Laser radar speed measurement error test method, device, equipment, medium and product

Abstract

The invention relates to the technical field of laser radar performance evaluation, and discloses a laser radar speed measurement error test method, device and equipment, a medium and a product, the method comprises the following steps: determining the part of the edge of a notched disc test target passing through the circle center as a target area irradiated by a laser radar, and collecting the position of the notched disc test target when the notched disc test target is in a constant-speed rotation state; a first distance from an irradiation point to the circle center of the notched disc test target when light spots emitted by the laser radar vertically irradiate the target area; based on the first distance and different angular velocities of the preset notch disc test target, different actual velocities irradiated by the laser radar in the target area are calculated; acquiring speed measurement data of continuous irradiation of light spots emitted by the laser radars corresponding to the notched disc test target at different angular velocities on the target area; and calculating the speed measurement error of the laser radar based on different actual speeds and the corresponding speed measurement data. According to the invention, the precision and efficiency of speed measurement error calculation are improved, and the problem that speed measurement error calculation is difficult to realize is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar performance evaluation, and in particular to a laser radar speed measurement error test method, device, equipment, medium and product. Background Art

[0002] With the iteration of existing technology, LiDAR has added the function of testing the speed of the target object from the original function of only testing the distance of the target object. The addition of the speed measurement function requires LiDAR to not only have a set of distance measurement error test methods for distance calibration, but also a set of speed measurement error test methods for speed calibration.

[0003] In order to test the speed of the target object, the error test system requires a moving test object and needs to collect various speed values ​​for a long time. Therefore, the test object needs to move at a controllable arbitrary speed. The current laser radar speed test calibration method is usually implemented by a test system. The existing test method has the following defects: (1) The measurement speed is limited by the track movement speed and is difficult to increase; (2) The track system occupies too much area, and the higher the speed, the longer the track is required for acceleration; (3) The maintenance cost of the track system is high, and it is difficult to repair it after damage; (4) The track needs to move back and forth, repeating the acceleration-constant speed-deceleration process. There are only two effective tests in one round trip. It takes a long time to collect multiple data, and the work efficiency is poor, making it difficult to calculate the speed measurement error. Summary of the invention

[0004] In view of this, the present invention provides a laser radar speed measurement error test method, device, equipment, medium and product to solve the problem of difficulty in realizing speed measurement error calculation.

[0005] In a first aspect, the present invention provides a laser radar speed measurement error test method, which is applied to a test system, wherein the test system includes a laser radar and a notched disc test target, wherein the outer edge of the notched disc test target is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle; the method includes:

[0006] The portion of the edge of the notched disk test target passing through the center of the circle is determined as the target area illuminated by the laser radar, and the first distance from the irradiation point to the center of the notched disk test target is collected when the notched disk test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically irradiated on the target area;

[0007] Different actual speeds of the laser radar irradiated in the target area are calculated based on the first distance and the different angular velocities of the preset notched disc test target;

[0008] Collect velocity data of the laser radar emitted by the notched disk test target at different angular velocities, which continuously illuminate the target area;

[0009] The speed measurement error of the lidar is calculated based on different actual speeds and corresponding speed measurement data.

[0010] The present invention provides a laser radar speed measurement error test method, the test system used includes a laser radar and a notched disc test target, the outer edge of the notched disc test target is evenly spaced with a plurality of notches, the notches are symmetrical through the center of a circle, the whole system occupies a small area, has a simple structure, and has a low maintenance cost, and is easy to repair and replace if a component is damaged, the portion of the edge of the notched disc test target that passes through the center of a circle is determined as a target area irradiated by the laser radar, and the condition that the radial velocity of the target area is equal everywhere is met, and the notched disc test target is in a uniformly rotating state, and the light spot emitted by the laser radar is vertically irradiated on the target area to the notched disc test target. The first distance from the center of the target circle is calculated based on the first distance and the different angular velocities of the preset notched disc test target to obtain the different actual speeds of the laser radar irradiating the target area, and the speed measurement data of the laser radar emitted by the notched disc test target at different angular velocities continuously irradiating the target area is collected. The laser radar can collect a large amount of effective data in a very short time, and the test efficiency is much better than that of the track system, which greatly improves the work efficiency. Finally, the purpose of calculating the speed measurement error of the laser radar based on different actual speeds and corresponding speed measurement data is achieved, the accuracy and efficiency of the speed measurement error calculation are improved, and the problem of difficulty in realizing the speed measurement error calculation is solved.

[0011] In an optional embodiment, before determining the portion of the edge of the notched disk test target passing through the center of the circle as the target area irradiated by the laser radar, the laser radar speed measurement error test method further includes:

[0012] Determine the vertical standard for the laser radar light spot to illuminate the edge of the notched disk test target vertically.

[0013] In an optional embodiment, the vertical standard for determining that the light spot emitted by the laser radar is vertically irradiated on the edge of the notched disk test target includes:

[0014] The second distance between the laser radar emission point and the largest inscribed square cutting edge in the notched disk test target and the third distance when the laser radar emitted light spot is vertically irradiated on the edge of the notched disk test target when the notched disk test target is in a stationary state are collected;

[0015] The difference between the second distance and the third distance is calculated, and based on the difference and the maximum inscribed square cut edge in the notched disk test target, a vertical standard for the light spot emitted by the laser radar to vertically illuminate the edge of the notched disk test target is determined.

