Test method and related device

Abstract

A test method and a related device are applied to the technical field of detection. In the application, the detection device detects the obliquely placed reflection plane to obtain the distance data and the angle data of the target point location on the reflection plane. Because the target point of the reflection plane forms the first angle relative to the detection device in the horizontal direction, the distance of the target point obtained by the detection device and the angle between the target point of the detection device have an association relationship. Therefore, the actual angle, namely the reference angle data, of the target point location relative to the detection device can be obtained through the distance data of the target point location obtained through detection, the actual distance between the reflection plane and the detection device and the first angle. Therefore, based on the angle data measured by the detection device and the reference angle data, the accuracy of the angle of the target point position measured by the detection device can be accurately evaluated, so that the angle measurement capability of the detection device can be more accurately tested.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a testing method and related devices. Background Art

[0002] With the development of detection technology, more and more detection devices are widely used in detection, target identification, positioning and other scenarios, bringing great convenience to people's lives and travel. The detection device can generate a transmission signal and receive the return signal (i.e., echo) of the transmission signal in the object space. Based on the return signal, the information of the target in the object space can be obtained. When the detection device is installed on an electronic device (such as a vehicle, logistics robot, etc.), it can serve as the "eyes" to perceive the environment and detect the surrounding environment of the electronic device. As the intelligence of electronic equipment becomes higher and higher, people's requirements for the detection capabilities of detection devices are also getting higher and higher. Standardized, efficient and safe testing of detection devices has become an indispensable part of promoting the development of intelligent electronic equipment.

[0003] The angle detection capability of a detection device (ie, the angle measurement capability) has always been a difficult point in the detection device testing process. How to accurately test the angle measurement capability of a detection device is a hot issue being studied by technicians in this field. Summary of the invention

[0004] The embodiments of the present application provide a testing method and related devices, which can improve the accuracy of testing the angle measurement capability of a detection device.

[0005] In a first aspect, an embodiment of the present application provides a testing method, the method comprising:

[0006] The detection device detects the reflection plane to obtain first angle measurement data and first distance measurement data of the target point on the reflection plane, wherein the first angle measurement data is the angle data of the target point detected by the detection device, and the first distance measurement data is the distance data of the target point detected by the detection device;

[0007] Obtaining the distance and the first angle between the detection device and the target point on the reflection plane, where the first angle is the angle between the line between the center of the detection device and the target point and the reflection plane in the horizontal direction;

[0008] The first reference angle data is determined according to the first distance measurement data, the first angle and the distance between the detection device and the target point on the reflection plane.

[0009] Among them, the reflection plane can be set at an angle relative to the detection device. Some tilt settings are described below from multiple aspects: illustratively, the reflection plane is set perpendicular to the horizontal plane in the first direction, and in the horizontal direction, the line connecting the center of the detection device and the horizontal center of the reflection plane forms an acute angle with the reflection plane. In another exemplary embodiment, the detection device may include a window, and the plane where the window of the detection device is located and the plane where the reflection plane is close to the detection device form a certain angle in the horizontal direction (i.e., not parallel). In another exemplary embodiment, in the horizontal direction, the distances between the two ends of the reflection plane and the center of the detection device are different.

[0010] In some embodiments, the detection device is capable of detecting the reflective plane, and a portion or all of the reflective plane falls within the FOV of the detection device.

[0011] In some solutions, the distance between the detection device and the target point on the reflection plane can be an actual distance, and the first angle is the actual angle between the line between the center of the detection device and the target point and the reflection plane in the horizontal direction. The first angle measurement data and the first distance measurement data are the angle data and distance data measured by the detection device, respectively.

[0012] In an embodiment of the present application, the detection device detects the tilted reflection plane to obtain the distance data and angle data of the target point on the reflection plane, where the distance data and angle data are the data detected by the detection device. Since the target point on the reflection plane is at a first angle relative to the detection device in the horizontal direction, there is a correlation between the distance of the target point detected by the detection device and the angle between the target point of the detection device. Therefore, the actual angle of the target point measured by the detection device, i.e., the reference angle data, can be obtained through the distance data of the target point detected, the actual distance between the reflection plane and the detection device, and the first angle. In this way, based on the angle data and reference angle data measured by the detection device, the accuracy of the angle of the target point measured by the detection device can be accurately evaluated, so that the angle measurement capability of the detection device can be tested more accurately.

[0013] The actual angle of the target point detected by the detection device may be the angle of the target point measured by the detection device under the measurement system of the detection device, for example, the angle of the point measured by the detection device relative to the 0 azimuth of the detection device.

[0014] It should be understood that the aforementioned horizontal plane, first direction, etc. are for the purpose of better describing the technical solution of the present application. In the specific implementation process, the horizontal plane, first direction, etc. can be set according to actual conditions.

[0015] Optionally, the center of the detection device may be the center of light emission of the detection device, the horizontal center of the detection device, the center (or horizontal center) of the window of the detection device, or the centroid of the detection device. In some embodiments, the detection device is disposed on a rotatable turntable, in which case the center of the detection device may be the rotation center of the detection device when it rotates.

[0016] Optionally, the reflection plane may be a reflection plate, a wall, etc. For example, the reflection plane may be the side of the reflection plate facing the detection device.

[0017] In a possible implementation of the first aspect, the target point is located at the horizontal center of the reflection plane. Selecting the target point at the horizontal center of the reflection plane can, on the one hand, avoid measurement errors caused by point cloud jitter when the point is selected as an edge, thereby improving the accuracy of angle measurement; on the other hand, selecting the horizontal center can more quickly select the point, which is convenient for repeatable experiments in scenarios such as repeated testing and testing of multiple models, thereby improving the convenience of testing.

[0018] Optionally, the height of the target point in the vertical direction is the same as the height of the center of the detection device in the vertical direction. The vertical direction is the direction perpendicular to the horizontal plane. When the target point is at the same height as the center of the detection device, the angle of the detection signal emitted by the detection device in the vertical direction can be close to or even equal to 0°, thereby reducing the impact of other factors on the current test process. For example, considering the evaluation of the angle measurement capability in the horizontal direction, this implementation can reduce the impact of angle measurement errors in other directions on the evaluation of the angle measurement capability in the horizontal direction, and improve the accuracy of the angle measurement capability.

[0019] It should be noted that the horizontal direction here refers to one of the directions. In some schemes, the ground direction can be used as the horizontal direction, and other directions (such as the direction perpendicular to the ground) can also be used as the horizontal direction.

[0020] Optionally, when the target point is located at the horizontal center of the reflecting plane and its height in the vertical direction is the same as the height of the center of the detection device in the vertical direction, the distance between the detection device and the target point on the reflecting plane is the distance between the detection device and the reflecting plane.

[0021] In another possible implementation of the first aspect, the detection device may be a laser radar, radar or other device. Exemplarily, the detection device may emit a detection signal, and the emitted detection signal propagates to the object space through the window of the detection device. The target in the object space (such as a reflecting plane) may reflect the detection signal to form a return signal, and the detection device may receive the return signal (i.e., an echo), and obtain detection data of the object space based on the return signal. The detection data here may include one or more of a point cloud, a point, a coordinate of a point, a distance of a point, an angle of a point, etc. Among them, the point cloud may include the distance of one or more points, the angle of a point, etc.

[0022] In yet another possible implementation of the first aspect, a line between a center of the detection device and a target point on the reflection plane forms an acute angle with the reflection plane.

[0023] In another possible implementation of the first aspect, a line between the center of the detection device and a horizontal center on the reflection plane forms an acute angle with the reflection plane.

[0024] In another possible implementation of the first aspect,

[0025] The first reference angle data a i Satisfies the following formula:

[0026]

[0027] Among them, d i is the first distance measurement data, β is the first angle, d r It is the distance between the target point and the detection device.

[0028] In another possible implementation of the first aspect, the angle of the detection device may include a direction and a value. i It can be a numerical value, for example, the first reference angle data a i Satisfies the following formula:

[0029]

[0030] Among them, “||” means taking the absolute value.

[0031] In yet another possible implementation of the first aspect, the angle of the detection device may include a direction and a value.

[0032] In some schemes, the azimuth of the detection device is 0 azimuth with the midline of the field of view of the detection device, and other azimuths can be pre-designed with positive and negative directions to facilitate the distinction of angles. For example, in the horizontal direction, the left side of the midline of the field of view of the detection device is a positive angle, while the right side is a negative angle.

