Reflection simulation device, test system of laser radar and test method of laser radar

Abstract

The invention provides a reflection simulation device, a laser radar test system and a laser radar test method. The reflection simulation device is used for simulating reflection of an object at a first distance from the laser radar to a laser signal of the laser radar. The simulation device comprises a receiving assembly, an attenuation assembly and a transmitting assembly. The receiving assembly receives a laser signal emitted by the laser radar. The attenuation assembly attenuates the laser signal by a target attenuation value to obtain an attenuation signal. The transmitting assembly receives the attenuation signal from the attenuation assembly and transmits the attenuation signal. The simulation device is arranged at a second distance from the laser radar when working. The target attenuation value is determined based on at least the first distance, the second distance, and the aperture of the receiving lens. By using the reflection simulation device, the reflection of a long-distance object to a laser signal can be simulated at a short distance.

Description

Technical Field

[0001] This disclosure relates to the field of lidar, and more particularly to a reflection simulation device, a lidar testing system, and a lidar testing method. Background Technology

[0002] LiDAR (Light Detection and Ranging) emits lasers and receives the echoes reflected from surrounding objects. LiDAR can then determine object information, such as position, velocity, and attitude, based on these echoes.

[0003] Before leaving the factory, lidar systems require calibration and performance testing. Most lidar systems have a maximum detection range of several hundred meters or more (e.g., 200 or 300 meters), necessitating a large testing area. Indoor spaces are often insufficient to meet the required space size. Outdoor spaces are typically insufficient to meet the environmental stability requirements for lidar calibration or testing.

[0004] The information in the background section is merely information known only to the applicant and does not imply that such information had entered the public domain before the date of this application, nor does it imply that it can be considered prior art in this disclosure. Summary of the Invention

[0005] This disclosure provides a reflection simulation device, a lidar testing system, and a lidar testing method. The reflection simulation device can simulate the reflection of laser signals from distant objects at close range, reducing the space requirements for lidar testing or calibration.

[0006] In a first aspect, this specification provides a reflection simulation device. This reflection simulation device is used to simulate the reflection of a laser signal from a lidar by an object at a first distance from the lidar. The simulation device includes a receiving component, an attenuation component, and a transmitting component. The receiving component is configured to receive the laser signal emitted from the lidar. The attenuation component is configured to attenuate the laser signal by a target attenuation value to obtain an attenuated signal. The transmitting component is configured to receive the attenuated signal from the attenuation component and transmit the attenuated signal. The simulation device operates at a second distance from the lidar. The target attenuation value is determined at least based on the first distance, the second distance, and the aperture of the receiving lens.

[0007] In some embodiments, the reflection simulation device further includes a transmission component, wherein a first optical path is included between the receiving component and the attenuation component, and a second optical path is included between the attenuation component and the transmitting component, and the transmission component provides at least one of the first optical path or the second optical path.

[0008] In some embodiments, the transmission component is configured to transmit the laser signal for a predetermined duration.

[0009] In some embodiments, the transmission component includes an optical fiber.

[0010] In some embodiments, the predetermined duration corresponds to the laser flight time corresponding to the difference between the first distance and the second distance.

[0011] In some embodiments, the receiving component includes a plurality of receiving units configured to receive the laser signal; the attenuation component includes a plurality of attenuation units configured to attenuate the laser signal transmitted from the corresponding receiving unit by the target attenuation value to obtain the attenuated signal; the transmitting component includes a plurality of transmitting units configured to receive the attenuated signal from the corresponding attenuation unit and transmit the attenuated signal; and the plurality of receiving units and the plurality of transmitting units are arranged in an array on the target plane, with the transmitting units distributed adjacent to the corresponding receiving units.

[0012] In some embodiments, the emitting component is also configured to reflect ambient light.

[0013] In some embodiments, the target attenuation value is also determined based on the reflectivity of the object to be simulated.

[0014] Secondly, this specification provides a radar testing system. The testing system includes a reflection simulation device as described in any of the first aspects and a base. The reflection simulation device is configured to simulate an object. The base is configured to support a lidar.

[0015] In some embodiments, the test system further includes an adjustment component. The adjustment component is mechanically connected to at least one of the simulation device or base. The adjustment component is configured to adjust the relative pose of the simulation device and the lidar.

[0016] In some embodiments, the adjustment assembly includes a moving assembly and a rotating assembly. The moving assembly is mechanically connected to at least one of the simulation device or the base. The moving assembly is configured to adjust the relative position of the simulation device and the lidar. The rotating assembly is mechanically connected to at least one of the simulation device or the base. The rotating assembly is configured to adjust the angle of the lidar or the simulation device in the test space such that a laser signal is incident on the simulation device in a predetermined direction. The predetermined direction includes a direction perpendicular to the simulation device.

[0017] In some embodiments, the testing system further includes an ambient light simulation component. The ambient light simulation component is configured to emit target light with a preset wavelength and a preset intensity.

[0018] In some embodiments, a second optical path is included between the attenuation component and the emission component. Target light rays illuminate the emission component via the second optical path.

[0019] Thirdly, this specification provides a testing method for a lidar. This testing method can be applied to the testing system described in any of the second aspects. The testing method includes the following steps: setting the simulation device and the lidar at a second distance to simulate an object at a first distance from the lidar; determining a target attenuation value based at least on the first distance, the second distance, and the aperture of the lidar's receiving lens; setting an attenuation component based on the target attenuation value; and controlling the lidar to operate, and determining the lidar's performance at least partially based on the attenuation signal.

[0020] In some embodiments, the testing method further includes the following step: determining the optical consistency distance of the lidar, wherein the second distance is greater than or equal to the optical consistency distance.

[0021] In some embodiments, the testing method further includes the step of rotating at least one of the lidar or simulation device to cause the laser signal to be incident on the simulation device in a predetermined direction, wherein the predetermined direction includes a direction perpendicular to the simulation device.

[0022] In some embodiments, the reflection simulation device further includes a transmission component. The test method further includes the step of setting up the transmission component based on a first distance and a second distance.

[0023] In some embodiments, the testing method further includes the step of irradiating a simulation device with target light, the target light having a preset wavelength and a preset intensity.

[0024] In some embodiments, the testing method further includes the following steps: adjusting the preset intensity of the target light and / or adjusting the preset wavelength of the target light.

