Performance test method and test system of laser radar

Abstract

The invention provides a laser radar performance test method and test system. The method comprises the following steps: acquiring actual test parameters of a to-be-tested laser radar; equivalent test parameters corresponding to actual test parameters of the to-be-tested laser radar are determined, and the length of an equivalent test space required by the equivalent test parameters is smaller than the length of an actual test space required by the actual test parameters; based on the equivalent test parameters of the to-be-tested laser radar, a performance test system is configured in the equivalent test space, and the performance test system comprises an equivalent target object and a signal adjusting device; and based on the performance test system, carrying out performance test on the to-be-tested laser radar. By adopting the scheme, the test space required by the laser radar can be reduced, and the performance test of the laser radar can be completed in a limited test space range.

Description

Technical Field

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

[0002] LiDARs usually need to undergo various performance tests before leaving the factory, such as distance measurement, ranging accuracy, reflectivity accuracy, etc. LiDAR performance tests can be performed in a test space, which is an actual physical space for evaluating and verifying the performance of LiDARs. By building a test system in the test space, LiDAR performance tests can be performed.

[0003] However, long-range laser radar has a long working distance, which places high requirements on the length of the test space. Therefore, how to reduce the length requirement of the test space for the performance test of the laser radar has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In response to the above technical problems, the present invention provides a performance testing method and testing system for a laser radar, which can reduce the testing space required for the laser radar and complete the performance testing of the laser radar within a limited testing space.

[0005] First, the present invention provides a performance testing method for a laser radar, comprising:

[0006] Obtain the actual test parameters of the laser radar to be tested;

[0007] Determine equivalent test parameters corresponding to actual test parameters of the laser radar to be tested, wherein the length of the equivalent test space required by the equivalent test parameters is less than the length of the actual test space required by the actual test parameters;

[0008] Based on the equivalent test parameters of the laser radar to be tested, configuring a performance test system in the equivalent test space, wherein the performance test system includes an equivalent target and a signal conditioning device;

[0009] Based on the performance testing system, a performance test is performed on the laser radar to be tested.

[0010] Optionally, the actual test parameters include:

[0011] The actual test distance between the laser radar to be tested and the actual target object,

[0012] The reflectivity of the actual target object;

[0013] The equivalent test parameters include:

[0014] The equivalent test distance between the laser radar to be tested and the equivalent target object,

[0015] The reflectivity of the equivalent target object,

[0016] The signal passing rate of the signal conditioning device.

[0017] Optionally, determining equivalent test parameters corresponding to actual test parameters of the laser radar to be tested includes:

[0018] According to the mapping relationship between the actual test parameters of the laser radar to be tested and the equivalent test parameters, the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested are determined.

[0019] Optionally, determining the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested according to the mapping relationship between the actual test parameters of the laser radar to be tested and the equivalent test parameters includes:

[0020] Acquire a mapping relationship between the actual test distance, the reflectivity of the actual target object, and the equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal conditioning device;

[0021] According to the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object, and based on the mapping relationship, the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object and the signal pass rate of the signal adjustment device are determined.

[0022] Optionally, the performance testing method further includes:

[0023] Adjust at least one of the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device, and perform a performance test on the laser radar to be tested again.

[0024] Optionally, the signal conditioning device comprises: a signal attenuation unit.

[0025] Optionally, the performing a performance test on the laser radar to be tested based on the performance test system includes:

[0026] Adjusting the relative posture between the equivalent target object and the laser radar to be measured;

[0027] Perform a performance test on the laser radar to be tested.

[0028] Optionally, the laser radar to be tested includes multiple detection channels, and the performance testing method further includes:

[0029] Adjusting the posture of the laser radar to be tested to test different detection channels of the laser radar to be tested;

[0030] Wherein, the incident angle of the detection light beam emitted by the detection channel under test relative to the equivalent target object is within a preset range.

[0031] Optionally, the equivalent test space includes an indoor test space.

[0032] The present invention also provides a performance test system for a laser radar, comprising:

[0033] An equivalent target object is arranged in an equivalent test space and is suitable for partially reflecting the detection beam emitted by the laser radar to be tested back to the laser radar to be tested, wherein the length of the equivalent test space is less than the length of the actual test space required for the actual test parameters of the laser radar to be tested;

[0034] A signal conditioning device, disposed between the laser radar to be tested and the equivalent target object, having a signal passing rate and being suitable for attenuating the energy of the passing signal;

[0035] Among them, the parameters of the equivalent target object and the signal adjustment device are determined according to the equivalent test parameters of the laser radar to be tested, and the equivalent test parameters are determined according to the actual test parameters of the laser radar to be tested.

[0036] Optionally, the actual test parameters include:

[0037] The actual test distance between the laser radar to be tested and the actual target object,

[0038] The reflectivity of the actual target object;

[0039] The equivalent test parameters include:

[0040] The equivalent test distance between the laser radar to be tested and the equivalent target object,

[0041] The reflectivity of the equivalent target object,

[0042] The signal throughput rate of the signal conditioning device.

[0043] Optionally, the signal conditioning device comprises: a signal attenuation unit.

[0044] Optionally, the signal conditioning device comprises a plurality of the signal attenuation units, and the signal pass rates of the plurality of the signal attenuation units are different.

[0045] Optionally, the signal conditioning device further comprises: a moving unit;

[0046] The moving unit is connected to a plurality of the signal attenuating units and is configured to adjust positions of the signal attenuating units.

[0047] Optionally, the performance testing system further includes: a first displacement device, suitable for moving the laser radar to be tested and / or the equivalent target object.

[0048] Optionally, the number of the equivalent target objects includes multiple, and the reflectivities of the multiple equivalent target objects are different.

[0049] Optionally, the performance testing system further comprises: a second displacement device;

[0050] The second displacement device is connected to a plurality of the equivalent targets and is configured to adjust the positions of the equivalent targets.