[0016] The present invention provides a laser radar speed measurement error testing method, which collects the second distance between the laser radar emission point and the maximum inscribed square cut edge in the notched disk test target when the notched disk test target is in a stationary state and the third distance when the laser radar emitted light spot is vertically irradiated on the edge of the notched disk test target, calculates the difference between the second distance and the third distance, and determines the vertical standard of the laser radar emitted light spot vertically irradiated on the edge of the notched disk test target based on the difference and the maximum inscribed square cut edge in the notched disk test target, thereby improving the vertical accuracy of the laser radar light spot when it is vertically hit on the test target to illuminate the target area, and provides a basis for the subsequent calculation of the radial velocity (i.e., the actual velocity) when the laser radar light spot is vertically hit on the test target to illuminate the target area.

[0017] In an optional embodiment, the test system further includes: a test target rotating motor and a control circuit; the axial direction of the driving shaft of the test target rotating motor is perpendicular to the light spot emission direction of the laser radar, and the driving shaft of the test target rotating motor is connected to the notched disc test target;

[0018] When the notched disc test target is in a uniformly rotating state, before the first distance from the irradiation point to the center of the notched disc test target when the light spot emitted by the laser radar is vertically irradiated on the target area, the laser radar speed measurement error test method also includes:

[0019] Acquire the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculate the rotation speed of the test target rotating motor based on the angular velocity of the notched disc test target;

[0020] The speed of the test target rotating motor is adjusted through the control circuit until the notched disc test target is in a uniform rotation state.

[0021] The present invention provides a laser radar speed measurement error test method, which obtains the angular velocity of a notched disk test target when the notched disk test target is in a rotating state, calculates the rotation speed of a test target rotating motor based on the angular velocity of the notched disk test target, and adjusts the rotation speed of the test target rotating motor through a control circuit until the notched disk test target is in a uniform rotation state. The speed of a speed to be tested can be adjusted at will by changing the rotation speed of the test target rotating motor, and both high-speed tests and low-speed tests can be perfectly adapted, which is far superior to the speed control range of track linear motion, and can achieve arbitrary control of the speed to be tested. After the test target rotating motor maintains a stable rotation speed, the speed to be tested on the test target can be kept constant for a long time, and the constant maintenance time is much longer than that of the track system, because there is no acceleration and deceleration time during the round trip process of the track system.

[0022] In an optional embodiment, the different actual speeds of the laser radar irradiated in the target area are calculated based on the first distance and the different angular velocities of the preset notched disc test target, including:

[0023] When the notched disc test target is in a uniform rotation state at different speeds, the different angular velocities corresponding to each uniform rotation of the notched disc test target at different speeds are calculated according to the rotation speed of the test target rotation motor;

[0024] The product of the first distance and different angular velocities is calculated to obtain different actual velocities of the laser radar irradiated in the target area.

[0025] The present invention provides a laser radar speed measurement error test method. In the target area, it is calculated that the radial velocity measured by the laser radar is equal everywhere. Relying on this characteristic, it is only necessary to know the radial velocity when the laser radar spot is vertically hit on the test target to illuminate the target area, measure the distance from the irradiation point to the center of the circle, control the rotation speed of the rotating motor, and obtain its angular velocity according to the rotation speed of the rotating motor, and then calculate the radial velocity (actual velocity) of the laser radar spot irradiation position. When the notched disc test target is in a uniform rotation state at different speeds, the different angular velocities corresponding to each uniform rotation of the notched disc test target at different speeds are calculated by the rotation speed of the test target rotating motor; the product of the first distance and the different angular velocities is calculated to obtain the different actual velocities of the laser radar irradiated in the target area, thereby improving the efficiency and accuracy of calculating different actual velocities.

[0026] In an optional embodiment, collecting velocity measurement data of the laser radar emitted by the notched disk test target at different angular velocities continuously irradiating the target area includes:

[0027] Determine the angular velocity of the notched disc test target when the notched disc test target is in a rotating state based on different actual speeds and the first distance, and calculate the corresponding rotation speed of the test target rotating motor based on the angular velocity of the notched disc test target;

[0028] The corresponding speed of the test target rotating motor is adjusted by the control circuit until the notched disc test target is in a uniform rotation state at different speeds;

[0029] When the notched disc test target is in a uniform rotation state at different speeds, different speed measurement data corresponding to the speed measurement test are collected when the light spot emitted by the laser radar illuminates the target area according to the preset position.

[0030] The present invention provides a laser radar speed measurement error test method. When a notched disk test target is in a uniform rotation state at different speeds, a laser radar is used to perform a continuous irradiation test to collect sufficient speed data, thereby achieving the purpose of being able to collect sufficient speed measurement data.

