Test methods and test systems for lidar

Abstract

This disclosure provides a testing method and system for lidar. The testing method is executed in a test scenario, which includes a first target board, a first lidar under test (DUT), and a second lidar under test. The first DUT has a first synchronization angle, and the second DUT has a second synchronization angle. The testing method includes: determining the first and second synchronization angles based on a first and a second position; and determining a control signal based on the first and second synchronization angles. By utilizing the synchronization angle function of the lidar under test, the synchronization angles of different lidars under test in the test scenario are set to appropriate values, so that the detection timing of different lidars under test on the same target board is staggered, thereby avoiding mutual interference between different lidars under test in the same test scenario. This allows for the testing of multiple lidars in the same test scenario without mutual interference, improving the utilization rate of the test site.

Description

Technical Field

[0001] This disclosure relates to laser detection, and more particularly to a test method and test system for lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a ranging sensor characterized by long detection range, high resolution, and low susceptibility to environmental interference. It is widely used in fields such as autonomous driving, intelligent robots, and drones. In recent years, with the rapid development of autonomous driving technology, LiDAR, as a core sensor for distance perception, has become indispensable.

[0003] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of targets. The working principle of LiDAR is to emit a detection signal (e.g., a laser beam) towards the target, then compare the received signal (e.g., an echo) reflected from the target with the emitted detection signal. After processing, information about the target, such as distance, azimuth, altitude, velocity, attitude, and shape, can be obtained. To improve the safety of autonomous driving, it is necessary to measure the detection performance of LiDAR.

[0004] The production process of lidar includes calibration and testing procedures, but existing testing methods and systems suffer from problems such as excessively large testing areas and low site utilization. Summary of the Invention

[0005] The problem addressed in this disclosure is how to improve site utilization in lidar testing.

[0006] To address the aforementioned problems, a first aspect of this disclosure provides a testing method for lidar, comprising: executing the testing method in a test scenario, the test scenario including: a first target board, a first lidar under test (DUT), and a second lidar under test, the first DUT having a first synchronization angle, and the second DUT having a second synchronization angle. The testing method includes: determining the first synchronization angle and the second synchronization angle based on a first position of the first target board relative to the first DUT and a second position of the first target board relative to the second DUT. Based on the first synchronization angle and the second synchronization angle, determining a control signal, and the first and second DUTs acquiring data based on the control signal.

[0007] Optionally, the step of determining the first synchronization angle and the second synchronization angle includes: determining a first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle based on the first position and the second position; and determining the first synchronization angle and the second synchronization angle based on the first minimum synchronization angle difference value, wherein the difference value between the first synchronization angle and the second synchronization angle is greater than or equal to the first minimum synchronization angle difference value.

[0008] Optionally, determining the first minimum synchronization angle difference between the first synchronization angle and the second synchronization angle includes: determining, based on the first position, the first sub-angle and the first azimuth angle of the first target plate relative to the first lidar under test; determining, based on the second position, the second sub-angle and the second azimuth angle of the first target plate relative to the second lidar under test; and determining, based on the first sub-angle, the first azimuth angle, the second sub-angle, and the second azimuth angle, the first minimum synchronization angle difference between the first synchronization angle and the second synchronization angle.

[0009] Optionally, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle further includes: determining the first test angle of the first target board based on the first angle and the second angle. The step of determining the first minimum synchronization angle difference value includes: determining the first minimum synchronization angle difference value based on the first azimuth angle, the second azimuth angle, and the first test angle.

[0010] Optionally, the test scenario may also include: one or more second target boards. The step of determining the first synchronization angle and the second synchronization angle based on the first position of the first target board relative to the first lidar under test and the second position of the first target board relative to the second lidar under test includes: determining the first synchronization angle and the second synchronization angle based on the first position, the second position, a third position of one or more second target boards relative to the first lidar under test, and a fourth position of one or more second target boards relative to the second lidar under test.

[0011] Optionally, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle includes: determining, based on a first position, a first sub-angle and a first azimuth angle of the first target board relative to the first lidar under test. Determining, based on a second position, a second sub-angle and a second azimuth angle of the first target board relative to the second lidar under test. Determining, based on one or more third positions, a third sub-angle and a third azimuth angle of one or more second target boards relative to the first lidar under test. Determining, based on one or more fourth positions, a fourth sub-angle and a fourth azimuth angle of one or more second target boards relative to the second lidar under test. The first minimum synchronization angle difference value is determined based on the first sub-angle, the first azimuth angle, the second sub-angle, the second azimuth angle, one or more third sub-angles, one or more third azimuth angles, one or more fourth sub-angles, and one or more fourth azimuth angles.

[0012] Optionally, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle further includes: determining a first test angle of the first target board based on the first angle and the second angle; determining a second test angle of one or more second target boards based on one or more third angles and one or more fourth angles; and determining the first minimum synchronization angle difference value based on the first azimuth angle, the second azimuth angle, one or more third azimuth angles, one or more fourth azimuth angles, the first test angle, and one or more second test angles.

[0013] Optionally, the test scenario also includes a third lidar under test, which has a third synchronization angle. The test method further includes determining the third synchronization angle based on the fifth position of the first target board relative to the third lidar under test. In the step of determining the control signal, a control signal is determined based on the first synchronization angle, the second synchronization angle, and the third synchronization angle. The first lidar under test, the second lidar under test, and one or more third lidars under test perform data acquisition based on the control signal.