[0025] In some embodiments, the performance of the lidar includes at least one of distance measurement performance, distance measurement accuracy, or reflectivity measurement accuracy.

[0026] As can be seen from the above technical solution, the reflection simulation device provided in this specification can be used to simulate the reflection of the laser signal from the lidar by an object at a first distance from the lidar. By using the simulation device, the reflection of the laser signal from an object at the first distance can be simulated at a second distance, thereby reducing the requirements for the test space size during lidar testing. The second distance is smaller than the first distance. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. The accompanying drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram of a lidar operating scenario according to some embodiments of the present disclosure is shown;

[0029] Figure 2 A schematic diagram of the distribution of multiple channels in a lidar according to some embodiments of the present disclosure is shown;

[0030] Figure 3 A schematic diagram of a reflected energy body when a laser signal is irradiated onto a standard diffuse reflector according to some embodiments of the present disclosure is shown.

[0031] Figure 4 A schematic diagram of a test system for a lidar provided according to some embodiments of the present disclosure is shown;

[0032] Figure 5 A schematic diagram of a simulation device provided according to some embodiments of the present disclosure is shown;

[0033] Figure 6 A schematic diagram of a test system for another lidar provided according to some embodiments of the present disclosure is shown; and

[0034] Figure 7 A flowchart of a test method for a lidar provided according to some embodiments of the present disclosure is shown. Detailed Implementation

[0035] The following description provides specific application scenarios and requirements for this specification, intended to enable those skilled in the art to manufacture and use the contents of this specification. Those skilled in the art will find that the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and foregoing description of the drawings of this disclosure are intended to cover non-exclusive inclusion.

[0037] In the description of the embodiments of this disclosure, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "multiple" means two or more, unless otherwise explicitly defined.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] Considering the following description, these and other features of this specification, as well as the operation and function of the related components of the structure, and the economy of assembly and manufacture of the parts, can be significantly improved. All of these form part of this specification with reference to the accompanying drawings. However, it should be clearly understood that the drawings are for illustrative and descriptive purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0040] The flowcharts used in this specification illustrate operations implemented according to some embodiments of this specification. It should be clearly understood that the operations in the flowcharts may not be implemented in a sequential order. Instead, the operations may be implemented in reverse order or simultaneously. Furthermore, one or more additional operations may be added to the flowcharts. One or more operations may be removed from the flowcharts.

[0041] The terms "or" and "and / or" in this specification are used to describe the relationship between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone", "B alone", or "A and B", where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C" and "A, B or C" can both include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", where "A", "B", and "C" can include a single object or multiple objects. Additionally, the " / " in this specification is used to indicate an "or" relationship between related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this specification are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0042] In this specification, "X includes at least one of A, B, or C" means that X includes at least A, or X includes at least B, or X includes at least C. That is, X may include only one of A, B, and C, or any combination of A, B, and C, as well as other possible contents or elements. The arbitrary combination of A, B, and C can be A, B, C, AB, AC, BC, or ABC.

[0043] In this specification, unless explicitly stated otherwise, the relationships between structures can be direct or indirect. For example, when describing "A is connected to B," unless it is explicitly stated that A and B are directly connected, it should be understood that A can be directly connected to B or indirectly connected to B. Similarly, when describing "A is on top of B," unless it is explicitly stated that A is directly above B (AB is adjacent and A is above B), it should be understood that A can be directly above B or indirectly above B (AB is separated by other elements, and A is above B). And so on.

[0044] Before describing the specific embodiments in this specification, let's first combine... Figure 1 A brief explanation of the structure and operation of lidar.

[0045] Figure 1 A schematic diagram illustrating a working scenario of a lidar according to some embodiments of the present disclosure is shown. Figure 1 As shown, scene 001 includes lidar 100 and object 200. Figure 1 The left side of the image shows a partial internal structure diagram of the lidar 100. The lidar 100 may include multiple lasers 110 and multiple detectors 120.

[0046] When laser 110 is operating, it can emit a detection light signal. For example, the detection light signal can be a laser signal. When detector 120 is operating, it receives the echo signal generated by the detection light signal being reflected by object 200. LiDAR 100 also includes a receiving lens 140. The receiving lens 140 can be disposed on the side of detector 120 closer to object 200. For example, after the detection light signal encounters object 200, it is diffusely reflected by object 200 to form an echo signal. The echo signal returns to lidar 100 and is received by detector 120 after passing through the receiving lens. In some embodiments, each detector 120 can be provided with a corresponding receiving lens 140. In other embodiments, multiple detectors 120 can share a single receiving lens 140.

[0047] The aforementioned plurality of lasers 110 and detectors 120 can form a plurality of detection channels 130. A detection channel 130 can represent a path through which the lidar 100 emits laser light and receives the corresponding echo. For example, when the laser 110 is operating, it emits a laser signal. The laser signal encounters an object 200 and is reflected by the object 200 to form an echo signal. This echo signal is detected by the detector 120, thereby forming a detection channel 130. In some embodiments, a channel 130 may include one laser 110 and one detector 120. In other embodiments, a channel 130 may include a plurality of lasers 110 and one detector 120. In other embodiments, a channel 130 may include a plurality of lasers 110 and a plurality of detectors 120. In other embodiments, a channel 130 may include a plurality of lasers 110 and a plurality of detectors 120. This specification does not limit the specific number of lasers 110 or detectors 120 in a channel 130.

[0048] In some embodiments, one channel 130 of the lidar 100 can correspond to one detection field of view. The laser 110 in this channel 130 can emit a laser beam towards the detection field of view, and the detector 120 can receive the echo generated after the laser beam is reflected by an object in the detection field of view. This enables the lidar 100 to detect objects in the detection field of view. The lidar 100 can include multiple detection channels 130. Similarly, other channels 130 in the lidar 100 can detect object information within their respective detection fields of view.

[0049] In some embodiments, the lidar 100 may further include a controller 150. The controller 150 can control the laser 110 to emit probe light signals and can control the detector 120 to receive echo signals. This specification does not limit the type of controller 150. For example, the controller 150 may include one or more of the following devices: a microcontroller, a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic device (PLD), a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an advanced RISC machine (ARM), or an application-specific integrated circuit (ASIC). As another example, the controller 150 may be any circuit or processor capable of performing one or more functions, or any combination thereof.