[0031] In a second aspect, the present invention provides a laser radar speed measurement error test device, which is applied to a test system. The test system includes a laser radar and a notched disc test target. The outer edge of the notched disc test target is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle. The device includes:

[0032] The first distance acquisition module is used to determine the portion of the edge of the notched disk test target passing through the center of the circle as the target area irradiated by the laser radar, and to collect the first distance from the irradiation point to the center of the notched disk test target when the notched disk test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically irradiated on the target area;

[0033] An actual speed calculation module, used to calculate different actual speeds of the laser radar irradiated in the target area based on the first distance and the angular velocities of different sizes of the preset notched disc test target;

[0034] The speed measurement data acquisition module is used to collect the speed measurement data of the laser radar emitted by the notched disk test target at different angular velocities continuously irradiating the target area;

[0035] The speed measurement error calculation module is used to calculate the speed measurement error of the laser radar based on different actual speeds and corresponding speed measurement data.

[0036] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the laser radar speed measurement error test method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0037] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the laser radar speed measurement error test method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0038] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, which are used to enable a computer to execute the laser radar speed measurement error test method of the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a flow chart of a laser radar speed measurement error testing method according to an embodiment of the present invention;

[0041] Figure 2is a flow chart of another laser radar speed measurement error testing method according to an embodiment of the present invention;

[0042] Figure 3 is a flow chart of another laser radar speed measurement error testing method according to an embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of the structure of a test system according to an embodiment of the present invention;

[0044] FIG5( a ) is a schematic diagram of a state when a light spot emitted by a laser radar according to an embodiment of the present invention just irradiates a target area;

[0045] FIG5( b ) is a schematic diagram of a state in which a light spot emitted by a laser radar according to an embodiment of the present invention is vertically irradiated onto a target area;

[0046] FIG5( c ) is a schematic diagram of a state when a light spot emitted by a laser radar according to an embodiment of the present invention is about to leave a target area;

[0047] Figure 6 5(a), 5(b) and 5(c) are schematic diagrams of speed relationship after integrating the three states according to an embodiment of the present invention;

[0048] FIG. 7( a ) is a schematic diagram of a second distance L1 of a square cut edge at the outer end of a notched disk test target illuminated by a laser radar according to an embodiment of the present invention;

[0049] FIG7( b ) is a schematic diagram of a third distance L2 when a light spot emitted by a laser radar according to an embodiment of the present invention is vertically irradiated onto the edge of a notched disk test target;

[0050] Figure 8 is a structural block diagram of a laser radar speed measurement error testing device according to an embodiment of the present invention;

[0051] Fig. 9 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0053] The implementation of laser radar speed measurement often uses the principle of Doppler effect, that is, when the test target approaches the laser radar, the frequency of the reflected signal will be higher than the frequency of the signal at the time of transmission; conversely, when the test target moves away from the laser radar, the frequency of the reflected signal will be lower than the frequency of the signal at the time of transmission. The speed of the test target can be calculated based on the frequency difference between the reflected signal frequency and the transmitted signal frequency. However, the calculation of the test speed value by relying on the frequency value is easily affected by the algorithm, resulting in a deviation between the output frequency value and the actual frequency value. For example, after collecting the waveform, the fast Fourier transform (FFT) of the calculated frequency is used. Its function is to transform the waveform from the time domain to the frequency domain, and the frequency of the collected signal can be calculated intuitively. However, this algorithm has a fence effect because the calculated spectrum is limited to integer multiples of the base frequency, and the output phenomenon can only be seen at the corresponding discrete points. This phenomenon is similar to a physical fence. When observing, the fence will block the line of sight, and only the scene behind the gap between the fences can be observed. Discrete points are equivalent to the gaps between fences. The more discrete points there are, the more frequency components can be calculated. The number of discrete points often depends on the number of points collected by the waveform, but the number of points collected by the waveform is limited and cannot be infinite, which means that there are bound to be frequency components that cannot be calculated. In order to make up for the situation where some frequencies cannot be collected, a window function can be added to the frequency peak. Through a fixed-size window, the frequencies in the window are weighted according to the amplitude to generate a new measurement frequency. However, this method can only approximate the true frequency value, and there is always an error between the true frequency value. Then there is also an error value between the measured speed calculated by the frequency and the true speed. This error value is the test target of the speed measurement error test system.

[0054] The embodiment of the present invention provides a laser radar speed measurement error testing method, which uses a speed measurement system to achieve arbitrary control of the speed to be measured, thereby achieving the purpose of calculating the error between the actual speed measurement data of the light spot emitted by the laser radar irradiating the target area.

[0055] According to an embodiment of the present invention, an embodiment of a laser radar speed measurement error test method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0056] In this embodiment, a laser radar speed measurement error test method is provided, which can be used to test the system, such as Figure 4 As shown, the test system includes a laser radar 1, a notched disk test target 3, a radar base 2, a test target rotating motor 4, a control circuit 5 and a support structure 6. The laser radar 1 is the device to be tested; the radar base 2 fixes the position of the laser radar 1 to ensure the relative position of each laser radar and the test target 3; the style of the test target 3 is as follows Figure 4As shown, the outer edge of the notched disc test target 3 is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle; when the test edge of the notched disc test target 3 irradiates the target area, it needs to be symmetrical through the center of the circle to meet the condition that the radial velocity of the target area is equal everywhere, the four corners of the notched disc test target 3 are the largest inscribed square in the disc, and the edges are trimmed according to the square to facilitate vertical alignment, and the target is installed on the test target rotating motor 4; the control circuit 5 is connected to the test target rotating motor 4, and the speed of the test target rotating motor 4 is controlled by changing the voltage input to the test target rotating motor 4. The test target rotating motor 4 has a built-in sensor that generates an electrical signal to the control circuit during rotation, and the control circuit 5 receives and calculates the speed of the test target rotating motor 4 and displays it on the display screen connected to it.