[0051] Optionally, the performance test system further comprises: a radar installation device configured to carry the laser radar to be tested;

[0052] The radar installation device comprises:

[0053] The rotating unit is configured to be able to rotate in the pitch direction to adjust the posture of the laser radar to be tested.

[0054] By adopting the performance testing method of the laser radar provided in the embodiment of this specification, by obtaining the actual test parameters of the laser radar to be tested and determining the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested, a performance testing system can be configured in an equivalent test space based on the equivalent test parameters of the laser radar to be tested. The test system includes an equivalent target and a signal adjustment device. The signal adjustment device is used to adjust the detection light beam between the laser radar to be tested and the equivalent target. The laser radar to be tested can be performance tested in an equivalent test space of any length without being limited by the actual test parameters of the laser radar to be tested.

[0055] Furthermore, by obtaining the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object in the actual test parameters of the laser radar to be tested, the corresponding equivalent test parameters can be determined: the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device.

[0056] Furthermore, since the actual test parameters of the laser radar to be tested and the equivalent test parameters satisfy a specific mapping relationship, the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested can be quickly and accurately determined according to the mapping relationship.

[0057] Furthermore, by adjusting at least one of the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device, the performance test of the laser radar to be tested is performed again, which can not only improve the credibility of the test result of the laser radar to be tested, but also fully test the performance of the laser radar. In addition, different performance tests can also be performed.

[0058] Furthermore, the signal conditioning device may include a signal attenuation unit. Since the energy of the laser will attenuate when it propagates in the air, and the longer the propagation distance, the more the energy will attenuate, the detection beam of the laser radar to be tested can be attenuated by the signal attenuation unit, so that the energy attenuated by the detection beam of the laser radar to be tested in a shorter propagation distance can be equivalent to the energy attenuated in a longer propagation distance, which can greatly reduce the length of the equivalent test space. In addition, since the energy of the laser will further attenuate after being reflected by an object during the propagation process, and the lower the reflectivity of the object, the more the energy will attenuate, therefore, through the signal attenuation unit and the provided equivalent target, the energy attenuation of the detection beam of the laser radar to be tested after being reflected by actual targets of different reflectivities can be equivalent, which will not be limited by the reflectivity of the actual target, thereby further improving the flexibility of the test and reducing the cost of performance testing.

[0059] Furthermore, by adjusting the relative posture between the equivalent target object and the laser radar to be tested, the performance of the laser radar to be tested in different application scenarios can be tested, so that the performance of the laser radar to be tested can be more fully tested.

[0060] Furthermore, when the laser radar to be tested includes multiple detection channels, the accuracy of the test results can be further improved by adjusting the posture of the laser radar to be tested so that the incident angle of the detection light beam emitted by the detection channel under test relative to the equivalent target object is within a preset range.

[0061] Furthermore, since there are many uncontrollable factors in the outdoor environment, the test results are not objective and may even produce large errors. Therefore, the test can be conducted in an indoor test space to avoid the influence of uncontrollable factors on the test results, thereby ensuring the objectivity of the test results and improving the accuracy of the test results. In addition, compared with the outdoor test space, the measurement error is more controllable when the performance test system is configured in the indoor test space, which can further improve the accuracy of the test results. Since this solution can reduce the required size of the test space, it is more conducive to building a test site indoors.

[0062] The performance testing system of the laser radar provided in the embodiment of this specification can attenuate the energy of the passing signal by using a signal adjustment device with a signal pass rate arranged between the laser radar to be tested and the equivalent target object. Therefore, the length of the equivalent test space can be much smaller than the length of the actual test space required by the actual test parameters of the laser radar to be tested, and will not be limited by the actual test parameters of the laser radar to be tested.

[0063] Furthermore, by obtaining the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object in the actual test parameters of the laser radar to be tested, the corresponding equivalent test parameters can be determined: the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device.

[0064] Furthermore, the signal conditioning device may include a signal attenuation unit. Since the energy of the laser will attenuate when it propagates in the air, and the longer the propagation distance, the more the energy attenuates, the signal attenuation unit is used to attenuate the detection beam of the laser radar to be tested, so that the energy attenuated by the detection beam of the laser radar to be tested in a shorter propagation distance is equivalent to the energy attenuated by the laser in a longer propagation distance, which can greatly reduce the length of the equivalent test space. In addition, since the energy of the laser will further attenuate after being reflected by an object during the propagation process, and the lower the reflectivity of the object, the more the energy attenuates, therefore, through the signal attenuation unit and the provided equivalent target, the energy attenuation of the detection beam of the laser radar to be tested after being reflected by actual targets of different reflectivities can be equivalent, which will not be limited by the reflectivity of the actual target, thereby further improving the flexibility of the test and reducing the test cost.

[0065] Furthermore, the signal conditioning device may include a plurality of signal attenuation units with different signal passing rates. By selecting signal attenuation units with different signal passing rates, the performance test of the laser radar to be tested is performed again, which can not only improve the credibility of the test result of the laser radar to be tested, but also fully test the performance of the laser radar. In addition, different performance tests can be performed.

[0066] Furthermore, the signal conditioning device may further include a moving unit connected to a plurality of signal attenuation units, and the positions of the signal attenuation units may be adjusted by the moving unit, so that the switching of the signal attenuation units is more convenient, thereby improving the efficiency of the performance test.

[0067] Furthermore, the performance testing system may also include a first displacement device for moving the laser radar to be tested and / or the equivalent target object. The laser radar to be tested and / or the equivalent target object are moved by the first displacement device to adjust the equivalent test distance between the laser radar to be tested and the equivalent target object. This is easy to implement and can further improve the efficiency of performance testing and increase the flexibility of the testing system.