[0033] In a possible design, the left side of the midline of the field of view of the detection device is a negative angle, while the right side is a positive angle. When the reflection plane is tilted, if the end of the reflection plane close to the right side of the field of view is closer to the detection device than the end on the left side, the first reference angle data a i Satisfies the following formula:

[0034]

[0035] In another possible design, the left side of the midline of the field of view of the detection device is a negative angle, while the right side is a positive angle. When the reflection plane is tilted, if the end of the reflection plane close to the left side of the field of view is closer to the detection device than the end on the right side, the first reference angle data a i Satisfies the following formula:

[0036]

[0037] In yet another possible implementation of the first aspect, when calculating the first reference angle data, it is also necessary to consider the deviation between the target point position and the 0 azimuth angle of the detection device.

[0038] In yet another possible implementation of the first aspect, the method further includes: determining a first angle measurement deviation of the detection device according to the first reference angle data and the first angle measurement data.

[0039] In this embodiment, the deviation between the reference angle data and the first angle measurement data can reflect the angle measurement deviation of the detection device, and thus can be used as an indicator for evaluating the angle measurement capability of the detection device, and can more intuitively and accurately indicate the angle measurement capability of the detection device.

[0040] In another possible implementation of the first aspect, the first distance measurement data includes N first distances, the first angle measurement data includes N first reported angles, N is an integer and N≥1. The first reference angle data includes N first reference angles.

[0041] Optionally, each of the N first reference angles is related to a first distance among the N first distances, a distance between the detection device and a target point on the reflection plane, and a first angle.

[0042] In this embodiment, the detection device can obtain multiple sets of detection data (such as N measured distances and N measured angles) during detection. Correspondingly, reference angles corresponding to the multiple sets of detection data can be obtained based on the multiple sets of detection data. Therefore, the multiple sets of data can be combined to evaluate the angle measurement capability of the detection device, thereby avoiding excessive impact on the test results (such as accuracy results) due to a certain error or jitter, thereby further improving the accuracy of the test.

[0043] In another possible implementation manner of the first aspect, the method further includes:

[0044] Determine N angle deviations according to the N first reference angles and the N first horizontal reporting angles, each angle deviation being used to describe a difference between a first reference angle and a corresponding first horizontal reporting angle;

[0045] Based on the N angular deviations, the angular precision of the detection device and / or the angular accuracy of the detection device is determined.

[0046] In another possible implementation of the first aspect, the angular accuracy of the detection device is related to the maximum value of the N angular deviations. Alternatively, the angular accuracy of the detection device is related to the standard deviation of the N angular deviations.

[0047] Optionally, the angular accuracy of the detection device is related to an average value of N angular deviations.

[0048] Exemplarily, the first angle deviation may include N angle deviations, for example, respectively represented as θ1, θ2, ... θ N Among them, the angle accuracy can be obtained by max(θ1,θ2,......θ N ), where max() represents a maximum value operation. In another exemplary embodiment, the value of the angle accuracy may be the standard deviation of N angle deviations.

[0049] The angle accuracy can be measured by mean(θ1,θ2,...θ N ), where mean() represents the averaging operation.

[0050] In another possible implementation of the first aspect, the detection device includes a window, and a normal line of the window intersects with a horizontal center of the reflection plane. Alternatively, the normal line of the window intersects with a target point of the reflection plane.

[0051] In another possible implementation of the first aspect, the first ranging data and the first angle measurement data are detection data obtained when the first angle position of the field of view angle of the detection device is directed toward the target point position of the reflection plane, and the center of the field of view angle is directed toward the direction of the detection signal emitted from the first angle position.

[0052] There are usually differences in the angle measurement capabilities of the detection device for different areas of the field of view. The above embodiment can align the first angle position in the field of view with the target point, so as to test the angle measurement capability of the first angle position of the detection device.

[0053] In another possible implementation of the first aspect, the first angular position is a center line of the field of view angle. In this case, the method can test the angle measurement capability of the detection device at the center of the field of view.

[0054] In another possible implementation of the first aspect, the detection device may be rotated, or the field of view of the detection device may be adjusted, so that other angular positions are aligned with the target point, thereby testing the angle measurement capability of the detection device at other angular positions.

[0055] In another possible implementation manner of the first aspect, the detection device is disposed on a turntable, and the method further includes:

[0056] The turntable rotates so that a second angle position of the field of view of the detection device points to a target point aligned with the reflection plane, and the second angle position is different from the first angle position;

[0057] The detection device detects the reflection plane again to obtain second angle measurement data and second distance measurement data of the target point on the reflection plane, the second angle measurement data is the angle data of the target point detected by the detection device, and the second distance measurement data is the distance data of the target point detected by the detection device;

[0058] The second reference angle data is determined according to the second distance measurement data, the first angle and the distance between the detection device and the target point on the reflection plane.

[0059] The rotation here may be rotation around the center of the detection device, for example, rotation around the light emitting center of the detection device, or rotation around the center of mass, window center, etc. of the detection device.

[0060] In another possible implementation of the first aspect, the turntable is a two-dimensional turntable, and the two-dimensional turntable is used to rotate the detection device along the horizontal direction and / or the vertical direction.

[0061] In another possible implementation of the first aspect, the turntable is a one-dimensional turntable, and the one-dimensional turntable is used to rotate the detection device along a horizontal direction.

[0062] Optionally, the aforementioned turntable may be a high-precision turntable, for example, its control precision (or accuracy) may be 0.1° or 0.01°.

[0063] In yet another possible implementation of the first aspect, the method further includes: determining a second angle measurement deviation of the detection device according to the second reference angle data and the second angle measurement data.

[0064] In another possible implementation of the first aspect, the field of view of the detection device includes M areas, where M is an integer and M≥2.

[0065] The first angular position is a center line of a first area among the M areas, and the second angular position is a center line of a second area among the M areas.

[0066] Exemplarily, the field of view of the detection device can be divided into a nine-square grid area with three rows and three columns. During testing, the center lines of different areas of the detection device can be aligned with the target point to test the angle measurement capability of different areas of the field of view of the detection device.

[0067] In yet another possible implementation of the first aspect, the distance between the reflecting plane and the detection device is greater than a first distance threshold.

[0068] Generally speaking, the detection device may have errors in the accuracy and / or precision of the distance measurement of objects that are too close. Placing the transmitting board at a position farther away from the detection device can reduce the error in the evaluation of the angle measurement capability due to the distance measurement error and improve the accuracy of the detection device. For example, the first distance threshold is 50 meters, or 70 meters, etc.

[0069] Furthermore, the distance between the reflection plane and the detection device may be smaller than the maximum detection distance of the detection device.

[0070] In another possible implementation of the first aspect, the reflectivity of the reflection plane is in the range of 50%±5%. In this implementation, there are certain requirements for the reflectivity of the reflection plane, so that the laser radar can receive echoes with more appropriate energy and improve the accuracy of distance measurement and angle measurement.

[0071] In some embodiments, the reflective plane may be a diffuse reflective plane.

[0072] In another possible implementation of the first aspect, the first angle is 10°. Of course, the first angle may have other designs during the specific implementation, and due to errors, manufacturing processes, etc., the first angle may not be exactly the same as 10°.

[0073] In a second aspect, an embodiment of the present application provides a test system, wherein the test system comprises a detection device, a reflection plane and a calculation module, wherein:

[0074] The reflection plane may be arranged obliquely relative to the detection device. Exemplarily, the reflection plane is arranged perpendicular to the horizontal plane in the first direction, and in the horizontal direction, the line connecting the center of the detection device and the horizontal center of the reflection plane forms an acute angle with the reflection plane. In another exemplary embodiment, the detection device may include a window, and the plane where the window of the detection device is located forms a certain angle (i.e., not parallel) with the plane where the reflection plane is close to the detection device in the horizontal direction.

[0075] The detection device is used to detect the reflection plane and obtain the first angle measurement data and the first distance measurement data of the target point on the reflection plane. The calculation module is used to process the data and obtain the reference angle data, where the data includes the detection data from the detection device and the position data between the reflection plane and the detection device.

[0076] Optionally, the reflection plane can be realized by a reflection plate, a wall or other objects. For example, the reflection plane can be the side of the reflection plate facing the detection device.