[0057] Figure 1 is a flow chart of a laser radar speed measurement error testing method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0058] Step S101, determine the portion of the edge of the notched disk test target passing through the center as the target area irradiated by the laser radar, and collect the first distance from the irradiation point to the center of the notched disk test target when the notched disk test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically irradiated on the target area.

[0059] Specifically, there are three states where the laser radar spot is irradiated on the target area. Figure 5(a) shows the state when the spot is just irradiated on the target area, Figure 5(b) shows the state when the spot is vertically irradiated on the target area, and Figure 5(c) shows the state when the spot is about to leave the irradiated target area. The radial velocity of the spot irradiated in each state is decomposed and plotted on the graph. The radial velocity is the velocity measured by the laser radar. The integration of the three states gives Figure 6 The speed relationship diagram is shown in Figure 1. r2 is the first distance from the irradiation point to the center of the notched disk test target when the light spot emitted by the laser radar is vertically irradiated on the target area.

[0060] Step S102, based on the first distance and the different angular velocities of the preset notched disc test target, different actual velocities of the laser radar irradiated in the target area are calculated.

[0061] Specifically, when the light spot is irradiated on the target area, the radial velocity measured by the laser radar is equal everywhere. Therefore, it is only necessary to measure the first distance r2 from the irradiation point of the light spot in Figure 5(b) vertically irradiating the target area to the center of the notched disk test target, and then the actual velocity v in the irradiated target area can be calculated according to the angular velocity.

[0062] Since the rotation of the notched disc test target depends on the rotation of the test target rotating motor, the angular velocity ω of the notched disc test target can be calculated according to the rotating motor speed n, and the formula is ω=2πn.

[0063] Step S103, collecting velocity measurement data of the laser radar emitted by the notched disk test target at different angular velocities continuously irradiating the target area.

[0064] Specifically, from the formula ω=2πn, it can be known that when the speed n of the test target rotating motor remains stable, the angular velocity ω is also a stable value, which can ensure that the measured speed of the test edge of the notched disc test target remains constant when the target rotates. The test target rotating motor speed n is adjusted by the control circuit, and the test target rotating motor is allowed to run for a period of time to be in a stable operating state; the laser radar is used to continuously illuminate the target area to collect sufficient speed measurement data V 测 .

[0065] Step S104, calculating the speed measurement error of the laser radar based on different actual speeds and corresponding speed measurement data.

[0066] Specifically, calculate different actual speeds V and corresponding speed measurement data V 测 The difference is the velocity measurement error of the laser radar.

[0067] The laser radar speed measurement error test method provided in this embodiment adopts a test system including a laser radar and a notched disc test target. The outer edge of the notched disc test target is evenly spaced with multiple notches, and the notches are symmetrical through the center of the circle. The whole system occupies a small area, has a simple structure, and has a low maintenance cost. If a component is damaged, it is easy to repair and replace. The portion of the edge of the notched disc test target that passes through the center of the circle is determined as the target area irradiated by the laser radar, satisfying the condition that the radial velocity of the target area is equal everywhere, and the notched disc test target is in a uniformly rotating state. When the light spot emitted by the laser radar is vertically irradiated on the target area to the notched disc test target, the light spot is collected. The first distance from the center of the target circle is calculated based on the first distance and the different angular velocities of the preset notched disc test target to obtain the different actual speeds of the laser radar irradiating the target area, and the speed measurement data of the laser radar emitted by the notched disc test target at different angular velocities continuously irradiating the target area is collected. The laser radar can collect a large amount of effective data in a very short time, and the test efficiency is much better than that of the track system, which greatly improves the work efficiency. Finally, the purpose of calculating the speed measurement error of the laser radar based on different actual speeds and corresponding speed measurement data is achieved, the accuracy and efficiency of the speed measurement error calculation are improved, and the problem of difficulty in realizing the speed measurement error calculation is solved.

[0068] In this embodiment, a laser radar speed measurement error test method is provided, which can be used for a test system. The test system includes a laser radar and a notched disc test target. The outer edge of the notched disc test target is evenly spaced with multiple notches, and the notches are symmetrical through the center of the circle. Figure 2 is a flow chart of a laser radar speed measurement error testing method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0069] Step S201, determining the vertical standard for the light spot emitted by the laser radar to vertically illuminate the edge of the notched disk test target.

[0070] Specifically, the above step S201 includes:

[0071] Step S2011, collecting the second distance between the laser radar emission point and the largest inscribed square cutting edge in the notched disk test target when the notched disk test target is in a stationary state and the third distance when the light spot emitted by the laser radar is vertically irradiated on the edge of the notched disk test target.

[0072] As shown in FIG7(a), when the notched disk test target is stationary, the second distance L1 between the laser radar emission point and the largest inscribed square cut edge in the notched disk test target is collected. As shown in FIG7(b), when the notched disk test target is stationary, the third distance L2 when the light spot emitted by the laser radar is vertically irradiated on the edge of the notched disk test target is collected.