[0068] Furthermore, the performance test system may include a plurality of equivalent targets with different reflectivity. By selecting equivalent targets with different reflectivity, the performance test of the laser radar to be tested is performed again, which can not only improve the credibility of the test results of the laser radar to be tested, but also fully test the performance of the laser radar. In addition, different performance tests can be performed to increase the test range of the test system and improve the flexibility of the test.

[0069] Furthermore, the performance testing system may include a second displacement device connected to a plurality of the equivalent targets. The positions of the equivalent targets may be adjusted by the second displacement device, which is easy to implement and can further improve the efficiency of the performance testing.

[0070] Furthermore, the performance test system may include a radar installation device that carries the laser radar to be tested, and the radar installation device may include a rotation unit that can rotate in the pitch direction to adjust the posture of the laser radar to be tested, so that the performance of the laser radar to be tested in different application scenarios can be tested, thereby more fully testing the performance of the laser radar to be tested. In addition, when the laser radar to be tested includes multiple detection channels, the posture of the laser radar to be tested is adjusted by the rotation unit so that the incident angle of the detection beam emitted by the detection channel to be tested relative to the equivalent target object is within a preset range, which can further improve the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] 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.

[0072] Figure 1 A flow chart of a method for testing the performance of a laser radar in an embodiment of this specification is shown;

[0073] Figure 2 A schematic diagram of the steps of determining equivalent test parameters corresponding to actual test parameters of the laser radar to be tested in an embodiment of this specification is shown;

[0074] Figure 3 A schematic diagram of the steps of performing a performance test on a laser radar to be tested in an embodiment of this specification is shown;

[0075] Figure 4 A schematic diagram of the structure of a performance test system for a laser radar in an embodiment of this specification is shown;

[0076] Figure 5 A schematic diagram of the specific structure of a performance test system for a laser radar in an embodiment of this specification is shown;

[0077] Figure 6 A schematic diagram showing the specific structure of another laser radar performance test system in an embodiment of this specification is shown;

[0078] Figure 7 A schematic diagram of the structure of a signal conditioning device in an embodiment of this specification is shown;

[0079] Figure 8a A schematic diagram showing the specific structure of another laser radar performance test system in an embodiment of this specification is shown;

[0080] Figure 8b A schematic diagram of the specific structure of another laser radar performance test system in an embodiment of this specification is shown;

[0081] Fig. 9 A schematic diagram of an installation device of a laser radar in an embodiment of this specification is shown. DETAILED DESCRIPTION

[0082] As described in the background technology, the working distance of long-distance laser radar is relatively long, which places high requirements on the length of the test space. In actual testing, it is difficult to find a test space that meets the test length requirements.

[0083] In response to the above problems, an embodiment of the present specification provides a performance testing method for a laser radar. By obtaining the actual test parameters of the laser radar to be tested and determining the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested, a performance testing system can be configured in an equivalent test space based on the equivalent test parameters of the laser radar to be tested. The test system includes an equivalent target and a signal adjustment device. The signal adjustment device is used to adjust the detection light beam between the laser radar to be tested and the equivalent target. The laser radar to be tested can be performance tested in an equivalent test space of any length without being limited by the actual test parameters of the laser radar to be tested.

[0084] 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.

[0085] First, the present invention provides a method for testing the performance of a laser radar. Figure 1 The flowchart of a performance test method of a laser radar is shown in FIG. The performance test of the laser radar can be performed using the following steps:

[0086] Step A: obtaining actual test parameters of the laser radar to be tested.

[0087] In a specific implementation, the actual test parameters refer to the test parameters of the laser radar to be tested in the actual test space.

[0088] For example, when conducting a range measurement performance test on the laser radar to be tested, it is necessary to test the range measurement performance at a specific distance (such as 200 meters). The specific distance 200m (meters) is the actual test parameter, and the test space that can meet this specific distance requirement is the actual test space.

[0089] Step B, determining equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested.

[0090] In a specific implementation, the equivalent test parameters refer to the test parameters of the laser radar to be tested in the equivalent test space.

[0091] In a specific implementation, the length of the equivalent test space required by the equivalent test parameters is less than the length of the actual test space required by the actual test parameters, wherein the equivalent test space is a test space that can meet the requirements of the equivalent test parameters.

[0092] For example, when testing the ranging performance of the laser radar to be tested at a specific distance of 200m, the required actual test space length is at least slightly greater than 200m. By converting the specific distance of 200m into a smaller equivalent distance, the required length of the equivalent test space is correspondingly reduced.

[0093] Step C, based on the equivalent test parameters of the laser radar to be tested, configure a performance test system in the equivalent test space, wherein the performance test system includes an equivalent target and a signal adjustment device.

[0094] Specifically, by adjusting the detection light beam between the laser radar to be tested and the equivalent target object through the signal adjustment device, the conversion from the actual test parameters to the equivalent test parameters can be achieved.

[0095] Step D: performing a performance test on the laser radar to be tested based on the performance test system.

[0096] In a specific implementation, the performance test of the laser radar to be tested may include performance tests such as distance measurement, ranging accuracy, and reflectivity accuracy.

[0097] It should be noted that the performance test types listed above are only exemplary, and the embodiments of this specification do not impose any specific restrictions on the performance tests performed.

[0098] By adopting the above embodiment, by obtaining the actual test parameters of the laser radar to be tested and determining the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested, a performance test system can be configured in an equivalent test space based on the equivalent test parameters of the laser radar to be tested. The test system includes an equivalent target and a signal adjustment device. The signal adjustment device is used to adjust the detection light beam between the laser radar to be tested and the equivalent target. The laser radar to be tested can be performance tested in an equivalent test space of any length without being limited by the actual test parameters of the laser radar to be tested.

[0099] 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.

