tan(120° / 2)*2=692.8m. However, by setting the laser filter cover 30, it is now only necessary to move the laser radar 200 along the first linear guide device 20-1 by approximately 200m*0.01*tan(120° / 2)*2=6.928m, so that it can be measured under the same conditions whether the ranging capability of 200m is achieved in the edge area (horizontal direction or left and right direction) of the laser radar.
[0045] Specifically, when it is necessary to detect the detection capability of the right side of the field of view of the laser radar 200, according to the maximum detection distance of the laser radar being 200m and the lateral FOV being 120°, the laser radar 200 only needs to move about 200m*0.01*tan(120° / 2)≈3.46m to the left along the horizontal rail 20-1 to simulate the detection capability of the laser radar 200 in the rightmost area, instead of moving about 346m to the left as before. Similarly, when it is necessary to detect the detection capability of the left side of the field of view of the laser radar 200, according to the maximum detection distance of the laser radar being 200m and the lateral FOV being 120°, the laser radar 200 only needs to move about 200m*0.01*tan(120° / 2)≈3.46m to the right along the horizontal rail 20-1 to simulate the detection capability of the laser radar 200 in the leftmost area, instead of moving about 346m to the right as before. During this period, the test target 40 can remain stationary and only the laser radar 200 needs to be moved via the horizontal slide rail 20 - 1 .
[0046] It can be seen that the detection capability of the left and right areas within the entire FOV range of the laser radar 200 can be completed through the moving range of [-3.46m, +3.46m] (with the center position as the origin or zero point). This can significantly reduce the required test space and significantly reduce the required test time.
[0047] exist Figure 4 2 is a schematic diagram of another embodiment of a laser radar test system 100 according to the present application, shown in a side view. Here, a verification scenario of the measurement capability in the edge region of a laser radar 200 to be tested in the vertical direction is shown.
[0048] It should be noted that a laser filter cover plate 30 with a transmittance of 10% is arranged in front of the laser radar 200 (at Figure 2(shown by diagonal hatching in FIG. 1 ), the energy of the laser beam emitted from the laser radar 200 becomes 0.1 of the initial energy after passing through the laser filter cover plate 30, and passes through the laser filter cover plate 20 again when it is reflected back to the laser radar 200 after reaching the test target 40, so that when it reaches the window of the laser radar 200, its energy is about 10%*10%=0.01 of the energy without the laser filter cover plate 30. With this design, the test target 40 of the laser radar 200 does not need to be placed at the originally planned measurement distance, but only needs to be placed at about 0.01 times the originally planned measurement distance. In other words, the measurement distance is about 0.01 of the actual required measurement distance.
[0049] For example, assuming that the maximum detection distance in the central area of the laser radar 200 is 200m and assuming that the longitudinal FOV or vertical FOV of the laser radar 200 is 20°, the laser radar 200 is originally required to be moved along the second linear guide device 20-2 by approximately 200m*tan(20° / 2)*2=70.53. However, by setting the laser filter cover 30, it is now only necessary to move the laser radar 200 along the second linear guide device 20-2 by approximately 200m*0.01*tan(20° / 2)*2=0.7053m, so that under the same conditions, it can be measured whether the ranging capability of 200m is achieved in the edge area (vertical direction or up and down direction) of the laser radar.
[0050] Specifically, when it is necessary to detect the detection capability of the upper side of the field of view of the laser radar 200, according to the maximum detection distance of the laser radar being 200m and the longitudinal FOV being 20°, the laser radar 200 only needs to move downward along the vertical slide rail 20-2 by about 200m*0.01*tan(20° / 2)≈0.353m to simulate the detection capability of the laser radar 200 in the uppermost area, instead of moving approximately 35.3m to the left as before. Similarly, when it is necessary to detect the detection capability of the lower side of the field of view of the laser radar 200, according to the maximum detection distance of the laser radar being 200m and the lateral FOV being 20°, the laser radar 200 only needs to move upward along the vertical slide rail 20-2 by about 200m*0.01*tan(20° / 2)≈0.353m to simulate the detection capability of the laser radar 200 in the lowermost area, instead of moving approximately 35.3m upward as before. During this period, the test target 40 can remain stationary and only the laser radar 200 needs to be moved via the vertical slide rail 20-2.
[0051] It can be seen that the detection capability of the upper and lower areas within the entire FOV range of the laser radar 200 can be completed through the moving range of [-0.353m, +0.353m] (with the center position as the origin or zero point). This can significantly reduce the required test space and significantly reduce the required test time.