[0073] Step S2012, calculate the difference between the second distance and the third distance, and determine the vertical standard for the light spot emitted by the laser radar to vertically illuminate the edge of the notched disk test target based on the difference and the maximum inscribed square cutting edge in the notched disk test target.

[0074] Specifically, the difference between L1 and L2 is calculated, and the difference and the maximum inscribed square cut edge in the notched disk test target are used as the vertical standard for the laser radar to emit a light spot that is vertically irradiated on the edge of the notched disk test target. It can be explained as follows: the length of the maximum inscribed square is a fixed known value, and when the difference between L1 and L2 is equal to half the length of the square side, it can be determined to be vertical. In addition, when the light spot irradiates the edge of the square, another simple judgment can be made based on the right angle side of the square that it is not vertical.

[0075] like Figure 4 As shown, the axial direction of the driving shaft of the test target rotating motor is perpendicular to the light spot emission direction of the laser radar, and the driving shaft of the test target rotating motor is connected to the notched disc test target; the test system also includes a display screen, which is connected to the control circuit and is used to display the rotation speed of the test target rotating motor.

[0076] Step S202, obtaining the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculating the rotation speed of the test target rotating motor based on the angular velocity of the notched disc test target; adjusting the rotation speed of the test target rotating motor through the control circuit until the notched disc test target is in a uniform rotation state.

[0077] Specifically, based on the formula ω=2πn, n=ω / 2π is obtained, and the rotation speed n of the test target rotating motor is obtained from the angular velocity of the notched disk test target when the notched disk test target is in a rotating state.

[0078] The control circuit is connected to the disc rotating motor, and controls the rotation speed of the test target rotating motor by changing the input voltage of the disc rotating motor; and the control circuit displays the rotation speed of the test target rotating motor on a display screen.

[0079] Step S203, determine the portion of the edge of the notched disc test target that passes through the center of the circle as the target area illuminated by the laser radar, and collect the first distance from the illumination point to the center of the notched disc test target when the notched disc test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically illuminated on the target area. For details, please refer to Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0080] Step S204, based on the first distance and the different angular velocities of the preset notched disc test target, calculate the different actual velocities of the laser radar irradiated in the target area. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0081] Step S205, collect the velocity data of the laser radar light spot emitted by the notched disk test target at different angular velocities continuously irradiating the target area. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0082] Step S206, calculate the speed measurement error of the laser radar based on the different actual speeds and the corresponding speed measurement data. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0083] The laser radar speed measurement error test method provided in this embodiment collects the second distance between the laser radar emission point and the maximum inscribed square cut edge in the notched disk test target when the notched disk test target is in a stationary state, and the third distance when the laser radar emitted light spot is vertically irradiated on the edge of the notched disk test target, and calculates the difference between the second distance and the third distance, and determines the vertical standard of the laser radar emitted light spot vertically irradiated on the edge of the notched disk test target based on the difference and the maximum inscribed square cut edge in the notched disk test target, thereby improving the vertical accuracy of the laser radar light spot when it is vertically hit on the test target to illuminate the target area, and provides a basis for the subsequent calculation of the radial velocity (i.e., the actual velocity) when the laser radar light spot is vertically hit on the test target to illuminate the target area. The angular velocity of the notched disc test target when it is in a rotating state is obtained, the rotation speed of the test target rotating motor is calculated based on the angular velocity of the notched disc test target, and the rotation speed of the test target rotating motor is adjusted through the control circuit until the notched disc test target is in a uniform rotation state. By changing the rotation speed of the test target rotating motor, the speed of the speed to be tested can be adjusted at will. Both high-speed and low-speed tests can be perfectly adapted, which is far superior to the speed control range of the track linear motion, and the speed to be tested can be arbitrarily controlled. After the test target rotating motor maintains a stable speed, the speed to be tested on the test target can be kept constant for a long time, and the constant maintenance time is much longer than that of the track system, because there is no acceleration and deceleration time during the round trip process of the track system.

[0084] In this embodiment, a laser radar speed measurement error test method is provided, which can be used for a test system. The test system includes a laser radar and a notched disc test target. The outer edge of the notched disc test target is evenly spaced with multiple notches, and the notches are symmetrical through the center of the circle. Figure 3 is a flow chart of a laser radar speed measurement error testing method according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0085] Step S301, determine the portion of the edge of the notched disc test target passing through the center of the circle as the target area illuminated by the laser radar, and collect the first distance from the illumination point to the center of the notched disc test target when the notched disc test target is in a uniform rotation state and the light spot emitted by the laser radar is vertically illuminated on the target area. For details, please refer to Figure 2 Step S203 of the illustrated embodiment will not be described in detail here.

[0086] Step S302, based on the first distance and the different angular velocities of the preset notched disc test target, different actual velocities of the laser radar irradiated in the target area are calculated.

[0087] Specifically, the above step S302 includes:

[0088] Step S3021, when the notched disc test target is in a uniform rotation state at different speeds, the different angular velocities corresponding to each uniform rotation of the notched disc test target at different speeds are calculated by the rotation speed of the test target rotation motor.