[0100] As a specific example, when the ranging performance of the laser radar is tested, by obtaining the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object in the actual test parameters of the laser radar to be tested, the corresponding equivalent test parameters can be determined: the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal conditioning device.

[0101] In some embodiments of the present specification, for step B, the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested can be determined based on the mapping relationship between the actual test parameters of the laser radar to be tested and the equivalent test parameters.

[0102] By adopting the above embodiment, since the actual test parameters of the laser radar to be tested and the equivalent test parameters satisfy a specific mapping relationship, the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested can be quickly and accurately determined according to the mapping relationship.

[0103] In the specific implementation, refer to Figure 2 The schematic diagram of a step of determining equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested is shown, and the specific steps can be as follows:

[0104] Step B1, obtaining a mapping relationship between the actual test distance, the reflectivity of the actual target object, and the equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device.

[0105] Step B2, according to the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object, and based on the mapping relationship, determine the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object and the signal pass rate of the signal adjustment device.

[0106] After conducting special tests in the actual test space and the equivalent test space, the inventors obtained the mapping relationship between the actual test parameters and the equivalent test parameters. As an optional example, the mapping relationship between the actual test distance, the reflectivity of the actual target object and the equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal conditioning device can be expressed by the following relationship:

[0107] R*P^2 / D^2=r / d^2

[0108] Wherein, d represents the actual test distance, r represents the reflectivity of the actual target object, D represents the equivalent test distance, R represents the reflectivity of the equivalent target object, and P represents the signal pass rate of the signal conditioning device.

[0109] It should be noted that the mapping relationship embodied in the above relationship is only an example and does not mean that the mapping relationship between the actual test distance, the reflectivity of the actual target object and the equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device is fixed.

[0110] In a specific implementation, when the actual test distance and the reflectivity of the actual target object are fixed, based on the above-mentioned mapping relationship, the corresponding equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device are not fixed; for example, when the actual test distance and the reflectivity of the actual target object are fixed, at least one of the equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device can be adjusted as long as the mapping relationship is satisfied.

[0111] As an optional example, since the equivalent test distance can be adjusted arbitrarily, is not limited by the parameters of the test system itself, and is easy to operate, after determining the reflectivity of the equivalent target and the signal pass rate of the signal conditioning device, the equivalent test distance can be adjusted to meet the above mapping relationship. This example can effectively improve test efficiency and reduce test costs.

[0112] In a specific implementation, in order to improve the credibility of the test results of the laser radar to be tested, at least one of the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device can be adjusted to perform a performance test on the laser radar to be tested again.

[0113] In some embodiments of the present specification, adjusting the equivalent test parameters may be to perform multiple verification tests on the same performance of the laser radar to be tested. For example, based on the mapping relationship between the actual test parameters and the equivalent test parameters, the same set of actual test parameters may correspond to different equivalent test parameters. Therefore, by adjusting at least one of the equivalent test parameters and performing multiple verification tests, the credibility of the test results can be improved.

[0114] In other embodiments of this specification, the adjustment of the equivalent test parameters can also be for a performance of the laser radar to be tested, and the upper limit of the performance can be tested. For example, when testing the distance measurement performance of the laser radar to be tested, the equivalent test distance can be continuously increased to verify whether the reflection signal of the equivalent target object can be measured; for another example, when testing the reflectivity accuracy performance of the laser radar to be tested, it is necessary to select the reflectivity of different equivalent targets. With this embodiment, various performances of the laser radar to be tested can be fully tested.

[0115] In some other embodiments of the present specification, the adjustment of the equivalent test parameters can also be in response to the needs of different performance tests of the laser radar to be tested. For example, after the distance measurement performance test is completed, the equivalent test parameters need to be adjusted, and then the reflectivity accuracy performance test is performed.

[0116] In a specific implementation, the laser radar to be tested and / or the equivalent target object can be placed on a mobile device, and the position of the laser radar to be tested and / or the equivalent target object can be changed by the mobile device to adjust the equivalent test distance between the laser radar to be tested and the equivalent target object.

[0117] In a specific implementation, multiple targets with different reflectivity can be placed on a slide rail, and the target required for the test can be moved to the test area as an equivalent target through the slide rail, and other targets can be moved to the non-test area, thereby adjusting the reflectivity of the equivalent target.

[0118] In a specific implementation, a plurality of signal conditioning devices with different signal pass rates may be combined into a rotating signal conditioning device, and the signal pass rate of the signal conditioning device may be adjusted by rotating the rotating signal conditioning device.

[0119] In some embodiments of the present specification, the signal adjustment device may include a signal attenuation unit. Specifically, when the laser propagates in the air, its energy will attenuate, and the longer the propagation distance, the more the energy attenuates. Therefore, by attenuating the detection beam of the laser radar to be tested through the signal attenuation unit, the energy attenuated by the detection beam of the laser radar to be tested in a shorter propagation distance can be made equivalent to the energy attenuated in a longer propagation distance, thereby greatly reducing the length of the equivalent test space.

[0120] As a specific example, when testing the performance of a laser radar to be tested when detecting an object with a reflectivity of 10% at a test distance of 200m, it is necessary to set an actual target object with a reflectivity of 10% at a distance of 200m from the laser radar to be tested. The length of the actual test space required is at least slightly greater than 200m. If the signal attenuation unit is used to attenuate the energy of the laser to the same as the energy attenuated by the laser passing through 150m of air, the test distance can be reduced to 50m.

[0121] As another specific example, the energy of the laser will further attenuate after being reflected by an object during the propagation process, and the lower the reflectivity of the object, the more the energy will attenuate. Therefore, by attenuating the detection beam of the laser radar to be tested through a signal attenuation unit and adjusting the reflectivity of the equivalent target object, the energy attenuated after the detection beam of the laser radar to be tested is reflected by the equivalent target object in a shorter propagation distance can be made equivalent to the energy attenuated after being reflected by the actual target object in a longer propagation distance.