[0077] In a possible implementation manner of the second aspect, the computing module is used to:

[0078] Obtaining the distance and the first angle between the detection device and the target point on the reflection plane, where the first angle is the angle between the line between the center of the detection device and the target point and the reflection plane in the horizontal direction;

[0079] The first reference angle data is determined according to the first distance measurement data, the first angle and the distance between the detection device and the target point on the reflection plane.

[0080] In yet another possible implementation of the second aspect, the testing system further includes a turntable, the detection device is disposed on the turntable, and the turntable is used to rotate the detection device to adjust the direction of the field of view angle of the detection device.

[0081] Optionally, the aforementioned turntable may be a high-precision turntable, for example, its control precision (or accuracy) may be 0.1° or 0.01°.

[0082] In yet another possible implementation of the second aspect, the testing system is further used to implement the testing method described in the first aspect or any possible implementation of the first aspect.

[0083] In another possible implementation of the second aspect, the turntable is a two-dimensional turntable, and the two-dimensional turntable is used to rotate the detection device in a horizontal direction and / or a vertical direction.

[0084] In another possible implementation of the second aspect, the turntable is a one-dimensional turntable, and the one-dimensional turntable is used to rotate the detection device in a horizontal direction.

[0085] In another possible implementation of the second aspect, the distance between the reflection plane and the detection device is greater than a first distance threshold, for example, the first distance threshold is 50 meters, or 70 meters.

[0086] Furthermore, the distance between the reflection plane and the detection device may be smaller than the maximum detection distance of the detection device.

[0087] In yet another possible implementation of the second aspect, the reflectivity of the reflective plane is in the range of 50%±5%.

[0088] In yet another possible implementation of the second aspect, the first angle is 10°.

[0089] In a third aspect, the present application also provides a testing method, the method comprising:

[0090] Acquire first angle measurement data and first distance measurement data from the detection device, the first angle measurement data being angle data of the target point detected by the detection device, and the first distance measurement data being distance data of the target point detected by the detection device;

[0091] Obtaining the distance and the first angle between the detection device and the target point on the reflection plane, where the first angle is the angle between the line between the center of the detection device and the target point and the reflection plane in the horizontal direction;

[0092] The first reference angle data is determined according to the first distance measurement data, the first angle and the distance between the detection device and the target point on the reflection plane.

[0093] The reflection plane may be arranged obliquely relative to the detection device. Exemplarily, the reflection plane is arranged perpendicular to the horizontal plane in the first direction, and in the horizontal direction, the line connecting the center of the detection device and the horizontal center of the reflection plane forms an acute angle with the reflection plane. In another exemplary embodiment, the detection device may include a window, and the plane where the window of the detection device is located forms a certain angle (i.e., not parallel) with the plane where the reflection plane is close to the detection device in the horizontal direction.

[0094] Optionally, the detection device may be a laser radar, a radar or other device.

[0095] Optionally, the reflection plane can be realized by a reflection plate, a wall or other objects. For example, the reflection plane can be the side of the reflection plate facing the detection device.

[0096] In a possible implementation manner of the third aspect, the target point is located at the horizontal center of the reflection plane.

[0097] In another possible implementation of the third aspect, the height of the target point in the vertical direction is the same as the height of the center of the detection device in the vertical direction, wherein the vertical direction is a direction perpendicular to the horizontal plane.

[0098] In yet another possible implementation of the third aspect, a line between a center of the detection device and a target point on the reflection plane forms an acute angle with the reflection plane.

[0099] In yet another possible implementation of the third aspect, a line between the center of the detection device and the horizontal center of the reflection plane forms an acute angle with the reflection plane.

[0100] In another possible implementation manner of the third aspect, the first reference angle data a i Satisfies the following formula:

[0101]

[0102] Among them, d iis the first distance measurement data, β is the first angle, d r is the distance between the target point and the detection device.

[0103] In another possible implementation manner of the third aspect, the first reference angle data a i Satisfies the following formula:

[0104]

[0105] Among them, d i is the first distance measurement data, β is the first angle, d r is the distance between the target point and the detection device.

[0106] In yet another possible implementation of the third aspect, the method further includes: determining a first angle measurement deviation of the detection device according to the first reference angle data and the first angle measurement data.

[0107] In another possible implementation of the third aspect, the first distance measurement data includes N first distances, the first angle measurement data includes N first reported angles, N is an integer and N≥1. The first reference angle data includes N first reference angles.

[0108] Further, each of the N first reference angles is related to a first distance among the N first distances, a distance between the detection device and a target point on the reflection plane, and a first angle.

[0109] In another possible implementation of the third aspect, the method also includes: determining N angle deviations based on N first reference angles and N first horizontal reporting angles, each angle deviation being used to describe the difference between a first reference angle and a corresponding first horizontal reporting angle; and determining the angle precision of the detection device and / or the angle accuracy of the detection device based on the N angle deviations.

[0110] In another possible implementation of the third aspect, the angular accuracy of the detection device is related to the maximum value of the N angular deviations or the standard deviation of the N angles, and the angular precision of the detection device is related to the average value of the N angular deviations.

[0111] In another possible implementation of the third aspect, the detection device includes a window, and a normal line of the window intersects with a horizontal center of the reflection plane. Alternatively, the normal line of the window intersects with a target point of the reflection plane.

[0112] In another possible implementation of the third aspect, the first ranging data and the first angle measurement data are detection data obtained when the first angle position of the field of view angle of the detection device is directed toward the target point position of the reflection plane, and the center of the field of view angle is directed toward the direction of the detection signal emitted from the first angle position.

[0113] In another possible implementation of the third aspect, the first angle position is a center line of the field of view angle. In this case, the method can test the angle measurement capability of the detection device at the center of the field of view.

[0114] In another possible implementation of the third aspect, the method also includes: acquiring second angle measurement data and second distance measurement data, the second angle measurement data being the angle data of the target point detected by the detection device, and the second distance measurement data being the distance data of the target point detected by the detection device; and determining second reference angle data based on the second distance measurement data, the first angle, and the distance between the detection device and the target point on the reflection plane.

[0115] In yet another possible implementation of the third aspect, the method further includes: determining a second angle measurement deviation of the detection device according to the second reference angle data and the second angle measurement data.

[0116] In a fourth aspect, an embodiment of the present application provides a computing module, the computing module comprising an acquisition unit and a processing unit, the acquisition unit is used to acquire data, and the processing unit is used to process the data. The computing module is used to implement the method described in the third aspect or any possible implementation of the third aspect.

[0117] In a fifth aspect, an embodiment of the present application provides a computing module, the computing module comprising a processor. When the processor calls a computer program or instruction in a memory, the computing module implements the method described in the third aspect or any possible implementation of the third aspect.

[0118] In a sixth aspect, an embodiment of the present application provides a computing module, including a logic circuit and an interface, wherein the logic circuit and the interface are coupled;

[0119] The interface is used to input data to be processed, and the logic circuit processes the data to be processed according to the method described in the third aspect or any possible implementation method of the third aspect to obtain processed data. The interface is also used to output processed data.

[0120] In the seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store instructions or computer programs; when the instructions or computer programs are executed, the method described in the third aspect or any possible implementation method of the third aspect is implemented.

[0121] In an eighth aspect, an embodiment of the present application provides a computer program product, and when the instruction or computer program is executed, it implements the method described in the third aspect or any possible implementation manner of the third aspect.

[0122] In a ninth aspect, an embodiment of the present application provides an electronic device, which comprises the computing module of any one of the fourth to sixth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0123] Figure 1 It is a schematic diagram of the architecture of a test system provided in an embodiment of the present application;

[0124] Figure 2 is a top view of a test system provided in an embodiment of the present application;

[0125] Figure 3 It is a flow chart of a testing method provided in an embodiment of the present application;

[0126] Figure 4 is a schematic diagram of the geometric relationship between a detection device and a reflection plane provided in an embodiment of the present application;

[0127] Figure 5 is a schematic diagram of a coordinate system provided in an embodiment of the present application;

[0128] Figure 6 is a schematic diagram of a point cloud provided in an embodiment of the present application;

[0129] Figure 7 is a schematic diagram of the geometric relationship between another detection device and a reflection plane provided in an embodiment of the present application;

[0130] Figure 8 A top view of another test system provided in an embodiment of the present application;

[0131] Fig. 9 A schematic diagram of the structure of a computing module provided in an embodiment of the present application;

[0132] Fig.10 A schematic diagram of the structure of another computing module provided in an embodiment of the present application. DETAILED DESCRIPTION

[0133] The embodiments of the present application are introduced below with reference to the accompanying drawings.