[0050] Figure 2 A schematic diagram of the distribution of multiple channels in a lidar provided according to some embodiments of the present disclosure is shown. Figure 2 A gray rectangle in the image can represent a channel 130. For example... Figure 2 As shown, when the lidar 100 is placed on a horizontal plane, multiple channels 130 can be arranged in a direction perpendicular to the horizontal plane (hereinafter referred to as the vertical direction). One channel 130 can correspond to a vertical field of view (VFOV). During the operation of the lidar 100, the laser 110 in one channel 130 emits a laser beam towards a vertical field of view to detect objects. For example, the vertical field of view corresponding to the first channel 130 can be +20 degrees. The vertical field of view corresponding to the last channel 130 can be -25 degrees. The multiple channels 130 can be evenly distributed or non-uniformly distributed. The intervals between the angles corresponding to the channels 130 can be the same or different. For example, Figure 2 The spacing between the vertical angles of each channel 130 of the lidar 100 shown is not the same, and the middle beam is more densely distributed than the beams on the sides.

[0051] The lidar 100 can be used in various scenarios. Different objects 200 can have different reflectivities. Reflectivity refers to the ratio of the radiant energy reflected from the object 200 to the total radiant energy projected onto the object 200. In the lidar industry, during research, testing, and production, target plates with different reflectivities are typically used to simulate objects 200 with varying reflectivities. The target plate 210 can be a standard diffuse reflector (also known as a Lambertian reflector).

[0052] Figure 3 A schematic diagram of a reflected energy body when a laser signal is irradiated onto a standard diffuse reflector according to some embodiments of the present disclosure is shown. Figure 3 The dashed line represents the surface normal of the target plate 210, and its direction is perpendicular to the target plate 210. The amount of reflected energy that the lidar 100 can receive is related to the aperture size of the receiving lens 140 of the lidar 100 and the incident angle of the emitted laser light on the target plate 210. For example, as... Figure 3 As shown, the laser emitted by the lidar 100 is incident perpendicularly on the target plate 210, meaning the incident angle of the laser emitted by the lidar 100 on the target plate 210 is 90°. The lidar 100 can calculate the equivalent Lambertian reflectivity of the object based on the received echo energy reflected from the object, according to a certain incident angle (e.g., perpendicular incidence). The lidar's ability to receive accurate and realistic reflected energy is one of the key factors ensuring the accuracy of test data during performance testing of the lidar 100.

[0053] As mentioned earlier, most LiDAR 100 systems have a maximum detection range of several hundred meters or more (e.g., 200 meters, 300 meters, etc.). Testing the performance of a LiDAR 100 requires a large testing area. Indoor spaces are often insufficient to meet the required space size. Outdoor spaces are often insufficient to meet the environmental stability requirements for LiDAR calibration or testing.

[0054] To address the aforementioned problems, this specification provides a testing system for lidar. The lidar testing system includes a reflection simulation device. This reflection simulation device can simulate the reflection of laser signals from distant objects at close range, reducing the space requirements for lidar testing or calibration.

[0055] The following section provides a detailed description of test system 002 in conjunction with the accompanying drawings.

[0056] Figure 4 A schematic diagram of a test system for a lidar according to some embodiments of the present disclosure is shown. Figure 4 As shown, the lidar test system 002 (hereinafter referred to as test system 002) may include a base 300 and a reflection simulation device 400.

[0057] The base 300 is configured to support the lidar 100. The lidar 100 can be directly or indirectly fixed to the base 300 and face the reflection simulation device 400. For example, the laser emitted by the lidar 100 can be incident on the simulation device 400. In some embodiments, the base 300 may include clamps. By adjusting the clamping spacing of the clamps, the clamps can hold lidars 100 of different sizes. In some embodiments, the base 300 may include slots and retaining pins. By adjusting the position of the retaining pins, the slots can secure lidars 100 of different sizes.

[0058] The reflection simulation device 400 (hereinafter referred to as the simulation device 400) is used to simulate the reflection of the laser signal of the lidar 100 by an object at a first distance from the lidar 100. When the simulation device 400 is operating, it is positioned at a second distance from the lidar 100. For example, the lidar 100 is fixed by a base 300, and the lidar 100 is positioned at the second distance from the simulation device 400. The second distance can be less than the first distance. The first distance is a greater distance relative to the second distance, and the second distance is a closer distance relative to the first distance. For example, the simulation device 400 is positioned 50 meters away from the lidar 100 to simulate an object 300 meters away from the lidar. As another example, the lidar 100 is positioned 50 meters away from the simulation device 400, and the simulation device 400 is used to simulate an object 400 meters away from the lidar 100. As yet another example, the simulation device 400 is positioned 100 meters away from the lidar 100 to simulate an object 400 meters away from the lidar.

[0059] In some embodiments, the first distance may be selected based on the maximum detection range of the lidar 100 or testing requirements. In some embodiments, the second distance may be selected based on the available testing site size or testing requirements. In some embodiments, the second distance is greater than or equal to the optical alignment distance. When the distance between the lidar 100 and the object is greater than or equal to the optical alignment distance, the factors affecting the energy of the echo signal that the lidar can receive are the same, resulting in a consistent optical efficiency pattern for the lidar when the distance between the lidar 100 and the object 200 is greater than or equal to the optical alignment distance. For example, the energy that the lidar 100 can receive is affected by the reflectivity of the object 200. When the distance between the object and the lidar 100 is greater than or equal to the optical alignment distance, the influence of the change in the reflectivity of the object at different distances on the energy that the lidar 100 can receive is consistent. Similarly, the energy that the lidar 100 can receive is affected by the distance between the object 200 and the lidar 100. When the distance between the object 200 and the lidar 100 is greater than or equal to the optical alignment distance, the influence of the distance change on the energy that the lidar 100 can receive is consistent. Therefore, when the distance between the lidar 100 and the object 200 exceeds a certain distance, a simulation device 400 can be used to simulate the distant object 200 at close range for performance testing. This distance can be called the optical consistency distance.

[0060] In some embodiments, the simulation device 400 is positioned at a distance greater than or equal to the optical alignment distance from the lidar 100. This allows for higher accuracy in lidar performance testing when the simulation device 400 simulates a distant object at close range. The optical alignment distance may be related to the optomechanical structure of the lidar 100. Lidar 100s with different structures may have different optical alignment distances. In some embodiments, the optical alignment distance of the lidar 100 may be 30 meters. The second distance may be any distance greater than 30 meters. For example, the second distance may be 31 meters, 33 meters, 35 meters, 40 meters, 45 meters, 50 meters, etc. In some embodiments, the optical alignment distance may be 50 meters. The second distance may be any distance greater than 50 meters. For example, the second distance may be 51 meters, 53 meters, 55 meters, 60 meters, 65 meters, 70 meters, etc.