[0122] For example, the energy attenuated by the detection beam of the laser radar to be tested after being attenuated by the signal attenuation unit and reflected by an equivalent target with a reflectivity of 10% can be equivalent to the energy attenuated by the detection beam of the laser radar to be tested after being reflected by an actual target with a reflectivity of 3%. With the above embodiment, the energy attenuation of the detection beam of the laser radar to be tested after being reflected by actual targets with different reflectivities can be equivalently obtained through the signal attenuation unit and the provided equivalent target. Therefore, it will not be limited by the reflectivity of the actual target, thereby further improving the flexibility of the test and reducing the test cost.

[0123] In the specific implementation, refer to Figure 3 A schematic diagram of the steps of performing a performance test on a laser radar to be tested is shown, and step D may specifically include the following steps:

[0124] Step D1, adjusting the relative posture between the equivalent target object and the laser radar to be measured.

[0125] In a specific implementation, adjusting the relative posture between the equivalent target object and the laser radar to be measured includes adjusting the distance between the equivalent target object and the laser radar to be measured, and the incident angle of the detection beam of the laser radar to be measured relative to the equivalent target object.

[0126] Step D2, performing a performance test on the laser radar to be tested.

[0127] By adopting the above embodiment, by adjusting the distance between the equivalent target object and the laser radar to be tested, and the incident angle of the detection beam of the laser radar to be tested relative to the equivalent target object, the performance of the laser radar to be tested in different application scenarios can be tested, so that the performance of the laser radar to be tested can be more fully tested.

[0128] In some embodiments of the present specification, when the laser radar to be tested includes multiple detection channels, the performance testing method may further include the following steps:

[0129] The posture of the laser radar to be tested is adjusted to test different detection channels of the laser radar to be tested, wherein the incident angle of the detection light beam emitted by the detection channel to be tested relative to the equivalent target object is within a preset range.

[0130] Specifically, when performing performance testing on a laser radar including multiple detection channels, it is usually necessary to test the performance of each detection channel, and to adjust each detection channel during the test so that the angle between the emitted laser and the target object is within a preset range.

[0131] By adopting the above embodiment, the accuracy of the test result can be further improved by adjusting the posture of the laser radar to be tested so that the incident angle of the detection light beam emitted by the detection channel under test relative to the equivalent target object is within a preset range.

[0132] As an optional example, the angle between the emitted laser and the target object within the preset range may refer to: the emitted laser is vertically incident on the equivalent target object. For example, the equivalent target object may be placed vertically, and then the laser radar is rotated in the horizontal direction or in the pitch direction by a rotating device, so that the detection beam emitted by the detection channel under test is vertically incident on the equivalent target object.

[0133] It should be noted that the above preset range is only for illustrative purposes. The embodiments of this specification do not impose any specific restrictions on the incident angle of the detection light beam emitted by the detection channel relative to the equivalent target object. The preset range can also be determined based on the incident angle of the laser radar to be tested relative to the target object in the actual application scenario.

[0134] In some embodiments of the present specification, the equivalent test space may be an indoor test space. Since there are many uncontrollable factors in the outdoor environment, the test results are not objective and may even produce large errors. Therefore, the test can be conducted in an indoor test space to avoid the influence of uncontrollable factors on the test results, thereby ensuring the objectivity of the test results and improving the accuracy of the test results. In addition, compared to the outdoor test space, the measurement error is more controllable when the performance test system is configured in the indoor test space, thereby further improving the accuracy of the test results. Since this solution can reduce the required size of the test space, it is more conducive to building a test site indoors.

[0135] Specifically, many uncontrollable factors in the outdoor environment may include environmental wind level, environmental temperature, environmental humidity, environmental light intensity, etc. These many uncontrollable factors will have different impacts on the performance test of the lidar to be tested. For example, when the environmental wind level is high, it may cause the configured performance test system to shift, thereby affecting the performance test results; for example, when the ambient light intensity is high, the ambient light enters the lidar detector after being reflected by objects with high reflectivity in the outdoor environment, which will have a serious impact on the performance test results.

[0136] As an optional example, multiple performance tests of the laser radar to be tested can be carried out in an indoor test space covered with flannel with a reflectivity of 10%, which can effectively avoid the influence of ambient light on the test results during the test process, thereby obtaining accurate performance test results.

[0137] For ease of implementation, the present specification also provides a laser radar performance test system, referring to Figure 4 FIG. 1 is a schematic diagram showing a structure of a performance test system for a laser radar, wherein the performance test system T for the laser radar may include:

[0138] The equivalent target T1 is arranged in the equivalent test space, and is suitable for partially reflecting the detection beam emitted by the laser radar LA to be tested back to the laser radar LA to be tested, wherein the length of the equivalent test space is smaller than the length of the actual test space required for the actual test parameters of the laser radar LA to be tested.

[0139] The signal conditioning device T2 is disposed between the laser radar LA to be measured and the equivalent target T1, has a signal passing rate, and is suitable for attenuating the energy of the passing signal.

[0140] The parameters of the equivalent target object T1 and the signal adjustment device T2 may be determined according to the equivalent test parameters of the laser radar LA to be tested, and the equivalent test parameters may be determined according to the actual test parameters of the laser radar LA to be tested.

[0141] By adopting the above embodiment, since the signal adjustment device with a signal pass rate is arranged between the laser radar to be tested and the equivalent target object, the energy of the passing signal can be attenuated. Therefore, the length of the equivalent test space can be much smaller than the length of the actual test space required by the actual test parameters of the laser radar to be tested, and will not be limited by the actual test parameters of the laser radar to be tested.

[0142] 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.