[0134] 1. Detection device: The detection device can emit signals to detect the target. The detection device includes but is not limited to radar or lidar, etc. Among them, the radar can be a millimeter wave radar, a centimeter wave radar, etc. In some scenarios, a device that integrates radar (or lidar) and a camera (a fusion detection device) can also detect the target, and the fusion detection device also falls within the scope of the detection device of this application.

[0135] The test system of the present application is introduced below. It should be noted that the system architecture and business scenarios described in the present application are intended to more clearly illustrate the technical solution of the present application and do not constitute a limitation on the technical solution provided by the present application. With the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0136] See also Figure 1 , Figure 1 1 is a schematic diagram of the architecture of a test system provided in an embodiment of the present application. The test system includes a detection device 10 and a reflector 20. Among them:

[0137] The detection device is used to detect the object space. The detection device can be a laser radar, radar or other devices. Exemplarily, the detection device can emit a detection signal, and the emitted detection signal is transmitted to the object space through the window of the detection device. The target in the object space (such as a reflector) can reflect the detection signal to form a return signal, and the detection device can receive the return signal (i.e., echo), and obtain the detection data of the object space according to the return signal. The detection data here can include one or more of a point cloud, a point, a point coordinate, a point distance, a point angle, etc. Among them, the point cloud can include the distance of one or more points, the angle of a point, etc. In some schemes, when detecting the target object, there needs to be a line of sight (LOS) between the detection device and the target object where the signal (such as radio waves, lasers) is transmitted uninterruptedly, that is, a field of view (FOV). The detection signal emitted by the detection device can be transmitted within the FOV (including scanning), so as to detect the object within the FOV.

[0138] The reflective plate 20 can be used as a reflective plane, and the reflective plate 20 is tilted relative to the detection device. Figure 1 , the reflector 20 is vertically arranged on the horizontal plane, and its side surface (such as the surface perpendicular to the horizontal plane) is inclined relative to the detection device. Figure 1 , the reflection plane (a surface of the reflection plate 20, such as the surface facing the detection device 10) can be perpendicular to the horizontal plane along a first direction, where the first direction is, for example, the direction along the Z axis. In other words, the height direction of the reflection plate 20 is perpendicular to the horizontal plane. Further, the line connecting the center of the detection device in the horizontal direction and the horizontal center of the reflection plane forms a certain angle with the reflection plane, such as an acute angle. Please refer to Figure 2 , point O is the center of the detection device, point Q is the horizontal midpoint of the reflection plane. It can be seen that the line PQ forms a certain angle with the plane of the reflection plane facing the detection device, expressed as angle α, and angle α is an acute angle, that is, the line PQ is not perpendicular to the plane of the reflection plane facing the detection device.

[0139] As another example, the detection device may include a window (e.g. Figure 2 As shown), the plane where the window of the detection device is located is at a certain angle to the reflection plane in the horizontal direction (ie, not parallel).

[0140] In an exemplary embodiment, in the horizontal direction, the distances between the two ends of the reflection plane and the center of the detection device are different. Figure 2 , the left end of the reflection plane is closer to the center of the detection device, and the right end is farther from the center of the detection device.

[0141] In an embodiment of the present application, the detection device can detect the reflection plane and obtain detection data of the reflection plane. The detection data here may include distance measurement data and angle measurement data for one or more points (referred to as target points for convenience of description) on the reflection plane. Since the target point of the reflection plane is at a first angle relative to the detection device in the horizontal direction, there is a correlation between the distance of the target point obtained by the detection device and the angle between the target point of the detection device. Therefore, the actual angle of the target point relative to the detection device, i.e., the reference angle data, can be obtained by detecting the distance data of the target point, the actual distance between the reflection plane and the detection device, and the first angle. In this way, based on the angle data and reference angle data measured by the detection device, the accuracy of the angle of the target point measured by the detection device can be accurately evaluated, so that the angle measurement capability of the detection device can be tested more accurately.

[0142] It should be noted that Figure 1 The reflective planes shown elsewhere in this document may also be replaced by walls and surfaces provided by other objects. Some embodiments herein are described using reflective plates as an example, and the embodiments of this application are also applicable to the case where the reflective plane is realized by other objects.

[0143] In some possible implementations, the test system may further include a computing module 30. The computing module 30 has computing capability (or data processing capability) and can process data. Exemplarily, the computing module 30 is used to process the collected data to obtain reference angle data, where the collected data includes detection data from the detection device, and position data between the reflection plane and the detection device.

[0144] The following is an introduction to possible forms of the computing module 30. The computing module 30 can be a server, a personal computer (PC), or an intelligent terminal, etc. When the computing module 30 is implemented by a server, the number of servers used to implement its functions can be one or more (such as a server cluster). In some possible schemes, the computing module 30 can be implemented by a software functional unit. Exemplarily, the computing module 30 can be implemented by a virtual machine, a container, a cloud, etc. Among them, a virtual machine is a computer system with complete hardware system functions and running in an isolated environment simulated by software. A container is an isolated environment obtained by packaging applications and application dependency packages. The cloud is a software platform that uses application virtualization technology, which enables one or more software and applications to be developed and run in an independent virtualized environment.

[0145] In some possible implementations, the testing system may further include a turntable 40. The detection device 10 is disposed on the turntable 40, and the turntable 40 is used to rotate the detection device 10 to adjust the direction of the field of view angle of the detection device 10.

[0146] In some possible implementations, the test system may further include a true value acquisition device, which is used to acquire the distance between the detection device and the reflection plane (or any point on the reflection plane), the angle between the reflection plane and the detection device, and the like.

[0147] Exemplarily, the true value acquisition device can be a total station, which can measure one or more of the four corner coordinates of the reflector 20, or the coordinates of the center point, or the coordinates of the target point, etc. Exemplarily, based on the data measured by the total station, the distance between the reflector 20 and the detection device 10 and the inclination angle of the reflector 20 relative to the detection device 10 can be calculated. For example, based on the measurement data of the total station, the angle β between the line connecting the target point and the detection device 10 and the reflector can be calculated. For another example, based on the measurement data of the total station, the distance between the target point and the center of the detection device 10 can be calculated.

[0148] In some other possible implementations, the first angle may also be calculated by the detection device. For example, the detection device obtains the tilt angle of the reflection plane relative to the detection device, such as the first angle, during the calibration phase. For another example, the detection device may obtain the tilt angle of the reflection plane, such as the first angle, through point cloud computing of the reflection plane.

[0149] Optionally, the turntable 40 may be a high-precision turntable, for example, the control precision (or accuracy) thereof may be 0.1° or 0.01°.

[0150] Optionally, the turntable 40 is a one-dimensional turntable, which is used to rotate the detection device 10 in a certain direction (e.g., horizontal direction). Alternatively, the turntable 40 is a two-dimensional turntable, which can rotate the detection device 10 in one or two directions (e.g., horizontal direction and / or vertical direction).

[0151] In some possible implementations, the distance between the reflection plane and the detection device is greater than a first distance threshold, for example, the first distance threshold is 50 meters, or 70 meters, etc. Further, the distance between the reflection plane and the detection device may be less than the farthest detection distance of the detection device.

[0152] In some possible implementations, the reflectivity of the reflective plane is in the range of 50%±5%. In some solutions, the reflective plane may be a diffuse reflective plane, such as a diffuse reflective plate.

[0153] In some possible implementations, the first angle is 10°.

[0154] In some possible implementations, when the reflective plane is a reflective plate, the reflective plate is a reflective plate of 2 meters*1 meter, and the thickness thereof is not limited herein.

[0155] Optionally, the reflective plane has a higher surface flatness.

[0156] It should be understood that in the above, the horizontal plane, the first direction, etc. are exemplary illustrations for the purpose of better describing the technical solution of the present application. In the specific implementation process, the horizontal plane, the first direction, etc. can be set according to actual conditions. Figure 1 In the above, a Cartesian coordinate system (XYZ coordinate system) is taken as an example, wherein the XY plane can be used as a horizontal plane, and the reflection plane is vertically arranged on the XY plane.