[0061] Figure 5 A schematic diagram of a simulation device provided according to some embodiments of the present disclosure is shown. Figure 5As shown, the reflection simulation device 400 includes a receiving component 410, an attenuation component 420, and a transmitting component 430. The laser signal emitted by the lidar 100 can be received by the receiving component 410, attenuated by the attenuation component 420, and then transmitted back to the lidar 100 by the transmitting component 430. The reflection simulation device 400 can simulate the entire process of the object 200 reflecting the laser signal.

[0062] The receiving component 410 is configured to receive laser signals emitted by the lidar 100. In some embodiments, the receiving component 410 may include a lens or lens group for receiving the laser signals emitted by the lidar 100. In some embodiments, the receiving component 410 may include a filter. The filter may allow light within the wavelength range of the laser signal to pass through.

[0063] The attenuation component 420 is configured to attenuate the laser signal by a target attenuation value, thereby obtaining an attenuated signal. The target attenuation value is determined at least based on a first distance, a second distance, and the aperture of the receiving lens. The attenuation component 420 can receive the laser signal transmitted from the receiving component 410 and attenuate the laser signal by the target attenuation value, thereby at least simulating the attenuation of the laser signal by the object 200.

[0064] As an example, this application uses the example of a tester placing a simulation device 400 50 meters away from the lidar 100 to simulate an object 200 with a reflectivity of 10% at a distance of 300 meters from the lidar. Therefore, in this embodiment, the first distance is 300 meters and the second distance is 50 meters. It is worth noting that the following analysis is based on a series of assumptions, which are qualitatively proposed for ease of description rather than quantitatively, and the actual situation and values ​​may differ from the assumptions.

[0065] Assume the energy of the laser signal emitted by lidar 100 is P. For certain wavelengths of laser light, the energy attenuation in air is minimal. For simplicity, we will ignore the attenuation in air for now. When the laser signal strikes object 200, and the object's reflectivity is 10%, the total reflected energy is approximately 0.1P. Only a portion of this total reflected energy can be received by lidar 100. If, at a certain distance from object 200, lidar 100 can only receive 1% of the total reflected energy, then lidar 100 can only receive 0.001P of reflected energy.

[0066] When using the simulation device 400 to simulate object 200, in order to accurately simulate object 200, it is necessary to ensure that when the simulation device 400 and the lidar 100 are at a second distance apart, the energy that the lidar 100 can receive is still 0.001P.

[0067] Ignoring the attenuation of the laser signal by air, the percentage of reflected energy that the lidar 100 can receive out of the total reflected energy is related to the distance between the lidar 100 and the object 200. The greater the distance between the lidar 100 and the object 200, the smaller the percentage of reflected energy that the lidar 100 can receive; conversely, the smaller the distance, the larger the percentage of reflected energy that the lidar 100 can receive. For example, when the total reflected energy is 0.1P, at a long distance (e.g., the first distance), the lidar 100 can receive 1% of the total reflected energy, which is 0.001P; at a short distance (e.g., the second distance), the lidar 100 can receive 10% of the total reflected energy, which is 0.01P. With other conditions remaining constant, the energy that the lidar 100 can receive increases from 0.001P to 0.01P due to the closer distance. Therefore, by reasonably adjusting the target attenuation value of the attenuation component 420, the magnitude of the reflected energy that the lidar 100 can receive when the reflection simulation device 400 is set at the second distance can be the same as the magnitude of the reflected energy that the lidar 100 can receive when the simulated object 200 is set at the first distance.

[0068] In some embodiments, the target attenuation value is also determined based on the reflectivity of the object 200 to be simulated. Due to differences in material properties, surface roughness, etc., different objects 200 have different reflectivities for laser signals. The reflectivity of an object can affect the amount of reflected energy that the lidar 100 can receive. Therefore, the target attenuation value can also be determined based on the reflectivity of the object 200 to be simulated.

[0069] Laser signals attenuate during propagation through the atmosphere due to absorption and scattering by the air. The degree of attenuation varies depending on the distance the laser signal travels through the air. For example, the greater the distance, the greater the attenuation; the closer the distance, the smaller the attenuation. In some embodiments, since the simulation device 400 is closer to the lidar 100 than the object 200 to be simulated, the attenuation component 420 can further increase the attenuation value to simulate the attenuation of the laser signal by the air.

[0070] The assumptions above are made for ease of description only. Actual values ​​may differ from the assumptions. Any embodiment that does not depart from the core inventive points of this specification is within the scope of protection of this specification.

[0071] The attenuation component 420 can be configured based on a target attenuation value. In some embodiments, the attenuation component 420 may include a set of laser attenuation devices with adjustable laser attenuation levels to adjust the power of the laser signal. In other embodiments, the attenuation component 420 may include an attenuator. Different attenuation values ​​for the laser signal can be achieved by setting different attenuators. In still other embodiments, the attenuation component 420 may include an attenuation film.

[0072] In some embodiments, the test system 002 may include a memory. The memory may store the correspondence between a first distance, a second distance, and / or the aperture of the receiving lens and the target attenuation value. In some embodiments, the test system may include a controller that can control the attenuation component 420. Once the first distance, the second distance, and the aperture of the receiving lens are determined, the test system can adjust the attenuation component 420 to adjust the target attenuation value of the laser signal.

[0073] In some embodiments, such as Figure 5 As shown, the attenuation component 420 is disposed between the receiving component 410 and the transmitting component 430. The attenuated signal is obtained after being attenuated by the laser attenuation component 420 and transmitted to the transmitting component 430 along the optical path. In some other embodiments, the attenuation component 420 is disposed between the transmitting component 430 and the lidar 100. This specification does not limit the specific embodiments.

[0074] The transmitting component 430 is configured to receive an attenuation signal from the attenuation component 420 and transmit an attenuation signal.