[0143] As a specific example, when using the performance test system to perform ranging performance test on the laser radar, by obtaining the actual test parameters of the laser radar to be tested, for example, the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object, the corresponding equivalent test parameters can be determined: the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal conditioning device; then, based on the determined reflectivity of the equivalent target object, the equivalent target object in the performance test system is selected, and based on the determined signal pass rate of the signal conditioning device, the signal conditioning device in the performance test system is selected.

[0144] In some embodiments of the present specification, the signal adjustment device may include a signal attenuation unit, which is used to attenuate the detection beam of the laser radar to be tested, so that the energy attenuated by the detection beam of the laser radar to be tested in a shorter propagation distance is equivalent to the energy attenuated by the detection beam of the laser radar to be tested in a longer propagation distance, thereby greatly reducing the length of the equivalent test space. For the relevant principles and exemplary explanations, please refer to the relevant description of the signal attenuation unit in the above-mentioned laser radar performance test method, which will not be repeated here.

[0145] As a specific example, the signal attenuation unit may be a signal attenuation sheet.

[0146] It should be noted that the embodiments of this specification do not impose any specific restrictions on the structure of the signal attenuation unit, as long as the signal attenuation can be achieved.

[0147] As an optional example, the signal conditioning device may include a plurality of the signal attenuation units, and the signal pass rates of the plurality of the signal attenuation units are different.

[0148] By adopting the above embodiment, by selecting a signal attenuation unit with different signal pass rates, the performance test of the laser radar to be tested is performed again, which can not only improve the credibility of the test result of the laser radar to be tested, but also fully test the performance of the laser radar. In addition, different performance tests can be performed.

[0149] As another optional example, the signal adjustment device further includes a moving unit, which is connected to the plurality of signal attenuation units and is configured to adjust positions of the signal attenuation units.

[0150] By adopting the above embodiment, the position of the signal attenuation unit is adjusted by the mobile unit, and the signal attenuation unit with the required signal pass rate is moved between the laser radar to be tested and the equivalent target object, so that the laser emitted by the laser radar to be tested passes through the signal attenuation unit to reach the equivalent target object, and the echo reflected by the equivalent target object passes through the signal attenuation unit again to reach the receiving end of the laser radar to be tested. The use of the mobile unit makes it more convenient to switch the signal attenuation unit, which can improve the efficiency of performance testing.

[0151] In some embodiments of the present specification, the performance testing system may further include a first displacement device, suitable for moving the laser radar to be tested and / or the equivalent target object.

[0152] By adopting the above embodiment, the laser radar to be tested and / or the equivalent target object are moved by the first displacement device to adjust the equivalent test distance between the laser radar to be tested and the equivalent target object. This is easy to implement and can further improve the efficiency of performance testing and increase the flexibility of testing the test system.

[0153] In other embodiments of the present specification, the number of the equivalent target objects may include multiple, and the reflectivity of the multiple equivalent target objects is different.

[0154] By adopting the above embodiment, by selecting an equivalent target with different reflectivity, the performance test of the laser radar to be tested is performed again, which can not only improve the credibility of the test result of the laser radar to be tested, but also fully test the performance of the laser radar. In addition, different performance tests can be performed to increase the test range of the test system test and improve the flexibility of the test.

[0155] In some other embodiments of the present specification, the performance testing system may further include a second displacement device, wherein the second displacement device is connected to a plurality of the equivalent targets and is configured to adjust the positions of the equivalent targets.

[0156] By adopting the above embodiment, the position of the equivalent target object is adjusted by the second displacement device, which is easy to implement and can further improve the efficiency of the performance test.

[0157] As an optional example, the performance testing system may further include a radar mounting device configured to carry the laser radar to be tested; the radar mounting device includes a rotation unit configured to be able to rotate in a pitch direction to adjust the posture of the laser radar to be tested.

[0158] By adopting the above embodiment, the performance of the laser radar to be tested in different application scenarios can be tested, so that the performance of the laser radar to be tested can be tested more fully. In addition, when the laser radar to be tested includes multiple detection channels, the posture of the laser radar to be tested is adjusted by the rotation unit so that the incident angle of the detection beam emitted by the detection channel to be tested relative to the equivalent target object is within a preset range, which can further improve the accuracy of the test result.

[0159] In a specific implementation, the rotating device can also be configured to be able to rotate in the horizontal direction to adjust the posture of the laser radar to be tested.

[0160] The following is a specific example to explain in detail the process of testing using the performance testing method and performance testing system of the laser radar described in the embodiments of this specification.

[0161] This example takes the distance measurement performance of the lidar as an example.

[0162] Reference Figure 5 A specific structural schematic diagram of a laser radar performance test system is shown. The laser radar performance test system T may include a signal attenuation sheet S and an equivalent target object O. The following describes in detail the process of using the performance test system T to test the ranging performance of the laser radar LA to be tested.

[0163] First, obtain the actual test distance d between the laser radar LA to be tested and the actual target object and the reflectivity r of the actual target object, and obtain the mapping relationship R*P^2 / D^2=r / d^2 between the actual test distance d, the reflectivity r of the actual target object and the equivalent test distance D, the reflectivity R of the equivalent target object, and the signal pass rate P of the signal adjustment device, and then determine the equivalent test distance D between the laser radar LA to be tested and the equivalent target object O, the reflectivity R of the equivalent target object, and the signal pass rate P of the signal adjustment device based on the above mapping relationship.

[0164] In a specific implementation, the specific values ​​of the equivalent test distance D, the reflectivity R of the equivalent target object, and the signal pass rate P of the signal conditioning device can be selected according to actual conditions and are not unique, as long as the above mapping relationship is satisfied.

[0165] As a preferred example, since the equivalent test distance D can be adjusted arbitrarily, is not limited by the parameters of the test system itself, and is easy to operate, the reflectivity R of the equivalent target object and the signal pass rate P of the signal adjustment device can be determined first, and then the equivalent test distance D can be determined.