[0014] Optionally, the step of determining the third synchronization angle includes: determining a second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle based on the first position and the fifth position; determining the third synchronization angle based on the difference value between the first synchronization angle and the second minimum synchronization angle, wherein the difference value between the third synchronization angle and the first synchronization angle is greater than or equal to the second minimum synchronization angle difference value.

[0015] Optionally, the step of determining the third synchronization angle includes: determining a third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle based on the second position and the fifth position; determining the third synchronization angle based on the difference value between the second synchronization angle and the third minimum synchronization angle, wherein the difference value between the third synchronization angle and the second synchronization angle is greater than or equal to the difference value between the third minimum synchronization angle.

[0016] Optionally, the step of determining the third synchronization angle includes: determining a second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle based on the first position and the fifth position; determining a third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle based on the second position and the fifth position; and determining the third synchronization angle based on the first synchronization angle, the second minimum synchronization angle difference value, and the difference value between the second synchronization angle and the third minimum synchronization angle, wherein the difference value between the third synchronization angle and the first synchronization angle is greater than or equal to the second minimum synchronization angle difference value, and the difference value between the third synchronization angle and the second synchronization angle is greater than or equal to the third minimum synchronization angle difference value.

[0017] Optionally, the step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle includes: determining, based on the first position, the first sub-angle and the first azimuth angle of the first target board relative to the first lidar under test; determining, based on the fifth position, the fifth sub-angle and the fifth azimuth angle of the first target board relative to the third lidar under test; and determining the second minimum synchronization angle difference value based on the first sub-angle, the first azimuth angle, the fifth sub-angle, and the fifth azimuth angle.

[0018] Optionally, the step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle further includes: determining the third test angle of the first target board based on the first angle and the fifth angle. The step of determining the second minimum synchronization angle difference value includes: determining the second minimum synchronization angle difference value based on the first azimuth angle, the fifth azimuth angle, and the third test angle.

[0019] Optionally, the step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle includes: determining the second sub-angle and second azimuth angle of the first target board relative to the second lidar under test based on the second position; determining the fifth sub-angle and fifth azimuth angle of the first target board relative to the third lidar under test based on the fifth position; and determining the third minimum synchronization angle difference value based on the second sub-angle, the second azimuth angle, the fifth sub-angle, and the fifth azimuth angle.

[0020] Optionally, the step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle further includes: determining the fourth test angle of the first target board based on the second angle and the fifth angle. The step of determining the third minimum synchronization angle difference value includes: determining the third minimum synchronization angle difference value based on the second azimuth angle, the fifth azimuth angle, and the fourth test angle.

[0021] Optionally, at least two of the first, second, and third lidar under test are arranged along a preset direction.

[0022] Optionally, the maximum number of lidars under test in the test scenario is determined based on the maximum value of the minimum synchronization angle difference between two lidars under test.

[0023] Optionally, it also includes: determining a rotation signal, and adjusting the pose of the first and second lidar under test based on the rotation signal. After determining the rotation signal, determining the first synchronization angle and the second synchronization angle.

[0024] Optionally, after determining the rotation signal, the step of determining the first synchronization angle and the second synchronization angle includes: based on the rotation signal, determining one or more first poses of the first lidar under test and one or more second poses of the second lidar under test; based on the first position under one or more first poses and the second position under one or more second poses, determining a first minimum synchronization angle difference value under one or more pose combinations; and based on the first minimum synchronization angle difference value under one or more pose combinations, determining the first synchronization angle and the second synchronization angle.

[0025] Optionally, after determining the rotation signal, the step of determining the first synchronization angle and the second synchronization angle further includes: determining a minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle based on a minimum synchronization angle difference value under multiple pose combinations. In the step of determining the first synchronization angle and the second synchronization angle, the first synchronization angle and the second synchronization angle are determined based on the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle, wherein the difference between the first synchronization angle and the second synchronization angle is greater than or equal to the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle.

[0026] A second aspect of this disclosure also provides a testing system for lidar, comprising: a first target board, a first lidar under test, a second lidar under test, and a controller. The first lidar under test has a first synchronization angle, and the second lidar under test has a second synchronization angle. The controller is configured to determine the first synchronization angle and the second synchronization angle based on a first position of the first target board relative to the first lidar under test and a second position of the first target board relative to the second lidar under test. The controller is further configured to determine a control signal based on the first synchronization angle and the second synchronization angle, and the first and second lidars under test perform data acquisition based on the control signal.

[0027] Optionally, the projections of the first and second lidar under test in the horizontal plane are not collinear with the first target plate.

[0028] Optionally, the controller includes a first sub-controller, a second sub-controller, and a main controller. The first sub-controller is connected to a first lidar under test. The second sub-controller is connected to a second lidar under test. The main controller is connected to both the first and second sub-controllers.

[0029] Optionally, the clocks of the first sub-controller and the second sub-controller are synchronized.

[0030] Optionally, the clocks of the first and second sub-controllers are synchronized with the clock of the main controller. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The accompanying drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The accompanying drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0032] Figure 1A schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure is shown.

[0033] Figure 2 As shown Figure 1 The view along direction A in the exemplary test scenario shown.

[0034] Figure 3 A flowchart illustrating a testing method for lidar consistent with some embodiments of this disclosure is shown.