[0075] In some embodiments, within a preset angle range, the percentage difference between the optical power distribution of the attenuated signal emitted by the transmitting component 430 and the optical power distribution of the diffuse reflective object is less than or equal to a first preset threshold. For example, the optical power distribution of the attenuated signal emitted by the transmitting component 430, whose angle with the normal to the plane containing the simulation device 400 is within the preset angle range, differs from the optical power distribution of the diffuse reflective object by less than the preset threshold. For example, the aforementioned preset angle range may be 0° to 30°, 0° to 40°, 0° to 60°, or other angle ranges. As another example, the aforementioned first preset threshold may be any value less than or equal to 50%, such as 50%, 30%, 20%, 10%, or 5%. In some embodiments, within a preset angle range, the difference in optical power between the attenuated signals emitted by the transmitting component 430 at each angle does not exceed a second preset threshold (e.g., any multiple less than 3 times, such as 1, 2 or 3 times), and the difference in optical power between the attenuated signal at any angle and each angle within ±1° of its adjacent angle does not exceed a third preset threshold (e.g., any multiple less than 1.5 times, such as 0.5 times, 1 or 1.5 times).

[0076] In some embodiments, the emitting component 430 can also be configured to reflect ambient light. When external ambient light shines on the emitting component 430, it can be reflected by the emitting component 430 to simulate the reflection of ambient light by the object 200.

[0077] In some embodiments, the transmitting assembly 430 includes a lens group. For example, the transmitting assembly 430 may include a collimating lens to collimate the attenuated signal before transmitting it to the lidar 100. In some embodiments, the transmitting assembly 410 may also include a diffuse reflector to simulate diffuse reflection of the laser signal by the object 200.

[0078] In some embodiments, the simulation device 400 may further include a transmission component 440. For example, the transmission component 440 may be a waveguide. For example, the transmission component 440 may include an optical fiber, a rectangular waveguide, or a circular waveguide. As another example, the transmission component 440 may be a solid medium. For example, the transmission component 440 may be quartz glass or other transparent media. The transmission component 440 may be configured to transmit a laser signal for a predetermined duration. The laser signal here may include both unattenuated and attenuated laser signals. The predetermined duration may correspond to the laser flight time corresponding to the difference between a first distance and a second distance. Since the laser flight time is the total time it takes for the laser to travel from the lidar, be reflected, and return to the lidar, the laser flight time corresponding to the difference between the first and second distances is the time required for the laser to travel twice the distance between the first and second distances. By using the transmission component 440, the laser flight time corresponding to the difference between the first and second distances can be "compensated".

[0079] For example, if the first distance is 200 meters and the second distance is 100 meters, the transmission component 440 can be used to optically delay the laser signal, compensating for the 200-meter optical distance. This ensures that the flight time or transmission time of the laser signal within the transmission component 440 is equal to the laser flight time corresponding to the difference between the first and second distances. For example, when the transmission component 440 is an optical fiber, the laser signal can be transmitted in the fiber for a predetermined duration. The transmission time of the laser signal in the optical fiber is related to factors such as the length of the fiber and its refractive index. For example, the longer the optical fiber, the longer the laser signal transmission time. Furthermore, the higher the refractive index of the optical fiber, the longer the laser signal transmission time.

[0080] In some embodiments, the attenuation component 420 may be disposed within the transmission component 440. For example, the attenuator may be coupled into the interior of the optical fiber, causing the laser signal to be attenuated during transmission.

[0081] By using the transmission component 440 to transmit laser signals for a predetermined duration, the flight of the laser signal at different distances can be simulated, thereby adapting to testing requirements at different distances. For example, by changing the length or refractive index of the optical fiber, the transmission duration of the laser signal can be changed, thus simulating the flight of the laser signal at different distances and adapting to testing requirements at different distances.

[0082] A first optical path may exist between the receiving component 410 and the attenuating component 420. A second optical path may exist between the attenuating component 420 and the transmitting component 430.

[0083] In some embodiments, the transmission component 440 may provide a first optical path and a second optical path. For example, the receiving component 410 and the attenuation component 420 are connected via optical fiber, and the attenuation component 420 and the transmitting component 430 are also connected via optical fiber. After receiving a laser signal, the receiving component 410 converges the collected laser signal into the optical fiber and transmits it to the attenuation component 420. The attenuation component 420 attenuates the laser signal to the target attenuation value and then transmits it to the transmitting component 430 via the optical fiber. The transmitting component 430 can emit the attenuated signal in the optical fiber in a manner that simulates diffuse reflection from the object 200.

[0084] In some embodiments, the transmission component 440 may provide a first optical path. For example, the receiving component 410 and the attenuation component 420 are connected via an optical fiber. The attenuation component 420 may be in close proximity to the transmitting component 430. For example, the attenuation component 420 includes the aforementioned attenuation film. The attenuation film may be formed on the transmitting component 430 by a thin-film fabrication process, or by attaching an attenuation film formed by a thin-film fabrication process to the transmitting component 430. In some embodiments, the transmission component 440 may provide a second optical path. For example, the attenuation component 420 and the transmitting component 430 are continuous via an optical fiber. The attenuation component 420 may be in close proximity to the transmitting component 410. For example, the attenuation component 420 may include an attenuation film. The attenuation film may be formed on the receiving component 410 by a thin-film fabrication process, or by attaching an attenuation film formed by a thin-film fabrication process to the receiving component 410.

[0085] It is worth noting that energy loss may occur during the aforementioned reception, forwarding, or transmission of the laser signal. For example, energy loss occurs when the laser signal is transmitted through optical fiber. When using the attenuation component 420 to attenuate the laser signal to the target attenuation value, the energy loss that occurs during the aforementioned process can be taken into account, and the target attenuation value of the attenuation component can be appropriately reduced.

[0086] In some embodiments, the simulation device 400 is composed of an array of multiple tiny structural units. Figure 6 A schematic diagram of another lidar test system provided according to some embodiments of the present disclosure is shown. Figure 6 As shown, the simulation device 400 can be a rectangular plate-like structure as a whole. The simulation device 400 can be composed of small honeycomb-shaped structural units.