[0052] In one embodiment, the control device is configured to control the electric-controlled linear guide devices 20-1 and 20-2 so that the laser radar 200 to be tested moves at a constant speed by means of the electric-controlled linear guide devices 20-1 and 20-2. Thus, the movement of the laser radar 200 to be tested is controlled in a simple manner and the obtained data can be processed in a simple manner. Alternatively, the control device is configured to control the electric-controlled linear guide devices 20-1 and 20-2 so that the laser radar 200 to be tested moves at a first speed in the central area and moves at a second speed lower than the first speed in the edge area by means of the electric-controlled linear guide devices 20-1 and 20-2. Here, "in the central area" can be understood as the relative angle between the laser radar 200 to be tested and the test target 40 is small, and "in the edge area" can be understood as the relative angle between the laser radar 200 to be tested and the test target 40 is large, for example, near 60° (horizontally) or near 10° (vertically). Thus, more detailed performance test data on the laser radar 200 to be tested is obtained and the performance test of the laser radar 200 to be tested is achieved more accurately.
[0053] Here, by combining and moving the horizontal slide rail 20-1 and the vertical slide rail 20-2, under the premise that the test target is uncertain, the laser radar body can be moved in a small range to achieve the verification of the maximum ranging capability and ranging accuracy within the entire FOV range.
[0054] exist Figure 5 A schematic diagram of a computer program product 400 according to the present application is shown in FIG.
[0055] The computer program product 400, for example, a computer-readable program medium includes or stores computer program instructions. When the computer program instructions are executed by a processor or a controller, for example, a processor or a controller of a control device, the computer program instructions can at least partially operate or control the lidar test system 100 according to the present application and / or implement the application of the lidar test system 100 according to the present application.
[0056] In short, through the technical solution disclosed in this application, the verification of the ranging capability and ranging accuracy and other performances within the entire FOV range of the laser radar can be achieved accurately, efficiently, cost-effectively and space-savingly. Advantageously and exemplarily, the technical solution disclosed in this application can be applied to the performance test laboratory of the laser radar supplier, to the offline detection of the laser radar supplier, to the rapid performance verification of the supplier's incoming materials in the laboratory of the main engine factory, and so on.
[0057] Although specific embodiments of the present application are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present application. Various alternatives and modifications may be proposed without departing from the core and scope of the present application.
Claims
1. A laser radar test system, the laser radar test system comprising: - a test platform, on which a laser radar to be tested is arranged, - Test target, - an electrically controlled linear guide arrangement, the electrically controlled linear guide arrangement comprising at least a first electrically controlled linear guide arrangement extending in a first direction and / or a second electrically controlled linear guide arrangement extending in a second direction, and - control devices, Wherein, the laser radar to be tested and / or the test target can be moved in a straight line in the first direction and / or in the second direction by means of the electrically controlled linear guide device.
2. The laser radar test system according to claim 1, wherein: The control device is configured to control the laser radar to be tested and / or the test target to move along the first electrically-controlled linear guide device so that the horizontal angle of the test target relative to the laser radar to be tested changes, and / or control the laser radar to be tested and / or the test target to move along the second electrically-controlled linear guide device so that the pitch angle of the test target relative to the laser radar to be tested changes.
3. The laser radar test system according to claim 1 or 2, wherein: The electrically-controlled linear guide device also includes a third electrically-controlled linear guide device extending in a third direction. The laser radar to be tested and / or the test target can be moved in a straight line in the third direction with the help of the third electrically-controlled linear guide device. The control device is configured to control the laser radar to be tested and / or the test target to move along the third electrically-controlled linear guide device so that the distance of the test target relative to the laser radar to be tested changes.
4. A laser radar test system according to any one of the preceding claims, wherein: The control device is configured to control the electrically-controlled linear guide device so that the laser radar to be tested and / or the test target moves at a constant speed with the aid of the electrically-controlled linear guide device, or so that the laser radar to be tested and / or the test target moves at a first speed in a central area and at a second speed lower than the first speed in an edge area with the aid of the electrically-controlled linear guide device.
5. According to the laser radar test system described in any one of the preceding claims, the laser radar test system also includes a laser filtering device, which is arranged between the laser radar to be tested and the test target. Preferably, the laser filtering device is arranged on the test platform and directly in front of the laser radar to be tested.
6. The laser radar test system according to claim 3, wherein: The laser filter device is configured to have adjustable transmittance, wherein the transmittance of the laser filter device is adjusted according to the distance of the test target relative to the laser radar to be tested and / or according to the test target.
7. A laser radar test system according to any one of the preceding claims, wherein: The test target is configured as a reflective plate having a uniform reflectivity, or the reflective plate is configured as a plurality of parts having different reflectivities.
8. A laser radar testing system according to any one of the preceding claims, wherein: The control device includes a cloud server or is communicatively connected to a cloud server.
9. An application of the laser radar test system according to any one of claims 1 to 8, for performing performance testing on a laser radar to be tested.
10. A computer program product, such as a computer-readable program medium, comprising or storing computer program instructions, which, when executed by a processor or a controller, can at least partially operate or control a lidar test system according to any one of claims 1 to 8 and / or implement an application according to claim 9.