[0035] Figure 4 A flowchart illustrating the steps of determining a first synchronization angle and a second synchronization angle in a test method for lidar consistent with some embodiments of this disclosure is shown.

[0036] Figure 5 A flowchart illustrating the steps of determining a first minimum synchronization angle difference value between a first synchronization angle and a second synchronization angle, consistent with some embodiments of this disclosure, is shown.

[0037] Figure 6 A schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure is shown.

[0038] Figure 7 A flowchart illustrating the steps of determining a first synchronization angle and a second synchronization angle in a test method for lidar consistent with some embodiments of this disclosure is shown.

[0039] Figure 8 A schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure is shown.

[0040] Figure 9 A flowchart illustrating a testing method for lidar consistent with some embodiments of this disclosure is shown.

[0041] Figure 10 A schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure is shown.

[0042] Figure 11 A flowchart illustrating a testing method for lidar consistent with some embodiments of this disclosure is shown.

[0043] Figure 12 A flowchart illustrating the steps of determining a third synchronization angle in a test method for lidar consistent with some embodiments of this disclosure is shown.

[0044] Figure 13A flowchart illustrating the steps of determining a third minimum synchronization angle difference value between a second synchronization angle and a third synchronization angle, consistent with some embodiments of this disclosure, is shown.

[0045] Figure 14 A flowchart illustrating the steps of determining a second minimum synchronization angle difference value between a first synchronization angle and a third synchronization angle, consistent with some embodiments of this disclosure, is shown.

[0046] Figure 15 A topology diagram illustrating exemplary connection relationships for a test system for lidar consistent with some embodiments of this disclosure is shown.

[0047] Figure 16 A timing diagram of an exemplary test for a test system for lidar, consistent with some embodiments of this disclosure, is shown. Detailed Implementation

[0048] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.

[0049] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0051] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0052] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0053] As can be seen from the background technology, existing testing methods and systems for lidar often suffer from problems such as excessively large testing areas and low site utilization.

[0054] To meet production cycle time, the number of testing sites in the LiDAR production process is typically determined based on the individual testing time and production cycle time. Therefore, a considerable number of testing scenarios may need to be set up during LiDAR production. LiDAR is a ranging device; therefore, testing sites for LiDAR often occupy a large area. Thus, the increased number of testing scenarios and their associated area increase the floor space required for the LiDAR production line, reducing space utilization.

[0055] To improve site utilization and control production line area, one approach is to fully utilize vertical space. This involves setting up two layers of testing space vertically, with each layer housing the testing scenarios and LiDAR testing stations. The two layers are separated by partitions to prevent interference between different LiDARs under test. This method is limited by the factory height and the vertical height requirements of the testing scenarios. For example, if the testing scenarios require less than 2 meters of vertical height, but the actual factory height exceeds 4 meters, a two-layer layout is feasible.

[0056] Another method to improve site utilization is to set up multiple LiDARs under test simultaneously in the same test scenario, either horizontally (parallel to the horizontal plane) or vertically (perpendicular to the horizontal plane). However, it is difficult to set up barriers between adjacent LiDARs under test, and different LiDARs under test may interfere with each other, thus affecting the accuracy of the test results.

[0057] To address the technical problem, this disclosure provides a testing method for lidar. The testing method is executed in a test scenario, which includes a first target board, a first lidar under test, and a second lidar under test. The first lidar under test has a first synchronization angle, and the second lidar under test has a second synchronization angle. The testing method includes the steps of determining the first and second synchronization angles based on a first position of the first target board relative to the first lidar under test and a second position of the first target board relative to the second lidar under test, and determining a control signal based on the first and second synchronization angles, wherein the first and second lidar under test perform data acquisition based on the control signal.

[0058] The technical solution disclosed herein utilizes the synchronization angle function of the lidar under test to set the synchronization angle of different lidars under test in the test scenario to an appropriate value, so that the detection timing of different lidars under test on the same target board is staggered, thereby avoiding mutual interference between different lidars under test in the same test scenario, achieving testing of multiple lidars in the same test scenario without mutual interference, and improving the utilization rate of the test site.

[0059] To make the above-mentioned objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings.

[0060] The test method is executed in a preset test scenario. The test scenario includes a first target board, a first LiDAR under test, and a second LiDAR under test. The first LiDAR under test has a first synchronization angle, and the second LiDAR under test has a second synchronization angle.

[0061] By setting up at least two LiDARs under test in the same test scenario, simultaneous testing of at least two LiDARs under test in the same test scenario can be achieved, enabling the reuse of the same test site, which can effectively improve the utilization rate of the test site and improve testing efficiency.

[0062] The lidar under test is a scanning lidar, which scans in at least one scanning direction to form a field of view corresponding to the scanning direction. For example, the lidar under test scans in the horizontal direction (i.e., the scanning direction is parallel to the horizontal plane) to form a horizontal field of view; the lidar under test scans in the vertical direction (i.e., the scanning direction is perpendicular to the horizontal plane) to form a vertical field of view.

[0063] Scanning lidar includes a scanning device. In some embodiments, the scanning device may be a mechanical rotary motor, a microelectromechanical system (MEMS) scanning device, a rotating mirror, a tilting mirror, a prism, etc.

[0064] At least two lidar units under test (DUTs) must have a synchronization angle function, meaning that the DUTs can scan to a preset fixed angle in space at fixed periodic intervals (e.g., every whole second). For example, if the synchronization angle of one DUT is set to 90° within the horizontal field of view, then the DUT can scan to 90° within the horizontal field of view at fixed periodic intervals (e.g., every whole second) of the reference clock. The synchronization angle function allows the user to configure the synchronization angle value of the DUTs.