[0157] Optionally, the center of the detection device may be the center of light emission of the detection device, the horizontal center of the detection device, the window center of the detection device, or the center of mass of the detection device. In some embodiments, the detection device is disposed on a rotatable turntable, in which case the center of the detection device may be the rotation center of the detection device when it rotates.

[0158] Optionally, the horizontal center of the reflection plane may be the center of the plane of the reflection plane facing the detection device in the horizontal direction.

[0159] In addition, the names of the devices and modules in the embodiments of the present application are only examples. During the specific implementation process, the names of the devices, modules, etc. can be replaced arbitrarily.

[0160] The following is an introduction to the method of the embodiment of the present application. Figure 3 , Figure 3 is a flow chart of a test method provided in an embodiment of the present application. Optionally, the method can be based on Figure 1 ,or Figure 2 The system shown is implemented.

[0161] like Figure 3 The test method shown may include one or more steps from step S301 to step S304. It should be understood that for the convenience of description, the order of S301 to S304 is used for description, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. S301 to step S304 are as follows:

[0162] Step S301: The detection device detects the reflection plane to obtain first angle measurement data and first distance measurement data.

[0163] The first angle measurement data and the first distance measurement data may be detection data of a target point on a reflection plane. The first angle measurement data is the angle data of a target point detected by a detection device, and the first distance measurement data is the distance data of the target point detected by a detection device. Generally speaking, the data detected by a detection device is a point cloud containing a plurality of points. A point cloud refers to a collection of points, which generally have geometric position information (for example, a point may have one or more of distance, angle, three-dimensional coordinate information, etc.). A point cloud is mainly used to represent the outer surface shape of an object, and the points therein may optionally also have one or more of information such as color, grayscale, depth, or reflectivity.

[0164] The reflection plane is tilted relative to the detection device. The position design is described in the above description. The target point refers to the position of one or more points on the reflection plane. In the point cloud, one or more points corresponding to this target point are the detection results of the detection device for this target point. Figure 4 , a point on the reflection plane can be selected during the test. For example, the target point can be Figure 4 The point P shown in the figure. The angle between the line connecting the target point and the center of the detection device and the reflection plane is called the first angle, which is expressed as β.

[0165] Optionally, the target point is located at the horizontal center of the reflection plane. Optionally, the height of the target point in the vertical direction is the same as the height of the center of the detection device in the vertical direction.

[0166] In some schemes, a coordinate system is established with the center of the detection device as the origin (i.e., point O) (taking the right-hand coordinate system as an example), such as Figure 5As shown. The forward direction of the detection device is the X-axis, the lateral direction of the detection device is the Y-axis, and the height direction of the detection device is the Z-axis. Exemplarily, when the distance between point P and the detection device is R, and the coordinates of the center are (x, y, z), z = R*sinφ, y = R*cosφ*sinθ, x = R*cosφ*cosθ, where φ is the pitch angle, and θ is the horizontal angle of point P. In this case, when the forward direction of the detection device intersects the horizontal center of the reflection plane, the X-axis coordinate of the target point can be 0, and the Z-axis coordinate (ie, height) is 0.

[0167] See also Figure 6 , Figure 6 is a schematic diagram of a point cloud provided by an embodiment of the present application. The point cloud of the detection device includes a point cloud corresponding to the reflection plane (the outline of the reflection plane is indicated by a dotted box), and the point cloud detected by the detection device includes a point corresponding to the target point, which is conveniently described as point P'. The point cloud can include the distance and angle of point P', which are used as distance measurement data and angle measurement data for the target point, respectively. Figure 6 , the distance of P' is d i , is the distance data of the target point detected by the detection device, and the angle of point P' is az i is the angle data of the target point detected by the detection device. That is, taking the horizontal angle θ as an example, az i is the measured value of the horizontal angle θ at point P'. For example, d i It can be 49.5m, and the angle reported by the detection device is 0.01°.

[0168] Optional, az i It can be the angle in the horizontal direction (or horizontal reporting angle) obtained by detecting the target point. Of course, the same applies if the horizontal plane and horizontal direction in this application are replaced by planes in other directions or angles in other directions. It is understandable that the point corresponding to the target point in the point cloud of the detection device may be different from point P. Figure 4 , P' is expressed in the XYZ coordinate system, and it can be seen that it may be different from the actual position of point P.

[0169] In some possible situations, the azimuth angle of the detection device takes the midline of the field of view angle of the detection device as the 0 azimuth angle, and other azimuth angles can be pre-designed with positive and negative directions to facilitate the distinction of angles. Exemplarily, in the horizontal direction, the left side of the midline of the field of view angle of the detection device is a positive angle, while the right side is a negative angle. For example, for a point located on the left side of the detection device, the measurement result of the horizontal angle of the detection device is expressed as a negative number. Similarly, for a point located on the right side of the detection device, the measurement result of the horizontal angle aligned by the detection device is expressed as a positive number. Of course, the present application is also applicable to the case where other angle positions of the field of view are taken as the 0 azimuth angle, and the positive and negative directions of the angles may also have other designs.

[0170] As a possible implementation, the detection device may perform one or more detections. That is, the first angle measurement data may include one or more angles (for easy distinction, referred to as first reported angles), and correspondingly, the first distance measurement data may include multiple distances (for easy distinction, referred to as first distances). For ease of description, this application is described with N first reported angles and N first distances, where N is an integer and N≥1, for example, N=300. Exemplarily, the first reported angle can be az i Indicates, where i is used as a serial number to distinguish different angles. For example, N first reported angles can be represented as az1, az2, ... az N Correspondingly, the first distance can also be expressed by d i For example, N first distances can be represented as d1, d2, ..., d N .

[0171] Furthermore, the first angle measurement data and the first distance measurement data obtained by the detection device may be provided to the calculation module, so that the calculation module may evaluate the angle measurement capability of the detection device based on the first angle measurement data and the first distance measurement data.

[0172] In some schemes, the detection device can provide the point cloud obtained by detection to the computing module. The provision method here can be through communication (for example, a communication connection between the two) or through copying (for example, copying through a storage medium). This application does not specifically limit the transmission method of the detection data.

[0173] Furthermore, the calculation module identifies the point cloud of the reflection plane from the point cloud and selects the first angle measurement data and the first distance measurement data corresponding to the target point, so as to evaluate the angle measurement capability of the detection device. For example, the detection device detects 300 frames of point clouds, and the 300 frames of point clouds are provided to the calculation module. For each frame of point cloud, the calculation module identifies the point cloud corresponding to the reflection plane, selects the point on the target point of the reflection plane, and records its distance and angle (or horizontal reporting angle). At this time, if the filtering of the selected points is not considered, the calculation module can obtain 300 distances and angles to the target point, for example, respectively expressed as d1, d2...d 300 , and az1,az2...az 300 .

[0174] Step S302: The calculation module obtains the distance and the first angle between the detection device and the target point on the reflection plane.

[0175] Optionally, the distance between the detection device and the target point on the reflection plane may be the distance between the center of the detection device and the target point on the reflection plane. Figure 4, point P is the target point on the reflection plane, and the distance between the detection device and the target point on the reflection plane can be expressed as d r .

[0176] Optionally, the target point is the horizontal center of the reflection plane. In this case, the distance between the detection device and the target point on the reflection plane can be replaced by the distance between the center of the detection device and the horizontal center of the reflection plane. In some embodiments, the distance between the center of the detection device and the target point on the reflection plane can be calculated by the coordinates of other points on the reflection plane.

[0177] The first angle is the angle between the line connecting the center of the detection device and the target point and the reflection plane, for example, the angle between the line connecting the center of the detection device and the target point and the reflection plane. Optionally, in the case where the reflection plane is a reflection plate, the reflection plane can be specifically a plane of the reflection plate facing the detection device. Figure 4 , the first angle is angle β.

[0178] As a possible implementation, the distance between the detection device and the target point on the reflection plane can be acquired by a true value acquisition device. Taking the true value acquisition device as a total station as an example, the total station can measure one or more of the four corner coordinates of the reflection plane and the coordinates of the target point. Based on the data measured by the total station, the distance between the reflection plane and the target point on the detection device can be calculated.

[0179] As a possible implementation, the first angle may be acquired by a true value acquisition device. For example, the inclination angle of the reflection plane relative to the detection device is calculated by using the coordinates of the four corners of the reflection plane (or the coordinates of multiple points on the reflection plane) acquired by the total station. For example, the angle β between the line connecting the target point on the reflection plane and the detection device 10 and the reflection plate is calculated.