[0087] In some embodiments, the receiving component 410 may include a plurality of receiving units 411. Each receiving unit 411 may be configured to receive a laser signal. The attenuation component 420 may include a plurality of attenuation units 421. Each attenuation unit 421 may be configured to attenuate the laser signal transmitted from the corresponding receiving unit 411 by a target attenuation value, thereby obtaining an attenuated signal. The transmitting component 430 may include a plurality of transmitting units 431. Each transmitting unit 431 may be configured to receive the attenuated signal from the corresponding attenuation unit and transmit the attenuated signal. Furthermore, the plurality of receiving units 411 and the plurality of transmitting units 431 may be arrayed on the target plane 500, with each transmitting unit 431 adjacent to its corresponding receiving unit 411. Figure 6As shown, the simulation device 400 includes 36 structural units arranged in a 6×6 array. These include 18 receiving units 411 and 18 transmitting units 431. The receiving units 411 and transmitting units 431 are uniformly distributed on the target plane 500. The receiving units 411 and transmitting units 431 can be connected via optical fibers or other optical transmission devices. An attenuation unit 420 can be disposed within the optical fiber, or between the receiving unit 411 and the optical fiber, or between the transmitting unit 431 and the optical fiber.

[0088] As mentioned earlier, energy loss may occur during the reception, forwarding, or transmission of laser signals. For example, when a laser signal illuminates the entire target plane 500, multiple receiving units 411 may receive the laser signal, while multiple transmitting units 431 may not. This results in energy loss of the laser signal during its reception by the simulation device 400. When using the attenuation component 420 to attenuate the laser signal to the target attenuation value, the energy attenuation of the laser signal generated during the above process can also be considered.

[0089] When the simulation device 400 is composed of small honeycomb-shaped structural units, the smaller the size of the structural units, the higher the fidelity when using the simulation device 400 to reconstruct the shape and energy distribution of the laser signal spot. For example, when abnormal test data occurs, the energy distribution of the spot can be reconstructed using the simulation device 400. For example, a detector can be placed after the receiving unit 411, attenuation unit 421, or transmitting unit 431 to transmit the laser signal illuminating the simulation device 400 to the detector.

[0090] As previously described, the emitting component 430 may include a diffuse reflector to simulate the diffuse reflection of a laser signal by the object 200. Multiple emitting units 431 may include multiple diffuse reflectors. By using multiple diffuse reflectors to scatter the laser signal (attenuation signal), the laser signal can be scattered more uniformly, thereby improving the degree of diffuse reflection simulation by the emitting component 430.

[0091] The lidar 100 may include multiple channels 130. For example, such as Figure 2 As shown, the lidar 100 includes multiple channels 130 distributed along the vertical direction. The multiple channels 130 can be tested sequentially or in batches, thereby ensuring that each channel 130 can illuminate the target plane 500 at the incident angle required for the test (e.g., vertical incident or near-vertical incident, or other incident angles).

[0092] In some embodiments, the test system 002 may include an adjustment component 600. The adjustment component 600 may be mechanically connected to at least one of the simulation device 400 or the base 300. The adjustment component 600 is configured to adjust the relative pose of the simulation device 400 and the lidar 100. For example, the adjustment component 600 may be mechanically connected to the simulation device 400. Figure 6 As shown, the adjustment component 600 can move the simulation device 400 to adjust its relative pose with the lidar 100. For example, the adjustment component 600 can be mechanically connected to the base 300. Figure 6 As shown, the adjustment component 600 moves the base 300, which in turn moves the lidar 100, thereby adjusting the relative pose of the lidar 100 and the base 300. For example, as... Figure 6 As shown, the adjustment component 600 can be mechanically connected to the simulation device 400 and the base 300.

[0093] In some embodiments, the adjustment component 600 may include a rotation component 610. The rotation component 610 may be mechanically connected to at least one of the simulation device 400 or the base 300. The rotation component 610 is configured to adjust the angle of the lidar 100 or the simulation device 400 in the test space, such that a laser signal is incident on the simulation device 400 in a predetermined direction. The predetermined direction includes a direction perpendicular to the simulation device 400. For example, the rotation component 610 may include a rotating shaft. The rotating shaft may be mechanically connected to the base 300, thereby causing the lidar 100 to rotate or oscillate. As another example, the rotation component 610 may include a rotary cylinder, a motor (such as a stepper motor), or other drive mechanism. Taking a rotary cylinder as an example, the rotating shaft of the rotary cylinder may be connected to the base 610. When the rotary cylinder operates, it can cause the base 300 to rotate, thereby causing the lidar 100 to rotate, and thus adjusting the angle of the lidar 100 in the test space.

[0094] In some embodiments, the adjustment component 600 may further include a moving component 620. The moving component 620 may be mechanically connected to at least one of the simulation device 400 or the base 300. The moving component 620 may be configured to adjust the relative position of the simulation device 400 and the lidar 100. Adjusting the relative position of the simulation device 400 and the lidar 100 may include adjusting the relative distance between the simulation device 400 and the lidar 100. For example, as... Figure 6 As shown, the movable component 620 can be mechanically connected to the simulation device 400. The movable component 620 adjusts the position of the simulation device 400 to adjust the distance between the simulation device 400 and the lidar 100.

[0095] In some embodiments, the moving component 620 can drive the simulation device 400 to perform one-dimensional, two-dimensional, or three-dimensional motion. For example, the moving component 620 may include a lead screw and nut structure and a motor. The motor drives the lead screw to rotate. The nut converts the rotation of the lead screw into linear motion to drive the simulation device 400 to move. This specification does not limit the mode of motion of the moving component 620. The relative distance between the simulation device 400 and the lidar 100 can be adjusted by the moving component 620. The relative pose of the simulation device 400 and the lidar 100 can be adjusted by the rotating component 610, so that the laser signal is incident on the simulation device 400 in a predetermined direction, thereby ensuring the accuracy of the test results.

[0096] In some embodiments, the test system 002 may further include an ambient light simulation component 700. For example... Figure 6 As shown, the ambient light simulation component 700 is configured to emit target light with a preset wavelength and preset intensity. For example, the ambient light simulation component 700 may include a light-emitting diode (LED). As another example, the ambient light simulation component 700 may include a fiber optic spectrometer. The preset wavelength and preset intensity of the target light can be selected according to different test scenarios. For example, the ambient light simulation component 700 may emit target light with the same wavelength as a laser signal. In some embodiments, the intensity or wavelength of the target light can be adjusted. For example, the test system 002 may include an LED adjustment circuit. The intensity of the target light emitted by the LED can be adjusted through the LED adjustment circuit. The ambient light simulation component can simulate various application or test scenarios, which helps improve the consistency of the lidar test environment and the accuracy of the test results.