[0166] Furthermore, based on the determined reflectivity R of the equivalent target, the signal pass rate P of the signal adjustment device, and the equivalent test distance D, a signal attenuation sheet S and an equivalent target O are configured, and the relative posture between the equivalent target O and the laser radar LA to be tested is adjusted.

[0167] It should be noted that the equivalent target object used in this example is a target board, which is only used as an example, and the embodiments of this specification do not impose specific restrictions on the equivalent target object.

[0168] In a specific implementation, in order to improve the credibility of the test results of the laser radar to be tested, at least one of the equivalent test distance D between the laser radar to be tested and the equivalent target object, the reflectivity R of the equivalent target object, and the signal pass rate P of the signal adjustment device can be adjusted to perform a performance test on the laser radar to be tested again.

[0169] As a specific example, continue to refer to Figure 5 The performance test system T may further include a first displacement device Y1 for moving the laser radar LA to be tested. Figure 6 As shown in the specific structural schematic diagram of another laser radar performance test system, the first displacement device Y1 can be used to move the equivalent target object O.

[0170] In a specific implementation, the first displacement device may be a mobile trolley, through which the laser radar to be tested and / or the equivalent target object can be quickly and conveniently moved, thereby adjusting the equivalent test distance between the laser radar to be tested and the equivalent target object. Figure 5 The performance test system T may further include a measurable track G. By setting the first displacement device Y1 on the measurable track G, the equivalent test distance D between the laser radar LA to be tested and the equivalent target object O may be quickly acquired.

[0171] In a specific implementation, the performance test system may also include a plurality of signal attenuation sheets with different signal passing rates. By selecting signal attenuation sheets with different signal passing rates, the performance test of the laser radar to be tested is performed again, which can not only improve the credibility of the test results of the laser radar to be tested, but also fully test the performance of the laser radar. In addition, different performance tests can also be performed.

[0172] In a specific implementation, the signal attenuation sheet can be replaced manually or with the assistance of a device. For example, the performance testing system can also include a mobile unit that connects multiple signal attenuation sheets and is configured to adjust the position of the signal attenuation sheets.

[0173] As a specific example, refer to Figure 7The structural schematic diagram of a signal conditioning device shown in the figure includes a signal attenuation sheet S1 with a signal pass rate of P1, a signal attenuation sheet S2 with a signal pass rate of P2, a signal attenuation sheet S3 with a signal pass rate of P3, a signal attenuation sheet S4 with a signal pass rate of P4, and a mobile unit Y2. The mobile unit Y2 is connected to a plurality of the signal attenuation sheets and can rotate. The double-headed arrow shown in the figure indicates the direction in which the mobile unit Y2 can rotate. In a specific implementation, by rotating the mobile unit Y2, the signal attenuation sheets with different signal pass rates can be rotated, and the signal attenuation sheet with a required signal pass rate can be rotated between the laser radar LA to be tested and the equivalent target object O, so that the outgoing laser of the laser radar LA to be tested passes through the selected signal attenuation sheet to reach the equivalent target object O, and the echo reflected by the equivalent target object O passes through the signal attenuation sheet again to reach the receiving end of the laser radar LA to be tested.

[0174] It should be noted that the above embodiments are only exemplary, and the embodiments of this specification do not specifically limit the implementation method of adjusting the signal pass rate of the signal adjustment device. For example, a signal adjustment device whose signal pass rate can be adjusted can also be used. As another specific example, the signal adjustment device can include liquid crystal, and the signal pass rate can be changed by changing the orientation of the liquid crystal.

[0175] In a specific implementation, the performance test system may also include a plurality of equivalent targets with different reflectivity. By selecting equivalent targets with different reflectivity and performing a performance test on the laser radar to be tested again, not only the credibility of the test result of the laser radar to be tested can be improved, but also the performance of the laser radar can be fully tested. In addition, different performance tests can be performed.

[0176] In a specific implementation, the equivalent target object can be replaced manually or with the assistance of a device. For example, the performance testing system can also include a second displacement device, which connects multiple equivalent targets and is configured to adjust the positions of the equivalent targets.

[0177] As a specific example, refer to Figure 8a The specific structural schematic diagram of another laser radar performance test system is shown, and the laser radar performance test system T includes a signal attenuation plate S, an equivalent target object O1 with a reflectivity of R1, an equivalent target object O2 with a reflectivity of R2, an equivalent target object O3 with a reflectivity of R3, and a second displacement device Y3.

[0178] In a specific implementation, the equivalent target O1, the equivalent target O2, and the equivalent target O3 can all be set on the second displacement device Y3, and the equivalent target required for the current test can be moved into the detection range of the laser radar to be tested, and other unnecessary equivalent targets can be moved to one side of the second displacement device Y3, for example Figure 8a In another optional embodiment, the equivalent target O1, the equivalent target O2, and the equivalent target O3 can be set on the second displacement device Y3, the equivalent target required for the current test is moved to the detection range of the laser radar to be tested, and other unnecessary equivalent targets are moved to the two sides of the second displacement device Y3, for example Figure 8b shown.

[0179] In a specific implementation, the second displacement device may be a slide rail.

[0180] In a specific implementation, the performance test system may further include a radar installation device, and the radar installation device may include a rotation unit, by which the rotation unit is rotated in the pitch direction and / or horizontal direction to adjust the posture of the laser radar to be tested, the performance of the laser radar to be tested in different application scenarios can be tested, so that the performance of the laser radar to be tested can be tested more fully. In addition, when the laser radar to be tested includes multiple detection channels, the posture of the laser radar to be tested is adjusted by the rotation unit so that the incident angle of the detection beam emitted by the detection channel to be tested relative to the equivalent target object is within a preset range, which can further improve the accuracy of the test results.