[0180] Alternatively, the first angle may also be acquired by the detection device. For example, the detection device acquires the tilt angle of the reflection plane relative to the detection device during the calibration phase, that is, the first angle. For another example, the detection device may obtain the tilt angle of the reflection plane, that is, the first angle, through point cloud computing of the reflection plane.

[0181] Step S303: The calculation module determines first reference angle data according to the first distance measurement data, the first angle, and the distance between the detection device and the target point on the reflection plane.

[0182] It is understandable that, since the reflection plane is tilted, when the target point on the reflection plane generates angular jitter, it can also be reflected by its distance. Therefore, the reference angle corresponding to the target point can be obtained by reverse analysis through the first angle, the distance between the detection device and the target point on the reflection plane, and the distance measured by the detection device.

[0183] like Figure 4 As shown in the figure, if the center line of the field of view of the detection device points to the target point P, the angle of point P is 0° for the detection device. Based on the detection of the target point, the detection device measures a point corresponding to the target point P, that is, the measured target point P'. Point P' may deviate from the actual target point. The distance of point P' is d i , so we can get the first reference angle data a of point P' i . Take the horizontal angle as an example, in other words, a i is the reference value of the horizontal angle θ at point P'. i It is calculated based on the actual distance between the detection device and the target point on the reflection plane, the first angle at which the reflection plate is inclined relative to the detection device, and the measured distance.

[0184] As a possible implementation, the first reference angle data may be related to the first distance measurement data, the first angle, and the distance between the detection device and the target point on the reflection plane. Further, the first reference angle data is related to the tilt direction of the reflection plane relative to the detection device. Further, the first reference angle data is also related to the angle of the target point, such as the angle of the target point relative to the 0 azimuth.

[0185] The following are some first reference angle data a i Possible situations:

[0186] Case 1: First reference angle data a i It can be expressed by the following formula:

[0187]

[0188] Among them, d i is the first distance measurement data, β is the first angle, d r is the distance between the target point and the detection device, where i represents a number. i In the example, i can be 1, ... N (or 0, ... N-1, which is only an example here), and the first reference angle data correspondingly includes N first reference angles, namely a1, a2 ... a N .

[0189] Further, in this case, the sign of the first reference angle data is related to the tilt direction of the reflection plane relative to the detection device. Figure 4 In the example, the left end of the reflection plane is closer to the detection device, and the left end of the detection device is the positive direction of the angle. At this time, in the solved first reference angle data, the left side of the 0 azimuth is the positive direction, and the right side is the negative direction.

[0190] Case 2, reference angle data a i In other words, the first reference angle data a i It can be a numerical value, for example, the first reference angle data a i Satisfies the following formula:

[0191]

[0192] Among them, “||” means taking the absolute value.

[0193] Case 3: The left side of the midline of the field of view of the detection device is a negative angle, while the right side is a positive angle. When the reflection plane is tilted, if the end of the reflection plane close to the left side of the field of view is closer to the detection device than the end on the right side, the first reference angle data a i Satisfies the following formula:

[0194]

[0195] In case 4, the left side of the midline of the field of view of the detection device is a negative angle, while the right side is a positive angle. When the reflection plane is tilted, if the end of the reflection plane close to the left side of the field of view is closer to the detection device than the end on the right side, the detection device can first obtain the deviation value ae between the target point and the 0 azimuth angle. i , and then take the opposite number as the first reference angle data. Figure 4 For example, the first deviation value ae between the target point and the 0 azimuth i It can be determined by the following formula:

[0196]

[0197] Furthermore, the first reference angle data a i =-ae i .

[0198] The above is an exemplary description of the case where the 0 azimuth intersects with the target point (or intersects in the horizontal direction). In some possible cases, the 0 azimuth of the detection device may not intersect with the target point (or not intersect in the horizontal direction). In this case, the first reference angle data α i The azimuth correlation of the target point can also be considered during the calculation.

[0199] See also Figure 7 , Figure 7 It is a schematic diagram of the geometric relationship between another detection device and a reflecting plane provided in an embodiment of the present application. At this time, the azimuth angle of the target point P (i.e., the angle of point P relative to the 0 azimuth angle) is the second angle, and the second angle is expressed as γ. At this time, the reference angle solved by the first ranging data is the second angle and the second deviation angle, and the second deviation angle is used to describe the deviation between the angle of point P' and the angle of point P.

[0200] For example, taking the calculation method of the fourth case as an example, the second deviation angle ac i The deviation value ac between the angle of the target point at this time i Satisfies the following formula:

[0201]

[0202] The first reference angle data a i It can be calculated by the second angle and the second deviation angle. i =γ-ae i In other words, the first reference angle data a i Satisfies the following formula:

[0203]

[0204] It should be noted that, in the calculation method in one or more of the above-mentioned cases 1 to 3, the angle of the target point can also be used to calculate the first reference angle data, which will not be described in detail here.

[0205] It is not difficult to see that through Figure 3 The embodiment can obtain the angle measurement data and reference angle data of the detection device for the target point, based on the angle data measured by the detection device (ie, the measurement value az i ) and reference angle data (i.e. reference value a i ), the accuracy of the detection device in measuring the angle of the target point can be accurately evaluated, so that the angle measurement ability of the detection device can be tested more accurately. Figure 4 For example, taking the left side of the field of view as the positive direction of the angle, for example, if the first angle measurement data is -0.01°, and the first reference angle data solved according to the distance measurement data is -0.05°, it means that there is a deviation in the angle measurement. Correspondingly, if the first angle measurement data is -0.01°, and the first reference angle data solved according to the distance measurement data is -0.01°, it means that the angle measurement data is correct and the angle measurement capability is strong.

[0206] In some embodiments, the first angle measurement data may have N first angles, and the first reference angle data may also have N first reference angles. Based on the multiple first angles and the multiple first reference angles, the accuracy of the angle of the target point measured by the detection device can be more accurately evaluated.

[0207] Optional, Figure 3 The testing method may include step S304:

[0208] Step S304: the calculation module determines a first angle measurement deviation of the detection device according to the first reference angle data and the first angle measurement data.

[0209] In some embodiments, the angle measurement deviation can be expressed as a numerical value, that is, an absolute value. i , the first angle measurement data is represented by az i For example, the first angle measurement deviation θ i =|a i -az i |. Exemplarily, the first angle measurement data is -0.01°, and the first reference angle data solved according to the distance measurement data is -0.05°, then θ i =0.04°, it can be seen that the first angle measurement deviation can more intuitively and accurately indicate the angle measurement capability of the detection device.

[0210] As some possible implementations, the first distance measurement data includes N first distances, the first angle measurement data includes N first reported angles, and the first reference angle data includes N first reference angles. The calculation module can determine N angle deviations according to the N first reference angles and the N first horizontal reported angles, and each angle deviation is used to describe the difference between a first reference angle and a corresponding first horizontal reported angle, that is, the first angle measurement deviation is θ i =|a i -az i |, where i can be 0, ...N (or 0, ...N-1, which is just an example).

[0211] As some possible implementations, the calculation module determines the angular precision of the detection device and / or the angular accuracy of the detection device according to the N angular deviations. For example, the angular precision of the detection device is related to the maximum value of the N angular deviations or the standard deviation of the N angular deviations, and the angular accuracy of the detection device is related to the average value of the N angular deviations.

[0212] As a way to calculate the angle accuracy, the angle accuracy can be calculated by max(θ1,θ2,...θ N ) calculation, where max() represents the maximum value operation.

[0213] As a way to calculate the angle accuracy, the angle accuracy can be calculated by mean(θ1,θ2,...θ N ), where mean() represents the averaging operation.

[0214] In one possible case, the first distance measurement data and the first angle measurement data are detection data obtained when the first angle position of the field of view of the detection device is directed to the target point of the reflection plane, and the center of the field of view is directed to the direction of the detection signal emitted from the first angle position. Generally speaking, the angle of the center of the field of view is 0 azimuth. Among them, the first angle position is the center line of the field of view, that is, Figure 4 The window normal (OP) is shown. At this point, the method can test the angle measurement capability of the detection device at the center of the field of view.