[0065] In some embodiments, a first lidar under test has a first synchronization angle, and a second lidar under test has a second synchronization angle. The first lidar under test scans to the first synchronization angle position in space at fixed periodic intervals. The second lidar under test scans to the second synchronization angle position in space at fixed periodic intervals.

[0066] In some embodiments, at least two lidar sensors under test can be arranged along a preset direction in the test scenario. For example, a first lidar sensor and a second lidar sensor under test can be arranged along a preset direction.

[0067] In some embodiments, the preset direction may be consistent with the field of view direction where the synchronization angle of the lidar under test is located. For example, the synchronization angle of the lidar under test includes the synchronization angle in the horizontal field of view direction, and the preset direction is parallel to the horizontal plane. The synchronization angle of the lidar under test also includes the synchronization angle in the vertical field of view direction, and the preset direction is perpendicular to the horizontal plane.

[0068] refer to Figure 1 and Figure 2 ,in Figure 1A schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure is shown. Figure 2 As shown Figure 1 The view along direction A in the exemplary test scenario shown.

[0069] like Figure 1 and Figure 2 In some of the embodiments shown, the test scenario has four test stations, enabling simultaneous testing of four LiDARs under test. The test scenario includes four LiDARs under test, namely LiDAR 101a, LiDAR 101b, LiDAR 101c, and LiDAR 101d.

[0070] In a plane perpendicular to the horizontal plane, four lidar detectors under test are arranged in a 2×2 array. In some embodiments, lidar detectors 101a, 101b, 101c, and 101d form a 2x2 array in the plane perpendicular to the horizontal plane. Specifically, the projections of lidar detectors 101a and 101b arranged in the column direction coincide on the horizontal plane, as do the projections of lidar detectors 101c and 101d arranged in the column direction.

[0071] For example, the first lidar under test is one of lidar under test 101a and lidar under test 101b. The second lidar under test is one of lidar under test 101c and lidar under test 101d.

[0072] It should be noted that the test scenario may include at least one target board. One of the target boards is the first target board. For example... Figure 1 In some of the embodiments shown, the test scenario includes target board 102a, target board 102b, and target board 102c, wherein the first target board is one of target board 102a, target board 102b, and target board 102c.

[0073] In some embodiments of this disclosure, the test scenario may include at least two target boards. The test scenario may also include a second target board, which may be one of the at least two target boards in the test scenario that is different from the first target board. Figure 1 In some of the embodiments shown, the first target board and the second target board are any two of target board 102a, target board 102b and target board 102c.

[0074] refer to Figure 3 The diagram illustrates a flowchart of a testing method for lidar that is consistent with some embodiments of this disclosure.

[0075] The testing method includes steps S310 and S320. Step S310 includes determining a first synchronization angle and a second synchronization angle based on a first position of the first target board relative to the first lidar under test and a second position of the first target board relative to the second lidar under test. Step S320 includes determining a control signal based on the first synchronization angle and the second synchronization angle, and the first lidar under test and the second lidar under test performing data acquisition based on the control signal.

[0076] By reasonably setting the synchronization angle of the LiDAR under test, the scanning times of different LiDARs on the same target board are staggered, thereby avoiding mutual interference between different LiDARs under test. This allows for simultaneous, interference-free testing of multiple side-looking LiDARs in the same test scenario, improving site utilization while ensuring test accuracy.

[0077] First, determine the first synchronization angle and the second synchronization angle.

[0078] Determining the first synchronization angle and the second synchronization angle allows the scanning times of the first and second lidar under test to be staggered.

[0079] It should be noted that in some embodiments of this disclosure, the scanning times of the two LiDARs under test in the test scenario are staggered.

[0080] Specifically, in some embodiments, the scanning times of multiple LiDARs under test on the same target board are staggered. The multiple LiDARs under test can be all the LiDARs under test in the test scenario, or they can be a portion of the LiDARs under test in the test scenario.

[0081] In other embodiments, the scanning times of the two LiDARs under test for multiple target boards are staggered. These multiple target boards can be all target boards in the test scenario, or they can be a subset of the target boards in the test scenario.

[0082] In other embodiments, the scanning times of multiple LiDARs under test for multiple target boards are staggered, that is, the scanning times of different LiDARs under test for different target boards are staggered.

[0083] In some embodiments of this disclosure, such as Figure 4 As shown, step S410, the step of determining the first synchronization angle and the second synchronization angle, includes steps S411 and S412. Step S411 includes: determining a first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle based on the first position and the second position. Step S412 includes determining the first synchronization angle and the second synchronization angle based on the first minimum synchronization angle difference value, wherein the difference value between the first synchronization angle and the second synchronization angle is greater than or equal to the first minimum synchronization angle difference value.

[0084] The minimum synchronization angle difference between different lidars under test is determined, thus providing a basis for determining the synchronization angle of different lidars under test. For example, the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle is determined as a constraint condition for determining the first synchronization angle and the second synchronization angle.