[0089] Specifically, Figure 6 For example, when the light spot just irradiates the target area, that is, Figure 5(a), the linear velocity is the tangential velocity of the circumscribed circle of the notched disk test target, which is perpendicular to the radius through the center of the circle. Let the angle between the line connecting the irradiation point and the center of the circle and the line connecting the irradiation point and the center of the circle in Figure 5(b) be θ1. The light spot in Figure 5(b) irradiates the target area vertically. According to the angle relationship of the right triangle, θ1=α1 can be deduced. Therefore, the radial velocity in the same direction of the light spot irradiation is v r1 =ω*r1*cosα1=ω*r1*cosθ1. Similarly, when the light spot is about to leave the target area, i.e., Figure 5(c), according to the angle relationship of the right triangle, θ2=α2. At this time, the radial velocity in the same direction of the light spot is v r3 =ω*r3*cosα2=ω*r3*cosθ2. When the light spot is vertically irradiated to the target area, i.e., Figure 5(b), the radial velocity of the point is the linear velocity of the point, so v2=ω*r2. According to the trigonometric function between r1, r2 and r3, r2=r1*cosθ1=r3*cosθ2, substituting this formula into v r1 =ω*r1*cosα1=ω*r1*cosθ1 and v r3 =ω*r3*cosα2=ω*r3*cosθ2 can be obtained, v r1 =v r3 =v2=ω*r2.

[0090] Step S3022, calculate the product of the first distance and different angular velocities to obtain different actual velocities of the laser radar irradiated in the target area.

[0091] According to the derivation of the specific content in step S3021, when the light spot is irradiated on the target area, the radial velocity measured by the laser radar is equal everywhere, that is, the actual velocity v = v r1 =v r3 =v2, so it is only necessary to measure the first distance r2 from the irradiation point of the light spot in Figure 5(b) vertically irradiating the target area to the center of the notched disk test target, and then calculate the product of the first distance and different angular velocities to calculate the actual velocity v in the irradiated target area according to the angular velocity.

[0092] Step S303, collecting velocity measurement data of the laser radar emitted by the notched disk test target at different angular velocities continuously irradiating the target area.

[0093] Specifically, the above step S303 includes:

[0094] Step S3031, determining the angular velocity of the notched disc test target when the notched disc test target is in a rotating state based on different actual speeds and the first distance, and calculating the corresponding rotation speed of the test target rotating motor based on the angular velocity of the notched disc test target.

[0095] Specifically, according to the actual speed v required for the calibration test, the required angular velocity ω of the test target is determined by the formula v=ω*r2, and then the motor speed n is obtained according to n=ω / 2π.

[0096] Step S3032, adjusting the corresponding rotation speed of the test target rotating motor through the control circuit until the notched disc test target is in a uniform rotation state at different speeds.

[0097] Step S3033, when the notched disc test target is in a uniform rotation state at different speeds, different speed measurement data corresponding to the speed measurement test when the light spot emitted by the laser radar illuminates the target area according to the preset position is collected.

[0098] Specifically, when the target starts to rotate, the light spot of the effective target area will be repeatedly irradiated as shown in Figure 5(a) → Figure 5(b) → Figure 5(c) → Figure 5(a). Each completion of the process of 5(a) → Figure 5(b) → Figure 5(c) is equivalent to a speed test. When the light spot is irradiated outside the target area, the speed will continue to change, which is significantly different from maintaining the same speed for a long time in the target area, and can be directly discarded in subsequent processing. Read the speed data collected by the laser radar, extract the value where the speed remains consistent for a long time, and calculate the actual speed of the irradiated target area based on the speed of the test target rotating motor at this time, and record and save the two speed data. Then change the speed of the test target rotating motor and repeat the above process to obtain different actual speeds V and the laser radar speed measurement data V 测 Data table.

[0099] Step S304, calculate the speed measurement error of the laser radar based on the different actual speeds and the corresponding speed measurement data. Figure 2 Step S206 of the illustrated embodiment will not be described in detail here.

[0100] The laser radar speed measurement error test method provided in this embodiment can be calculated to know that the radial speed measured by the laser radar is equal everywhere in the target area. Relying on this characteristic, it is only necessary to know the radial speed when the laser radar spot is vertically hit on the test target to illuminate the target area, measure the distance from the irradiation point to the center of the circle, control the rotation speed of the rotating motor, and obtain its angular velocity according to the rotation speed of the rotating motor, and then calculate the radial speed (actual speed) of the laser radar spot irradiation position. When the notched disc test target is in a uniform rotation state at different speeds, the speed of the test target rotating motor is used to calculate the different angular velocities corresponding to each uniform rotation of the notched disc test target at different speeds; calculate the product of the first distance and the different angular velocities to obtain the different actual speeds of the laser radar irradiation in the target area, thereby improving the efficiency and accuracy of calculating different actual speeds. When the notched disc test target is in a uniform rotation state at different speeds, a laser radar is used to perform continuous irradiation tests to collect sufficient speed data, thereby achieving the purpose of being able to collect sufficient speed measurement data.

[0101] As one or more specific application embodiments of the embodiments of the present invention, the laser radar speed measurement error test method provided by the present invention is further described in detail, and the specific process is as follows:

[0102] 1. Collect the notched disc test target in a stationary state. For example, in Figure 7(a), the distance L1 of the light spot emitted by the laser radar irradiating the outer end of the test target square cut edge, and in Figure 7(b), the distance L2 of the light spot emitted by the laser radar vertically irradiating the edge of the test target. The difference between the two distances and the cut edge of the square are used as the standard for the light spot to vertically irradiate the edge of the test target. At the same time, in the notched disc test target state of Figure 5(b), record the following: Figure 6 The light spot shown is at a distance r2 from the center of the circle when irradiated vertically.