[0181] As a specific example, refer to Fig. 9 The schematic diagram of a laser radar installation device shown in FIG. 1 is a schematic diagram of a laser radar installation device, wherein the installation device X can carry the laser radar LA to be tested and can be installed in the horizontal direction (such as Fig. 9 ) and / or the pitch direction (as indicated by the unidirectional arrow in Fig. 9 The laser radar LA to be tested can be rotated upward (as shown by the double-headed arrow in the figure) to adjust the posture of the laser radar LA to be tested, and then the performance of the laser radar LA to be tested can be tested through the signal attenuation unit S and the provided equivalent target O.

[0182] It should be noted that the above embodiments can be implemented individually or in combination.

[0183] 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 performance testing method for a laser radar, characterized in that: include: Obtain the actual test parameters of the laser radar to be tested; Determine equivalent test parameters corresponding to actual test parameters of the laser radar to be tested, wherein the length of the equivalent test space required by the equivalent test parameters is less than the length of the actual test space required by the actual test parameters; Based on the equivalent test parameters of the laser radar to be tested, configuring a performance test system in the equivalent test space, wherein the performance test system includes an equivalent target and a signal conditioning device; Based on the performance testing system, a performance test is performed on the laser radar to be tested.

2. The performance testing method according to claim 1, characterized in that: The actual test parameters include: The actual test distance between the laser radar to be tested and the actual target object, The reflectivity of the actual target object; The equivalent test parameters include: The equivalent test distance between the laser radar to be tested and the equivalent target object, The reflectivity of the equivalent target object, The signal passing rate of the signal conditioning device.

3. The performance testing method according to claim 2, characterized in that: The determining of equivalent test parameters corresponding to actual test parameters of the laser radar to be tested includes: According to the mapping relationship between the actual test parameters of the laser radar to be tested and the equivalent test parameters, the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested are determined.

4. The performance testing method according to claim 3, characterized in that: The determining, according to the mapping relationship between the actual test parameters of the laser radar to be tested and the equivalent test parameters, the equivalent test parameters corresponding to the actual test parameters of the laser radar to be tested includes: Acquire a mapping relationship between the actual test distance, the reflectivity of the actual target object, and the equivalent test distance, the reflectivity of the equivalent target object, and the signal pass rate of the signal conditioning device; According to the actual test distance between the laser radar to be tested and the actual target object and the reflectivity of the actual target object, and based on the mapping relationship, the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object and the signal pass rate of the signal adjustment device are determined.

5. The performance testing method according to claim 4, characterized in that: The performance testing method also includes: Adjust at least one of the equivalent test distance between the laser radar to be tested and the equivalent target object, the reflectivity of the equivalent target object, and the signal pass rate of the signal adjustment device, and perform a performance test on the laser radar to be tested again.

6. The performance testing method according to claim 1, characterized in that: The signal conditioning device comprises: a signal attenuation unit.

7. The performance testing method according to claim 1, characterized in that: The step of performing a performance test on the laser radar to be tested based on the performance test system includes: Adjusting the relative posture between the equivalent target object and the laser radar to be measured; Perform a performance test on the laser radar to be tested.

8. The performance testing method according to claim 7, characterized in that: The laser radar to be tested includes multiple detection channels, and the performance testing method further includes: Adjusting the posture of the laser radar to be tested to test different detection channels of the laser radar to be tested; Wherein, the incident angle of the detection light beam emitted by the detection channel under test relative to the equivalent target object is within a preset range.

9. The performance testing method according to claim 1, characterized in that: The equivalent test space includes an indoor test space.

10. A laser radar performance test system, characterized in that: include: An equivalent target object is arranged in an equivalent test space and is suitable for partially reflecting the detection beam emitted by the laser radar to be tested back to the laser radar to be tested, wherein the length of the equivalent test space is less than the length of the actual test space required for the actual test parameters of the laser radar to be tested; A signal conditioning device, disposed between the laser radar to be tested and the equivalent target object, having a signal passing rate and being suitable for attenuating the energy of the passing signal; Among them, the parameters of the equivalent target object and the signal adjustment device are determined according to the equivalent test parameters of the laser radar to be tested, and the equivalent test parameters are determined according to the actual test parameters of the laser radar to be tested.

11. The performance testing system according to claim 10, characterized in that: The actual test parameters include: The actual test distance between the laser radar to be tested and the actual target object, The reflectivity of the actual target object; The equivalent test parameters include: The equivalent test distance between the laser radar to be tested and the equivalent target object, The reflectivity of the equivalent target object, The signal throughput rate of the signal conditioning device.

12. The performance testing system according to claim 10, characterized in that: The signal conditioning device comprises: a signal attenuation unit.

13. The performance testing system according to claim 12, characterized in that: The signal adjustment device includes a plurality of the signal attenuation units, and the signal passing rates of the plurality of the signal attenuation units are different.

14. The performance testing system according to claim 13, characterized in that: The signal conditioning device further comprises: a moving unit; The moving unit is connected to a plurality of the signal attenuating units and is configured to adjust positions of the signal attenuating units.

15. The performance testing system according to claim 10, characterized in that: Also includes: The first displacement device is suitable for moving the laser radar to be tested and / or the equivalent target object.

16. The performance testing system according to claim 10, characterized in that: The number of the equivalent target objects includes a plurality, and the reflectivity of the plurality of equivalent target objects is different.

17. The performance testing system according to claim 16, characterized in that: Also includes: a second displacement device; The second displacement device is connected to a plurality of the equivalent targets and is configured to adjust the positions of the equivalent targets.

18. The performance testing system according to claim 10, characterized in that: Also includes: A radar installation device, configured to carry the laser radar to be tested; The radar installation device comprises: The rotating unit is configured to be able to rotate in the pitch direction to adjust the posture of the laser radar to be tested.

Images