[0085] In some embodiments, such as Figure 5 As shown, step S511, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle, includes steps S511a, S511b, and S511c. Step S511a includes determining the first sub-angle and the first azimuth angle of the first target plate relative to the first lidar under test based on the first position. Step S511b includes determining the second sub-angle and the second azimuth angle of the first target plate relative to the second lidar under test based on the second position. Step S511c includes determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle based on the first sub-angle, the first azimuth angle, the second sub-angle, and the second azimuth angle.

[0086] Based on the position of the target board relative to different lidars under test, the subtended angle and azimuth angle of the target board relative to different lidars under test are determined, thus providing a basis for determining the minimum synchronization angle difference between different lidars under test.

[0087] In some embodiments, the first position is the position of the first target plate relative to the first lidar under test. For example, the first position includes a first azimuth angle and a first sub-azimuth angle. The first azimuth angle is the azimuth angle of the first target plate relative to the first lidar under test. The first sub-angle is the angle subtended by the first target plate relative to the first lidar under test.

[0088] In some embodiments of the example, the steps of determining the first sub-angle and the first azimuth angle of the first target plate relative to the first lidar under test include determining the first azimuth angle based on the azimuth angle of the geometric center of the first target plate in the internal coordinate system of the lidar under test. The steps of determining the first sub-angle and the first azimuth angle of the first target plate relative to the first lidar under test further include determining the first sub-angle based on the azimuth angle of two edges of the first target plate arranged opposite each other along the scanning direction in the internal coordinate system of the lidar under test.

[0089] For example, if the scanning direction of the lidar under test is horizontal, that is, the scanning direction is parallel to the horizontal plane, the first angle is determined based on the azimuth angle of the two edges of the first target plate set opposite each other along the horizontal direction in the internal coordinate system of the lidar under test.

[0090] For example, if the scanning direction of the lidar under test is vertical, that is, the scanning direction is perpendicular to the horizontal plane, the first angle is determined based on the azimuth angle of the two edges of the first target plate set opposite each other along the vertical direction in the internal coordinate system of the lidar under test.

[0091] In some embodiments, the second position is the position of the first target plate relative to the second lidar under test. For example, the second position includes a second azimuth angle and a second subtended angle, wherein the second azimuth angle is the azimuth angle of the first target plate relative to the second lidar under test. The second subtended angle is the angle subtended by the first target plate relative to the second lidar under test.

[0092] In some embodiments of the example, the step of determining the second sub-angle and second azimuth angle of the first target plate relative to the second lidar under test includes determining the second azimuth angle based on the azimuth angle of the geometric center of the first target plate in the internal coordinate system of the second lidar under test. The step of determining the second sub-angle and second azimuth angle of the first target plate relative to the second lidar under test further includes determining the second sub-angle based on the azimuth angle of two opposite edges of the first target plate along the scanning direction in the internal coordinate system of the second lidar under test.

[0093] For example, if the scanning direction of the lidar under test is horizontal, that is, the scanning direction is parallel to the horizontal plane, the second angle is determined based on the azimuth angle of the two edges of the first target plate set opposite each other along the horizontal direction in the internal coordinate system of the lidar under test.

[0094] For example, if the scanning direction of the lidar under test is vertical, that is, the scanning direction is perpendicular to the horizontal plane, the second angle is determined based on the azimuth angle of the two edges of the first target plate set opposite each other along the vertical direction in the internal coordinate system of the lidar under test.

[0095] It should be noted that in some embodiments, the internal coordinate system of the lidar under test can be a spherical coordinate system, and the azimuth angle of the geometric center of the target plate in the internal coordinate system of the lidar under test can include the azimuth angle and polar angle of the spherical coordinate system. The first azimuth angle and the second azimuth angle can be the azimuth angle of the spherical coordinate system.

[0096] For example, such as Figure 6 In some embodiments shown, the lidar under test scans in the horizontal direction (i.e., the scanning direction is parallel to the horizontal plane). The steps of determining the first sub-angle and the first azimuth angle of the first target plate 502 relative to the first lidar under test 501a include determining the first azimuth angle h111 based on the azimuth angle of the geometric center 502a of the first target plate 502 in the internal coordinate system of the lidar under test 501a. The steps of determining the first sub-angle and the first azimuth angle of the first target plate 502 relative to the first lidar under test 501a also include determining the first sub-angle b11 based on the azimuth angle of two opposite edges of the first target plate 502, namely edges 502b and edges 502c, in the internal coordinate system of the lidar under test 501a.

[0097] For example, such as Figure 6In some embodiments shown, the lidar under test scans in the horizontal direction (i.e., the scanning direction is parallel to the horizontal plane). The steps of determining the first sub-angle and the first azimuth angle of the first target plate 502 relative to the second lidar under test 501b include determining the second azimuth angle h112 based on the azimuth angle of the geometric center 502a of the first target plate 502 in the internal coordinate system of the second lidar under test 501b. The steps of determining the first sub-angle and the first azimuth angle of the first target plate 502 relative to the second lidar under test 501b also include determining the second sub-angle b12 based on the azimuth angle of two opposite edges of the first target plate 502 arranged in the horizontal direction, namely edges 502b and edges 502c, in the internal coordinate system of the second lidar under test 501b.

[0098] It should be noted that, Figure 6 In some embodiments shown, the first azimuth angle h111, the first sub-angle b11, the second azimuth angle h112, and the second sub-angle b12 are all angles in the horizontal plane. In other embodiments of the present invention, the first azimuth angle, the first sub-angle, the second azimuth angle, and the second sub-angle can also be angles in a plane perpendicular to the horizontal plane. In some embodiments of the present invention, the first azimuth angle, the first sub-angle, the second azimuth angle, and the second sub-angle can be angles in the scanning direction plane.