[0103] 2. According to the actual speed v required for the calibration test, the required angular velocity ω of the test target is determined by the formula v=ω*r2, and then the motor speed n is obtained according to n=ω / 2π. The speed is adjusted to n through the control circuit, and the motor is allowed to run for a period of time to make it in a stable operating state, that is, a uniform rotation state.

[0104] 3. Use LiDAR to continuously illuminate the target area and collect sufficient speed measurement data;

[0105] 4. Convert the speed data to 测 Record the actual speed v and calculate the speed data v 测 The difference between the actual speed v and the set actual speed is used to obtain the speed measurement error of the lidar at different actual speeds.

[0106] In the laser radar speed measurement error test method provided by the present embodiment, the speed to be measured is controlled by the rotation speed of the transfer machine. The speed of the speed to be measured can be adjusted at will by changing the rotation speed of the test target rotating motor. Both high-speed test and low-speed test can be perfectly adapted, which is far better than the speed control range of the track linear motion. In the test system adopted by the test method of the present embodiment, the floor space required by the test target and the test target rotating motor is far smaller than the area required by the track system. The entire test system has a simple overall structure and is easy to maintain. When a problem occurs, only the test target or the test target rotating motor needs to be repaired and replaced, which is more suitable for long-term use than the track system. After the test target rotating motor maintains a stable rotation speed, the speed to be measured on the test target can be kept constant for a long time, and the constant maintenance time is much longer than that of the track system. Moreover, since there is no acceleration and deceleration time during the round-trip process of the track system, the laser radar can collect a large amount of effective data in a very short time, and the test efficiency is far better than that of the track system, which greatly improves work efficiency.

[0107] In this embodiment, a laser radar speed measurement error test device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0108] This embodiment provides a laser radar speed measurement error test device, which is applied to a test system. The test system includes a laser radar and a notched disc test target. The outer edge of the notched disc test target is evenly spaced with multiple notches, and the notches are symmetrical through the center of the circle; Figure 8 As shown, including:

[0109] The first distance acquisition module 801 is used to determine the portion of the edge of the notched disk test target passing through the center of the circle as the target area irradiated by the laser radar, and to collect the first distance from the irradiation point to the center of the notched disk test target when the notched disk test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically irradiated on the target area.

[0110] The actual speed calculation module 802 is used to calculate different actual speeds of the laser radar irradiated in the target area based on the first distance and the angular velocities of the preset notched disc test target of different sizes.

[0111] The speed measurement data acquisition module 803 is used to collect speed measurement data of the laser radar emitted by the notched disk test target at different angular velocities continuously irradiating the target area.

[0112] The speed measurement error calculation module 804 is used to calculate the speed measurement error of the laser radar based on different actual speeds and corresponding speed measurement data.

[0113] In some optional implementations, the actual speed calculation module 802 includes:

[0114] The angular velocity calculation unit is used to calculate the different angular velocities corresponding to each uniform rotation of the notched disc test target at different speeds through the rotation speed of the test target rotation motor when the notched disc test target is in a uniform rotation state at different speeds.

[0115] The actual speed calculation unit is used to calculate the product of the first distance and different angular velocities to obtain different actual speeds of the laser radar in the target area.

[0116] In some optional implementations, the speed measurement data acquisition module 803 includes:

[0117] The speed calculation unit is used to determine the angular velocity of the notched disc test target when the notched disc test target is in a rotating state based on different actual speeds and the first distance, and calculate the corresponding speed of the test target rotating motor based on the angular velocity of the notched disc test target.

[0118] The speed regulating unit is used to adjust the corresponding speed of the test target rotating motor through the control circuit until the notched disc test target is in a uniform rotation state at different speeds.

[0119] The speed measurement data acquisition unit is used to collect different speed measurement data corresponding to the light spot emitted by the laser radar irradiating the target area according to the preset position for speed measurement test when the notched disc test target is in a uniform rotation state at different speeds. In some optional embodiments, the laser radar speed measurement error test device also includes:

[0120] The vertical standard determination module is used to determine the vertical standard of the light spot emitted by the laser radar vertically irradiating the edge of the notched disk test target.

[0121] The uniform rotation state control module is used to obtain the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculate the rotation speed of the test target rotation motor based on the angular velocity of the notched disc test target; and adjust the rotation speed of the test target rotation motor through the control circuit until the notched disc test target is in a uniform rotation state.

[0122] In some optional implementations, the vertical standard determination module includes:

[0123] The second distance and third distance acquisition unit is used to collect the second distance between the laser radar emission point and the largest inscribed square cutting edge in the notched disk test target when the notched disk test target is in a stationary state, and the third distance when the light spot emitted by the laser radar is vertically irradiated on the edge of the notched disk test target.

[0124] The vertical standard determination unit is used to calculate the difference between the second distance and the third distance, and determine the vertical standard of the light spot emitted by the laser radar vertically irradiating the edge of the notched disk test target based on the difference and the maximum inscribed square cutting edge in the notched disk test target.