[0215] In some possible situations, the detection device can be rotated, or the field of view of the detection device can be adjusted, so that other angular positions are aligned with the target point, thereby testing the angle measurement capability of the detection device at other angular positions.

[0216] As a possible implementation, the detection device is disposed on a turntable, and the turntable can rotate (for example, rotate around the center of the detection device) so that the second angle position of the field of view of the detection device points to the target point aligned with the reflection plane, and the second angle position is different from the first angle position. The detection device detects the reflection plane again to obtain second angle measurement data and second distance measurement data for the target point on the reflection plane, the second angle measurement data is the angle data of the target point detected by the detection device, and the second distance measurement data is the distance data of the target point detected by the detection device. The calculation module can determine the second reference angle data based on the second distance measurement data, the first angle and the distance between the detection device and the target point on the reflection plane. For related descriptions, please refer to the related descriptions of the first distance measurement data, the first reference angle data and the first angle measurement data, which will not be described here.

[0217] Optionally, the detection device may determine a second angle measurement deviation of the detection device according to the second reference angle data and the second angle measurement data. For related descriptions, please refer to the description of the first angle measurement deviation.

[0218] In one possible scenario, the field of view of the detection device includes M areas, where M is an integer and M≥2, the first angle position is the center line of the first area among the M areas, and the second angle position is the center line of the second area among the M areas. Exemplarily, the field of view of the detection device can be divided into a nine-square grid area with three rows and three columns. During testing, the center lines of different areas of the detection device can be aligned with the target point, thereby testing the angle measurement capability of different areas of the field of view of the detection device.

[0219] It should be noted that only one rotation and re-detection is used as an example for explanation here. In the specific implementation process, the rotation and re-detection process can be performed multiple times.

[0220] above Figure 3 The embodiments include a variety of possible situations. The following takes the detection device as a laser radar and the reflection plane as a reflection plate as an example. Figure 8 A possible implementation of the embodiment of the present application is introduced. In the following introduction, any unexplained terms, logic, etc. can refer to the above description.

[0221] See also Figure 8 , the laser radar is installed on a two-dimensional turntable, wherein the two-dimensional turntable can be a high-precision two-dimensional turntable. For example, the rotation control accuracy of the two-dimensional turntable is less than 0.01°, and / or the rotation control accuracy is less than 0.01°. Place a standard diffuse reflection plate with high flatness at a distance of more than 50m from the laser radar. For example, the size of the reflection plate can be 2m*1m, and the thickness direction is not strictly limited here. The reflectivity of the test plate is 50%±5%, perpendicular to the ground direction (which can be understood as the horizontal direction). The horizontal center point of the diffuse reflection plate intersects with the normal of the laser radar window, and the angle with the normal is about 10°. The center coordinates and four-corner coordinates of the diffuse reflection plate are measured by the total station, so that the angle β between the diffuse reflection plate and the normal of the laser radar can be calculated, and the distance d from the center of the laser radar, or the laser origin, to the reflection plate is measured. r .

[0222] During the test, align the center of the test area (e.g., the nine-square grid area of ​​the field of view) with the reflector, start the LiDAR, and receive the point cloud. After obtaining the point cloud, identify the reflector, select the horizontal point in the middle of the reflector, and the vertical point with a coordinate height of 0. Take the 300-frame point cloud detected by the LiDAR as an example. For these 300 frames of point cloud, based on the points selected above, record the reported distance d i And the horizontal reporting angle az i , which is the measured value of the horizontal angle θ. Optionally, the horizontal reporting angle az i After internal compensation.

[0223] According to d i , and the known β and d r Inversely solve the deviation value ae of each point from the 0 azimuth i , and obtain the first reference angle a i =-ae i , a i is the reference value of the horizontal angle θ. For each point, the first reference angle is obtained, thereby obtaining the set [az1, az2…az N], that is, the first reference angle data. Calculate the angle deviation of each point (that is, the deviation between the measured value and the actual value) θ i =|a i -az i |, and obtain the first angle measurement deviation θ Δ =[θ1,θ2,......θ N ], calculate θ Δ max=max(θ Δ )) is the angle accuracy, calculate the mean deviation θ Δ avg=mean(θ Δ ) is the angle accuracy.

[0224] Furthermore, align the other positions of the nine-square grid with the reflective plate and repeat the above test process.

[0225] The above describes the method of the embodiment of the present application, and the following describes some devices for implementing the aforementioned method. It should be understood that the device provided in the embodiment of the present application, the division of the units therein is only a division of logical functions, and in actual implementation, it can be fully or partially integrated into a physical entity, or it can be physically separated. In addition, the units in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of each unit of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be realized by designing the hardware circuits, and the hardware circuits can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be realized by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of some or all of the above units. All units of the above devices can be realized in the form of a processor calling software, or in the form of a hardware circuit, or in part by a processor calling software, and the rest by a hardware circuit.

[0226] In the embodiment of the present application, the processor is a circuit with the ability to process signals. In one implementation, the processor can be a circuit with the ability to read and run instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0227] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0228] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0229] Several possible arrangements are listed below.

[0230] See also Fig. 9 , Fig. 9 is a schematic diagram of the structure of a computing module 90 provided in an embodiment of the present application. Optionally, the computing module 90 may be an independent device, such as a personal computer, etc. Alternatively, the computing module 90 may also be a device in an independent device (such as a node), such as a chip or an integrated circuit, etc. The computing module 90 is used to implement the method executed by the computing module in the aforementioned test method, such as Figure 3 In the illustrated embodiments, the test method illustrated in any one or more embodiments is a method executed by a computing module.

[0231] like Fig. 9 As shown, the computing module 90 includes an acquisition unit 901 and a processing unit 902. The acquisition unit 901 is used to implement one or more operations such as acquisition, reception, monitoring, transmission, connection establishment, and response, and further includes other operations for implementing the test method. The processing unit 902 is used to implement one or more operations such as processing, calculation, determination, and generation, and further includes other operations for implementing the test method.

[0232] For related descriptions, see Figure 3 The description of the illustrated embodiments will not be repeated here one by one.

[0233] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of another computing module provided in an embodiment of the present application. The computing module 100 may be an independent device, such as a node, or a device contained in an independent device, such as a chip, a software module, or an integrated circuit. The computing module 100 may include at least one processor 1001 and a communication interface 1002. Optionally, at least one memory 1003 may also be included. Further optionally, a connection line 1004 may also be included, wherein the processor 1001, the communication interface 1002 and / or the memory 1003 are connected via the connection line 1004, and / or communicate with each other via the connection line 1004 to transmit control signals and / or data signals.

[0234] in:

[0235] The processor 1001 is a module for performing arithmetic operations and / or logical operations, and may specifically include one or more of the following modules: a filter, a modem, a power amplifier, a low noise amplifier (LNA), a baseband processor, a radio frequency processor, a radio frequency circuit, a central processing unit (CPU), an application processor (AP), a microcontroller unit (MCU), an electronic control unit (ECU), a graphics processing unit (GPU), a microprocessor (MPU), an application specific integrated circuit (ASIC), an image signal processor (ISP), a digital signal processor (DSP), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), or a coprocessor, etc.

[0236] The communication interface 1002 may be used to provide information input or output for the at least one processor, or to receive externally transmitted signals and / or to transmit externally transmitted signals.

[0237] For example, communication interface 1002 may include interface circuitry.

[0238] For example, the communication interface 1002 may include a wired link interface such as an Ethernet cable, or may be a wireless link (Wi-Fi, Bluetooth, general wireless transmission, vehicle-mounted short-range communication technology, and other short-range wireless communication technologies, etc.) interface.

[0239] Optionally, the communication interface 1002 may further include a radio frequency transmitter, an antenna, etc. When the communication interface 1002 includes an antenna, the number of antennas may be one or more.

[0240] As a possible design, if the computing module 100 is an independent device, the communication interface 1002 may include a receiver and a transmitter. The receiver and the transmitter may be the same component or different components. When the receiver and the transmitter are the same component, the component may be referred to as a transceiver.

[0241] As another possible design, if the computing module 100 is a chip or a circuit, the communication interface 1002 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces.

[0242] Optionally, the functions of the communication interface 1002 may be implemented by a transceiver circuit or a dedicated transceiver chip.

[0243] The memory 1003 is used to provide a storage space, in which data such as an operating system and a computer program can be stored. The memory 1003 can be a random access memory (RAM), a read-only memory (ROM), an erasable programmable read only memory (EPROM), or a portable read only memory (CD-ROM), etc., or a combination of multiple thereof.