[0097] In some embodiments, the target light beam can directly illuminate the entire simulation device 400. The target light beam can be reflected by the emitting component 430 and then received by the lidar 100. In other embodiments, a second optical path is included between the attenuation component 420 and the emitting component 430. The target light beam can illuminate the emitting component via the second optical path. For example, the second optical path can include an optical fiber. The ambient light simulation component 700 can couple the target light beam into the optical fiber of the second optical path via an optical fiber coupling lens. The target light beam illuminates the emitting component 430 via the second optical path, and the emitting component emits the target light beam. This allows the target light to bypass the attenuation component 420, reducing the luminous power of the ambient light simulation component 700.

[0098] In some embodiments, the test system 002 may also include other environmental simulation components to simulate the test environment in real-world scenarios, making the test results more accurate. For example, the test system 002 may include a temperature regulator to simulate high or low temperatures in real-world scenarios. As another example, the test system 002 may also include a liquid sprayer. The liquid sprayer can spray water in a mist onto the area where the test system 002 is located to simulate the atmospheric environment under foggy conditions. The sprayer can also spray water in a jet shape onto the area where the test system 002 is located to simulate the atmospheric environment under rainy conditions.

[0099] This specification also provides a test system 002. The test system 002 may include the aforementioned base 300 and simulation device 400. The base 300 may be configured to support the lidar 100. The simulation device 400 may be configured to simulate an object 200. The base 300 may include the aforementioned... Figure 4 as well as Figure 6 The corresponding embodiment provides a base 300. The simulation device 400 may include the aforementioned... Figures 4 to 6 The corresponding embodiment provides a simulation device 400.

[0100] Figure 7 A flowchart of a test method S100 for a lidar according to some embodiments of the present disclosure is shown. Test method S100 can be applied to the test system 002 described above. Test method S100 may include:

[0101] S110: Set the simulation device 400 and the lidar to a second distance from the lidar 100.

[0102] The simulation device 400 is set at a second distance from the lidar 100 to simulate an object 200 at a first distance from the lidar 100.

[0103] As previously mentioned, the distance between the simulation device 400 and the lidar 100 can be set to be greater than or equal to the optical consistency distance. In some embodiments, the test method S100 may further include: determining the optical consistency distance of the lidar 100, wherein the second distance is greater than or equal to the optical consistency distance.

[0104] As previously described, in some embodiments, the test system 002 may include an adjustment component 600. The adjustment component 600 (e.g., the moving component 620 within the adjustment component) moves the simulation device 400 or the lidar 100 to adjust the distance between the lidar 100 and the simulation device 400 to a second distance, wherein the second distance is greater than or equal to the optical coherence distance. For example, the second distance can be any distance greater than or equal to the optical coherence distance and less than or equal to the first distance. The magnitude of the second distance can be set according to test requirements and site size, and is not specifically limited here.

[0105] S130: Determine the target attenuation value based at least on the first distance, the second distance, and the aperture of the receiving lens 140 of the lidar 100.

[0106] As mentioned above, the target attenuation value is determined at least based on the first distance, the second distance, and the aperture of the receiving lens 140 of the lidar 100.

[0107] In some embodiments, the target attenuation value is also related to the reflectivity of the object 200 to be simulated. The target attenuation value can also be determined based at least on the reflectivity of the object 200. In some embodiments, the target attenuation value is also related to the energy loss of the simulation device 400 during reception, forwarding, and transmission. The target attenuation value can also be determined based at least on the energy loss described above.

[0108] S150: Set the attenuation component 420 based on the target attenuation value.

[0109] S170: Controls the operation of lidar 100 and determines the performance of lidar 100 at least in part based on the attenuation signal.

[0110] The performance of the lidar 100 may include at least one of the following: distance measurement performance, distance measurement accuracy, or reflectivity measurement accuracy.

[0111] As previously described, in some embodiments, the test system 002 may further include a rotating component 610. In some embodiments, the test method S100 may further include rotating at least one of the lidar 100 or the simulation device 400 to cause a laser signal to be incident on the simulation device 400 in a predetermined direction. The predetermined direction includes a direction perpendicular to the simulation device.

[0112] As previously mentioned, the test system 002 may further include a transmission component 440. In some embodiments, the test method S100 may further include setting the transmission component 440 based on a first distance and a second distance.

[0113] As previously described, in some embodiments, the test system 002 may further include an ambient light simulation component 700. In some embodiments, the test method S100 may further include: irradiating the simulation device 400 with target light. The target light may have a preset wavelength and a preset intensity. In some embodiments, the test method S100 may further include: adjusting the preset intensity of the target light. In some embodiments, the test method S100 may further include: adjusting the preset wavelength of the target light.

[0114] In summary, this disclosure provides a reflection simulation device 400. The simulation device 400 can be used to simulate the reflection of the laser signal from the lidar 100 by an object 200 at a first distance from the lidar 100. By using the simulation device 400, the reflection of the laser signal from a distant object can be simulated at close range, thereby reducing the space requirements for testing or calibrating the lidar 100. Reducing the space required for lidar 100 calibration or testing facilitates the construction of indoor testing sites to meet the environmental stability requirements during calibration or testing.

[0115] This specification, in another aspect, provides a non-transitory storage medium storing at least one set of executable instructions for calibrating or testing a lidar. When the executable instructions are executed by a processor, they instruct the processor to perform the steps of the lidar testing method S100 described in this specification. In some possible embodiments, various aspects of this specification can also be implemented as a program product comprising program code. When the program product is run on a test system 002, the program code causes the test system 002 to perform the steps of the lidar testing method S100 described in this specification. The program product for implementing the above method may employ a portable compact disc read-only memory (CD-ROM) containing program code and may run on the test system 002. However, the program product of this specification is not limited thereto. In this specification, a readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system. The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium can also be any readable medium other than a readable storage medium that can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof. Program code for performing the operations described herein can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on test system 002, partially on test system 002, as a standalone software package, partially on test system 002 and partially on a remote computing device, or entirely on a remote computing device.

[0116] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0117] In summary, after reading this detailed disclosure, those skilled in the art will understand that the foregoing detailed disclosure is presented by way of example only and is not restrictive. Although not explicitly stated herein, those skilled in the art will understand that the requirements of this application encompass various reasonable changes, improvements, and modifications to the embodiments. These changes, improvements, and modifications are intended to be made by this application and are within the spirit and scope of the exemplary embodiments of this application.