[0125] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0126] The laser radar speed measurement error test device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0127] The embodiment of the present invention also provides a computer device having the above Figure 8 The laser radar speed measurement error test device shown.

[0128] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig. 9 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig. 9 A processor 10 is taken as an example.

[0129] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0130] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0131] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0132] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0133] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Fig. 9 The example of connecting through bus is taken in the following.

[0134] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0135] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0136] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0137] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A laser radar speed measurement error test method, characterized in that: Applied to a test system, the test system includes a laser radar and a notched disc test target, the outer edge of the notched disc test target is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle; the method includes: The portion of the edge of the notched disc test target passing through the center of the circle is determined as the target area irradiated by the laser radar, and the first distance from the irradiation point to the center of the notched disc test target is collected when the notched disc test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically irradiated on the target area; Based on the first distance and the different angular velocities of the preset notched disc test target, different actual speeds of the laser radar irradiated in the target area are calculated; Collecting velocity measurement data of the light spot emitted by the laser radar continuously irradiating the target area at different angular velocities of the notched disc test target; The speed measurement error of the lidar is calculated based on different actual speeds and corresponding speed measurement data.

2. The method according to claim 1, characterized in that Before determining the portion of the edge of the notched disk test target passing through the center of the circle as the target area irradiated by the laser radar, the method further includes: Determine the vertical standard of the light spot emitted by the laser radar vertically irradiating the edge of the notched disk test target.

3. The method according to claim 2, characterized in that The vertical standard for determining that the light spot emitted by the laser radar is vertically irradiated on the edge of the notched disk test target includes: Collecting the second distance between the laser radar emission point and the largest inscribed square cutting edge in the notched disk test target when the notched disk test target is in a stationary state and the third distance when the light spot emitted by the laser radar is vertically irradiated on the edge of the notched disk test target; The difference between the second distance and the third distance is calculated, and based on the difference and the largest inscribed square cut edge in the notched disk test target, a vertical standard for the light spot emitted by the laser radar to vertically illuminate the edge of the notched disk test target is determined.

4. The method according to claim 1, characterized in that: The test system further includes: a test target rotating motor and a control circuit; the axial direction of the driving shaft of the test target rotating motor is perpendicular to the light spot emission direction of the laser radar, and the driving shaft of the test target rotating motor is connected to the notched disc test target; When the notched disc test target is in a uniformly rotating state, before the first distance from the irradiation point to the center of the notched disc test target when the light spot emitted by the laser radar is vertically irradiated on the target area, the method further includes: Acquiring the angular velocity of the notched disc test target when the notched disc test target is in a rotating state, and calculating the rotation speed of the test target rotating motor based on the angular velocity of the notched disc test target; The rotation speed of the test target rotating motor is adjusted by a control circuit until the notched disc test target is in a uniform rotation state.

5. The method according to claim 4, characterized in that Based on the first distance and the different angular velocities of the preset notched disc test target, the different actual speeds of the laser radar irradiated in the target area are calculated, including: When the notched disc test target is in a uniform rotation state at different speeds, the different angular velocities corresponding to each uniform rotation of the notched disc test target at different speeds are calculated according to the rotation speed of the test target rotating motor; The product of the first distance and different angular velocities is calculated to obtain different actual velocities of the laser radar irradiated in the target area.

6. The method according to claim 1, characterized in that Collecting the velocity measurement data of the light spot emitted by the laser radar continuously irradiating the target area corresponding to the notched disk test target at different angular velocities includes: Determine the angular velocity of the notched disc test target when the notched disc test target is in a rotating state based on different actual speeds and the first distance, and calculate the corresponding rotation speed of the test target rotating motor based on the angular velocity of the notched disc test target; The corresponding rotation speed of the test target rotating motor is adjusted by a control circuit until the notched disc test target is in a uniform rotation state at different speeds; When the notched disc test target is in a uniform rotation state at different speeds, different speed measurement data corresponding to the speed measurement test are collected when the light spot emitted by the laser radar illuminates the target area according to the preset position.

7. A laser radar speed measurement error test device, characterized in that: Applied to a test system, the test system includes a laser radar and a notched disc test target, the outer edge of the notched disc test target is evenly spaced with a plurality of notches, and the notches are symmetrical through the center of the circle; the device includes: A first distance acquisition module is used to determine the portion of the edge of the notched disc test target passing through the center of the circle as the target area irradiated by the laser radar, and to acquire a first distance from the irradiation point to the center of the notched disc test target when the notched disc test target is in a uniformly rotating state and the light spot emitted by the laser radar is vertically irradiated on the target area; An actual speed calculation module, used to calculate different actual speeds of the laser radar irradiated in the target area based on the first distance and the angular velocities of different sizes of the preset notched disc test target; A speed measurement data acquisition module is used to collect speed measurement data of the light spot emitted by the laser radar continuously irradiating the target area at different angular velocities of the notched disk test target; The speed measurement error calculation module is used to calculate the speed measurement error of the laser radar based on different actual speeds and corresponding speed measurement data.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the laser radar speed measurement error test method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the laser radar speed measurement error test method described in any one of claims 1 to 6.

10. A computer program product, characterized in that It includes computer instructions, and the computer instructions are used to enable a computer to execute the laser radar speed measurement error testing method described in any one of claims 1 to 6.

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