[0244] The functions and actions of the modules or units in the computing module 100 listed above are only for illustrative purposes.

[0245] Each functional unit in the computing module 100 can be used to implement the method implemented by the computing module in the aforementioned test method, for example Figure 3 The method implemented by the calculation module in the test method shown.

[0246] Optionally, the processor 1001 may be a processor specifically used to execute the aforementioned method (for convenience of distinction, referred to as a dedicated processor), or may be a processor that executes the aforementioned method by calling a computer program (for convenience of distinction, referred to as a dedicated processor). Optionally, the at least one processor may include both a dedicated processor and a general-purpose processor.

[0247] Optionally, in the case where the computing module 100 includes at least one memory 1003 , if the processor 1001 implements the aforementioned testing method by calling a computer program, the computer program may be stored in the memory 1003 .

[0248] The present application also provides a chip, which includes a logic circuit and a communication interface. The communication interface is used to receive or send a signal; the logic circuit is used to receive or send a signal through the communication interface. The chip is used to implement the aforementioned test method, for example Figure 3 Test method shown.

[0249] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed on at least one processor (or computing module), the aforementioned test method is implemented, for example Figure 3 Test method shown.

[0250] The present application also provides a computer program product, which includes computer instructions, and the computer instructions are used to implement the aforementioned test method, for example Figure 3 Test method shown.

[0251] The embodiment of the present application further provides a terminal, which includes the aforementioned computing module 90 and / or computing module 100.

[0252] As a possible implementation, the terminal includes a terminal node, wherein the terminal may be an intelligent terminal or a means of transportation such as a vehicle, a drone, or a robot.

[0253] In the description of the present application, the terms "center", "up", "down", "vertical", "horizontal", "inside", "outside", "left", "side", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0254] In the embodiments of the present application, the "end" appearing in terms such as "one end", "the other end", "left end", "right end", "upper end", "lower end", and "connecting end" is not limited to the end head, endpoint, or end face, but also includes a portion extending an axial distance and / or radial distance from the end head, endpoint, or end face on the device or element to which the end head, endpoint, or end face belongs.

[0255] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0256] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0257] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first angle measurement data and the second angle measurement data are only for the convenience of describing new parameters in different implementations, and do not indicate differences in their execution operations, importance, data content, etc.

[0258] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

Claims

1. A testing method, characterized in that: The method comprises: The detection device detects the reflection plane to obtain first angle measurement data and first distance measurement data of the target point on the reflection plane, wherein the first angle measurement data is the angle data of the target point detected by the detection device, and the first distance measurement data is the distance data of the target point detected by the detection device. The reflection plane is perpendicular to the horizontal plane in a first direction, and a line connecting the center of the detection device and the horizontal center of the reflection plane in the horizontal direction forms an acute angle with the reflection plane. Acquire a distance and a first angle between the detection device and a target point on a reflection plane, wherein the first angle is an angle between a line between a center of the detection device and the target point and the reflection plane in a horizontal direction; The first reference angle data is determined according to the first distance measurement data, the first angle, and the distance between the detection device and the target point on the reflection plane.

2. The testing method according to claim 1, characterized in that: The first reference angle data a i Satisfies the following formula: Among them, d i is the first distance measurement data, β is the first angle, d r is the distance between the detection device and the target point on the reflection plane.

3. The testing method according to claim 1 or 2, characterized in that: The reflecting plane is a reflecting plate.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: A first angle measurement deviation of the detection device is determined according to the first reference angle data and the first angle measurement data.

5. The testing method according to any one of claims 1 to 3, characterized in that: The first distance measurement data includes N first distances, and the first angle measurement data includes N first reported angles, where N is an integer and N≥1; The first reference angle data includes N first reference angles.

6. The testing method according to claim 5, characterized in that: The method further comprises: Determine N angle deviations according to the N first reference angles and the N first horizontal reporting angles, each angle deviation being used to describe a difference between a first reference angle and a corresponding first horizontal reporting angle; The angular precision of the detection device and / or the angular accuracy of the detection device are determined based on the N angular deviations.

7. The testing method according to claim 6, characterized in that: The angular accuracy of the detection device is related to the maximum value of the N angular deviations or the standard deviation of the N angular deviations, and the angular precision of the detection device is related to the average value of the N angular deviations.

8. The testing method according to any one of claims 1 to 7, characterized in that: The target point is located at the horizontal center of the reflection plane, and the height of the target point in the vertical direction is the same as the height of the center of the detection device in the vertical direction. The vertical direction is a direction perpendicular to the horizontal plane.

9. The testing method according to any one of claims 1 to 8, characterized in that: The detection device comprises a window, a normal line of which intersects with the horizontal center of the reflection plane.

10. The testing method according to any one of claims 1 to 9, characterized in that: The first distance measurement data and the first angle measurement data are detection data obtained when the first angle position of the field of view angle of the detection device is directed toward the target point position of the reflection plane. The direction of the center of the field of view angle is the direction of the detection signal emitted from the first angular position.

11. The testing method according to claim 10, characterized in that: The first angular position is a center line of the field of view angle.

12. The testing method according to any one of claims 1 to 11, characterized in that: The distance between the reflecting plane and the detection device is greater than a first distance threshold, The first distance threshold is 50 meters.

13. The testing method according to any one of claims 1 to 12, characterized in that: The reflectivity of the reflecting plane is in the range of 50%±5%.

14. The testing method according to any one of claims 1 to 13, characterized in that: The first angle is 10°.

15. The testing method according to claim 10 or 11, characterized in that: The detection device is arranged on a turntable, and the method further comprises: The turntable rotates around the center of the detection device so that a second angle position of the field of view of the detection device points to a target point aligned with the reflection plane, and the second angle position is different from the first angle position; The detection device detects the reflection plane again to obtain second angle measurement data and second distance measurement data of the target point on the reflection plane, wherein the second angle measurement data is the angle data of the target point detected by the detection device, and the second distance measurement data is the distance data of the target point detected by the detection device; The second reference angle data is determined according to the second distance measurement data, the first angle and the distance between the detection device and the target point on the reflection plane.

16. The testing method according to claim 15, characterized in that: The method further comprises: A second angle measurement deviation of the detection device is determined according to the second angle reference data and the second angle measurement data.

17. The testing method according to claim 15 or 16, characterized in that: The field of view of the detection device includes M areas, where M is an integer and M≥2. The first angular position is a center line of a first area among the M areas, and the second angular position is a center line of a second area among the M areas.

18. A testing system, characterized in that: The test system comprises a detection device, a reflection plane and a calculation module, wherein: The reflection plane is arranged perpendicularly to the horizontal plane in a first direction, and a line connecting the center of the detection device and the horizontal center of the reflection plane in the horizontal direction forms an acute angle with the reflection plane; The detection device is used to detect the reflection plane to obtain first angle measurement data and first distance measurement data of the target point on the reflection plane; The calculation module is used for: Acquire a distance and a first angle between the detection device and a target point on a reflection plane, wherein the first angle is an angle between a line between a center of the detection device and the target point and the reflection plane in a horizontal direction; The first reference angle data is determined according to the first distance measurement data, the first angle, and the distance between the detection device and the target point on the reflection plane.

19. The test system according to claim 18, characterized in that: The test system is also used to implement the test method described in any one of claims 2-11.

20. The test system according to claim 18, further comprising a turntable, the detection device is disposed on the turntable, and the turntable is used to rotate the detection device to adjust the direction of the field of view angle of the detection device; The testing system is used to implement the testing method described in any one of claims 15-17.

21. The test system according to claim 20, characterized in that: The turntable is a two-dimensional turntable, and the two-dimensional turntable is used to rotate the detection device in the horizontal direction and / or the vertical direction; Alternatively, the turntable is a one-dimensional turntable, and the one-dimensional turntable is used to rotate the detection device along the horizontal direction.

22. The test system according to any one of claims 18 to 21, characterized in that: The distance between the reflecting plane and the detection device is greater than a first distance threshold, The first distance threshold is 50 meters.

23. The test system according to any one of claims 18 to 22, characterized in that: The reflectivity of the reflecting plane is in the range of 50%±5%.

24. The test system according to any one of claims 18 to 23, characterized in that: The first angle is 10°.

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