[0099] After determining the sub-angle and azimuth of the target board relative to different lidars under test, the minimum synchronization angle difference between the different lidars under test is determined based on these sub-angles and azimuths. For example, after determining the first sub-angle, the first azimuth, the second sub-angle, and the second azimuth, the first minimum synchronization angle difference value is determined.

[0100] The minimum synchronization angle difference is suitable for characterizing the difference between the synchronization angles of different lidars under test, and serves as a constraint condition for determining the synchronization angles of different lidars under test. For example, the first minimum synchronization angle difference is suitable for characterizing the minimum difference between the first and second corresponding angles, and serves as a constraint condition for determining the first and second synchronization angles.

[0101] In some embodiments, in the step of determining the minimum synchronization angle difference between different lidars under test, the difference in azimuth angle of the first target plate relative to the different lidars under test and the maximum opening angle of the first target plate are used to determine the minimum synchronization angle difference between the different lidars under test.

[0102] In some embodiments, in the step of determining the first minimum synchronization angle difference value, the first minimum synchronization angle is determined based on the difference between the first azimuth angle and the second azimuth angle and the maximum opening angle of the first target plate.

[0103] For example, in some embodiments, such as Figure 5As shown, step S511, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle, further includes steps S511d and S511c. Step S511d includes determining the first test angle of the first target board based on the first angle and the second angle. Step S511c includes the step of determining the first minimum synchronization angle difference value, which includes determining the first minimum synchronization angle difference value based on the first azimuth angle, the second azimuth angle, and the first test angle.

[0104] The test angle is the maximum angle subtended by the corresponding target board relative to the lidar under test. For example, the first test angle is the maximum value of the angle subtended by the first target board relative to different lidars under test. For example, ... Figure 6 As shown, the first test angle x1 is the maximum value of the first angle b11 and the second angle b12, x1 = max(b12, b11).

[0105] In some embodiments, in the step of determining the synchronization angle difference value of different lidars under test, the synchronization angle difference value is determined based on the difference in azimuth angle of the target board relative to the different lidars under test, combined with the test angle of the corresponding target board. For example, in the step of determining the first minimum synchronization angle difference value, the first minimum synchronization angle difference value is determined based on the difference between the first azimuth angle and the second azimuth angle, combined with the first test angle.

[0106] For example, such as Figure 6 In some embodiments shown, in the step of determining the first minimum synchronization angle difference value, the first minimum synchronization angle difference value D12 is expressed as D12=max(|h111-h112|+x1), that is, D12=|h111-h112|+x1.

[0107] Continue to refer to Figure 4 Step S410, the step of determining the first synchronization angle and the second synchronization angle, further includes step S412. Step S412 includes determining the first synchronization angle and the second synchronization angle based on the first minimum synchronization angle difference value.

[0108] Under the constraint of minimum synchronization angle difference, the synchronization angle of different lidars under test is determined. For example, under the constraint of a first minimum synchronization angle difference, the first synchronization angle and the second synchronization angle are determined.

[0109] For example, the steps for determining the synchronization angle of different lidars under test include determining the synchronization angle of one of the different lidars under test. Based on the minimum synchronization angle difference between the different lidars under test, the synchronization angle of the other lidar under test is determined.

[0110] For example, the steps of determining the first synchronization angle and the second synchronization angle include determining one of the first synchronization angle and the second synchronization angle. The second synchronization angle is determined based on a first minimum synchronization angle difference value.

[0111] Continue to refer to Figure 3 The test method also includes step 320. Step 320 includes determining the control signal based on the first synchronization angle and the second synchronization angle.

[0112] Control signals are determined based on the synchronization angles of the individual lidars under test (DUTs) in the test scenario. The DUTs then acquire data based on these control signals, enabling simultaneous testing of all DUTs in the test scenario. This achieves test site reuse while avoiding interference between different DUTs. For example, control signals are determined based on a first synchronization angle and a second synchronization angle. The first and second DUTs then acquire data based on these control signals.

[0113] In some embodiments of this disclosure, the lidar under test in the test scenario is tested under a fixed pose. For example, the first lidar under test and the second lidar under test are tested under a fixed pose.

[0114] In some embodiments of this disclosure, the lidar under test in the test scenario is tested in at least two poses. For example, a first lidar under test and a second lidar under test are tested in at least two poses.

[0115] In some embodiments, the lidar under test in the test scenario is fixed on a rotary table (e.g., a one-dimensional or two-dimensional rotary table). Driven by the rotary table, the lidar under test in the test scenario changes between different poses. For example, both the first lidar under test and the second lidar under test are fixed on the rotary table. Driven by the rotary table, the first lidar under test and the second lidar under test change between different poses.

[0116] In some embodiments, the first and second lidar under test are fixed on a rotary table. Driven by the rotary table, the first and second lidar under test change between different poses.

[0117] It should be noted that in some embodiments, the LiDAR under test in the test scenario can be fixed to the same rotating platform and driven by the same rotating platform. In other embodiments, a portion of the LiDARs in the test scenario can be fixed to the same rotating platform and driven by the same rotating platform. In still other embodiments, the LiDARs under test in the test scenario can also be fixed to different rotating platforms and driven by different rotating platforms. For example, the first LiDAR under test and the second LiDAR under test can be fixed to the same rotating platform, or they can be fixed to different rotating platforms respectively.