[0118] Furthermore, certain terms used in this application have been used to describe embodiments of this application. For example, "an embodiment," "an embodiment," and / or "some embodiments" mean that a particular feature, structure, or characteristic described in connection with that embodiment may be included in at least one embodiment of this application. Therefore, it is to be emphasized and understood that two or more references to "an embodiment" or "an embodiment" or "alternative embodiment" in various parts of this application do not necessarily refer to the same embodiment. Moreover, specific features, structures, or characteristics may be appropriately combined in one or more embodiments of this application.

[0119] It should be understood that in the foregoing description of the embodiments of this application, various features are combined in a single embodiment, drawing, or description for the purpose of simplifying the understanding of a feature. However, this does not mean that the combination of these features is necessary, and those skilled in the art may readily identify some of the devices as separate embodiments when reading this application. That is, the embodiments in this application can also be understood as an integration of multiple sub-embodiments. It is also valid when each sub-embodiment contains fewer than all the features of a single foregoing disclosed embodiment.

[0120] Every patent, patent application, publication of a patent application, and other material such as articles, books, specifications, publications, documents, articles, etc., cited herein, except for any related historical prosecution documents, any identical ones that may be inconsistent with or conflict with this document, or any identical historical prosecution documents that may have a limiting effect on the widest scope of the claims, may be incorporated herein by reference and used for all purposes now or hereafter in connection with this document. Furthermore, in the event of any inconsistency or conflict between the description, definition, and / or use of terms related to any included material and those related to this document, the terminology used herein shall prevail.

[0121] Finally, it should be understood that the embodiments disclosed herein are illustrative of the principles of the embodiments of this application. Other modified embodiments are also within the scope of this application. Therefore, the embodiments disclosed herein are merely examples and not limitations. Those skilled in the art can adopt alternative configurations to implement the applications in this application based on the embodiments in this application. Therefore, the embodiments of this application are not limited to the embodiments precisely described in the application.

Claims

1. A reflection simulation device for simulating a reflection of a laser signal of a laser radar by an object at a first distance of the laser radar, the laser radar comprising a receiving lens, characterized in that, The simulation device comprises: a receiving component configured to receive the laser signal emitted by the lidar; an attenuating component configured to attenuate the laser signal by a target attenuation value to obtain an attenuated signal; and a transmitting component configured to receive the attenuated signal from the attenuating component and transmit the attenuated signal, wherein the simulation device is located at a second distance from the lidar when in operation, and the target attenuation value is determined based on at least the first distance, the second distance, and an aperture of the receiving lens.

2. The simulation device of claim 1, wherein, Further comprising: a transmitting component, wherein the receiving component and the attenuating component comprise a first optical path therebetween, the attenuating component and the transmitting component comprise a second optical path therebetween, the transmitting component provides at least one of the first optical path or the second optical path.

3. The simulation device of claim 2, wherein, The transmitting component is configured to transmit the laser signal for a predetermined time duration.

4. The apparatus of claim 3, wherein, The transmitting component comprises an optical fiber.

5. The apparatus of claim 3, wherein, The predetermined time duration corresponds to a laser flight time corresponding to a difference between the first distance and the second distance.

6. The device of claim 1, wherein the receiving component comprises a plurality of receiving units configured to receive the laser signal, the attenuating component comprises a plurality of attenuating units configured to attenuate the laser signal transmitted by the corresponding receiving unit by the target attenuation value to obtain the attenuated signal, the transmitting component comprises a plurality of transmitting units configured to receive the attenuated signal from the corresponding attenuating unit and transmit the attenuated signal, and the plurality of receiving units and the plurality of transmitting units are arranged in an array on a target plane, and the transmitting units are arranged adjacent to the corresponding receiving units.

7. The apparatus of claim 1, wherein, The transmitting component is further configured to reflect ambient light.

8. The apparatus of claim 1, wherein, The target attenuation value is further determined based on a reflectivity of the object to be simulated.

9. A test system for a lidar, the test system comprising: Comprising: the simulation device of any one of claims 1-8 configured to simulate the object; and a base configured to support the lidar. Further comprising:

10. The test system of claim 9, wherein, an adjusting component mechanically connected to at least one of the simulation device or the base and configured to adjust a relative pose of the simulation device with respect to the lidar. The adjusting component comprises:

11. The test system of claim 10, wherein, a moving component mechanically connected to at least one of the simulation device or the base and configured to adjust a relative position of the simulation device with respect to the lidar; and a rotating component mechanically connected to at least one of the simulation device or the base and configured to adjust an angle of the lidar or the simulation device in a test space such that the laser signal is incident on the simulation device in a predetermined direction, wherein the predetermined direction comprises a direction perpendicular to the simulation device. Further comprising:

12. The test system of claim 9, wherein, an ambient light simulation component configured to emit a target light having a predetermined wavelength and a predetermined intensity.

13. The test system of claim 12, wherein the attenuating component and the transmitting component comprise a second optical path therebetween, and the target light is incident on the transmitting component via the second optical path. The test method comprises:

14. A method of testing a lidar, applied to the testing system of any one of claims 9-13, characterized in that, ​ The simulation device and the lidar are set apart by a second distance for simulating an object at a first distance from the lidar; The target attenuation value is determined based at least on the first distance, the second distance, and an aperture of a receiving lens of the lidar; The attenuation assembly is set based on the target attenuation value; and The lidar is operated, and a performance of the lidar is determined based at least in part on the attenuation signal.

15. The test method of claim 14, wherein, Further comprising: The second distance is greater than or equal to an optical coherence distance of the lidar.

16. The test method of claim 14, wherein, Further comprising: At least one of the lidar or the simulation device is rotated so that the laser signal is incident on the simulation device in a predetermined direction, wherein the predetermined direction includes a direction perpendicular to the simulation device.

17. The test method of claim 14, wherein, The simulation device further comprises a transmission assembly, and the testing method further comprises: The transmission assembly is set based on the first distance and the second distance.

18. The test method of claim 14, wherein, Further comprising: A target light is irradiated to the simulation device, the target light having a preset wavelength and a preset intensity.

19. The test method of claim 18, wherein, Further comprising: The preset intensity of the target light is adjusted, and / or the preset wavelength of the target light is adjusted.

20. The test method of claim 14, wherein, The performance of the lidar includes at least one of a ranging performance, a distance measurement accuracy, or a reflectivity measurement accuracy.

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