[0118] Continue to refer to Figure 3 In some embodiments of this disclosure, the testing method further includes step S330. Step S330 includes: determining a rotation signal, and adjusting the pose of the first and second lidar under test based on the rotation signal. After determining the rotation signal, determining a first synchronization angle and a second synchronization angle.

[0119] Based on the test requirements, a rotation signal is determined, and the LiDAR under test in the test scenario adjusts its pose based on the rotation signal. For example, based on the test requirements, a rotation signal is determined, and the first and second LiDARs under test adjust their poses based on the rotation signal.

[0120] In some embodiments of this disclosure, the lidar under test in the test scenario is fixed on a rotating stage (e.g., a one-dimensional or two-dimensional rotating stage). A rotation signal drives the rotating stage to rotate, causing the lidar under test to change between different poses. For example, a first lidar under test and a second lidar under test are fixed on the rotating stage. A rotation signal drives the rotating stage to rotate, causing the first lidar under test and the second lidar under test to change between different poses.

[0121] The position of the target board relative to the LiDAR under test will change as the pose of the LiDAR under test changes. After executing step S330, step S310 is executed. After determining the rotation position, based on the first position of the first target board relative to the first LiDAR under test and the second position of the first target board relative to the second LiDAR under test, the first synchronization angle and the second synchronization angle are determined.

[0122] like Figure 7 As shown, in some embodiments, after determining the rotation signal, step S710, determining the first synchronization angle and the second synchronization angle, includes steps S713, S711, and S712. Step S713 includes determining one or more first poses of the first lidar under test and one or more second poses of the second lidar under test based on the rotation signal. Step S711 includes determining a first minimum synchronization angle difference value under one or more pose combinations based on a first position under one or more first poses and a second position under one or more second poses. Step S712 includes determining the first synchronization angle and the second synchronization angle based on the first minimum synchronization angle difference value under one or more pose combinations.

[0123] Determining one or more poses is suitable for determining the position of the target board in the lidar under test under different poses. For example, determining one or more first poses and one or more second poses is to determine one or more first positions and one or more second positions.

[0124] Within the same time period, the LiDARs under test in the test scenario acquire data in their respective poses. The pose combination includes the poses of each LiDAR under test in the test scenario during the same time period while acquiring data.

[0125] In some embodiments, within the same time period, a first lidar under test acquires data in a first pose, and a second lidar under test acquires data in a second pose. A pose combination includes the first pose of the first lidar under test acquiring data and the second pose of the second lidar under test acquiring data within the same time period.

[0126] The step of determining one or more poses based on rotation signals also includes determining one or more pose combinations based on rotation signals. The pose combination includes the poses of each LiDAR under test in the test scene during the same time period when it collects data.

[0127] In some embodiments, the step of determining one or more first poses of the first lidar under test and one or more second poses of the second lidar under test based on the rotation signal further includes determining one or more pose combinations based on the rotation signal. The pose combination includes the first pose of the first lidar under test when it is collecting data and the second pose of the second lidar under test when it is collecting data within the same time period.

[0128] In the step of determining the minimum synchronization angle difference value under one or more pose combinations, the minimum synchronization angle difference value under one or more pose combinations is determined based on the pose of each LiDAR under test in the test scene during the same time period in one or more pose combinations.

[0129] In some embodiments, in the step of determining the first minimum synchronization angle difference value under one or more pose combinations, the first minimum synchronization angle difference value under one or more pose combinations is determined based on the first position under the first pose and the second position under the second pose in one or more pose combinations.

[0130] Under the constraint of minimum synchronization angle difference, the synchronization angle of different lidars under test is determined. For example, under the constraint of a first minimum synchronization angle difference, the first synchronization angle and the second synchronization angle are determined.

[0131] like Figure 7As shown, in some embodiments, after determining the rotation signal, step S710, determining the first synchronization angle and the second synchronization angle, further includes step S714. Step S714 includes determining a minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle based on a first minimum synchronization angle difference value under multiple pose combinations. In step S712, in the step of determining the first synchronization angle and the second synchronization angle, the first synchronization angle and the second synchronization angle are determined based on the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle, wherein the difference between the first synchronization angle and the second synchronization angle is greater than or equal to the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle.

[0132] In some embodiments of this disclosure, in the step of determining the minimum test synchronization angle difference value between different lidars under test, the minimum test synchronization angle difference value between different lidars under test is determined based on the maximum value of the first minimum synchronization angle difference value under multiple pose combinations.

[0133] In some embodiments, in the step of determining the minimum test synchronization angle difference between the first synchronization angle and the second synchronization angle based on the first minimum synchronization angle difference value under multiple pose combinations, the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle is determined based on the maximum value of the first minimum synchronization angle difference value under multiple pose combinations.

[0134] After determining the minimum synchronization angle difference between the synchronization angles of different lidars under test, the step of determining the synchronization angle of different lidars under test includes determining one of the synchronization angles of the different lidars under test. The step of determining the synchronization angle of different lidars under test, after determining the minimum synchronization angle difference between the synchronization angles of different lidars under test, also includes determining another synchronization angle of the different lidars under test based on the minimum synchronization angle difference between the synchronization angles of the different lidars under test.

[0135] In some embodiments, the step of determining the first synchronization angle and the second synchronization angle based on the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle includes determining one of the first synchronization angle and the second synchronization angle. The step of determining the first synchronization angle and the second synchronization angle based on the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle further includes determining the other of the first synchronization angle and the second synchronization angle based on the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle.

[0136] It should be noted that the method of determining the synchronization angle of different lidars under test based on the minimum test synchronization angle difference value is only one example. Similarly, the method of determining the first synchronization angle and the second synchronization angle based on the minimum test synchronization angle difference value is only one example.

[0137] In some other embodiments of this disclosure, in the step of determining the synchronization angle of different lidars under test based on the minimum synchronization angle difference between the synchronization angles of different lidars under test under one or more pose combinations, the synchronization angle of different lidars under test under one or more pose combinations is determined based on the minimum synchronization angle difference between the synchronization angles of different lidars under test under one or more pose combinations.

[0138] In some embodiments, in the step of determining the first synchronization angle and the second synchronization angle based on the first minimum synchronization angle difference value under one or more pose combinations, the first synchronization angle and the second synchronization angle under one or more pose combinations are determined based on the first minimum synchronization angle difference value under one or more pose combinations.

[0139] It should be noted that in the foregoing embodiments, the test scenario includes one target board, namely the first target board. In other embodiments of this disclosure, the test scenario may also include at least two target boards.

[0140] refer to Figure 8 This illustrates a structural schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure. (Referring to reference...) Figure 9 The diagram illustrates a flowchart of a testing method for lidar that is consistent with some embodiments of this disclosure.

[0141] When the test scenario includes at least two target boards, the steps for determining the synchronization angle of different LiDARs under test include determining the synchronization angle of different LiDARs under test based on the positions of at least two target boards relative to different LiDARs under test.

[0142] like Figure 8 As shown, in some embodiments of this disclosure, the test scenario further includes one or more second target boards 802b. The step of determining the first synchronization angle and the second synchronization angle based on the first position of the first target board 802a relative to the first LiDAR 801a under test and the second position of the first target board 802a relative to the second LiDAR 801b under test includes determining the first synchronization angle and the second synchronization angle based on the first position, the second position, a third position of one or more second target boards 802b relative to the first LiDAR 801a under test, and a fourth position of one or more second target boards 802b relative to the second LiDAR 801b under test.

[0143] A first synchronization angle and a second synchronization angle are determined so that the scanning times of the first laser radar under test 801a and the second laser radar under test 801b are staggered to avoid mutual interference between the first laser radar under test 801a and the second laser radar under test 801b.

[0144] In some embodiments, such as Figure 8 and Figure 9 As shown, step S811, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle, includes steps S811a, S811b, S811c, S811d, and S811e. Step S811a includes determining, based on a first position, a first sub-angle b811 and a first azimuth h8111 of the first target plate 802a relative to the first laser radar 801a under test. Step S811b includes determining, based on a second position, a second sub-angle b812 and a second azimuth h8112 of the first target plate 802a relative to the second laser radar 801b under test. Step S811c includes determining, based on one or more third positions, a third sub-angle b821 and a third azimuth h8121 of one or more second target plates 802b relative to the first laser radar 801a under test. Step S811d includes determining a fourth angle b822 and a fourth azimuth angle h8122 of one or more second target plates 802b relative to a second lidar under test 801b based on one or more fourth positions. Step S811e includes determining a first minimum synchronization angle difference value based on a first angle b811, a first azimuth angle h8111, a second angle b812, a second azimuth angle h8112, one or more third angles b821, one or more third azimuth angles h8121, one or more fourth angles b812, and one or more fourth azimuth angles h8122.

[0145] It should be noted that the specific technical solutions for any step in determining the first angle b811 and the first azimuth angle h8111, and the step in determining the second angle b812 and the second azimuth angle h8112, can be found in the foregoing embodiments.

[0146] In some embodiments, the third position is the position of the second target plate 802a relative to the first lidar under test 801a. For example, the third position includes a third azimuth angle b821 and a third azimuth angle h8121, where the third azimuth angle h8121 is the azimuth angle of the second target plate 802a relative to the first lidar under test 801a, and the third azimuth angle b821 is the angle subtended by the second target plate relative to the first lidar under test.

[0147] In some embodiments of the example, the steps of determining the third angle b821 and the third azimuth angle h8121 of the second target plate 802b relative to the first lidar under test 801a include determining the third azimuth angle h8121 based on the azimuth angle of the geometric center of the second target plate 802b in the internal coordinate system of the first lidar under test. The steps of determining the third angle b821 and the third azimuth angle h8121 of the second target plate 802b relative to the first lidar under test 801a further include determining the third angle b821 based on the azimuth angle of two edges of the second target plate 802b arranged opposite each other along the scanning direction in the internal coordinate system of the first lidar under test 801a.

[0148] For example, if the scanning direction of the lidar under test is horizontal, that is, the scanning direction is parallel to the horizontal plane, the first angle is determined based on the azimuth angle of the two edges of the second target plate 802b set opposite each other in the horizontal direction in the internal coordinate system of the first lidar under test 801a.

[0149] For example, if the scanning direction of the lidar under test is vertical, that is, the scanning direction is perpendicular to the horizontal plane, the first angle is determined based on the azimuth angle of the two edges of the second target plate 802b set opposite each other in the vertical direction in the internal coordinate system of the first lidar under test 801a.

[0150] In some embodiments, the fourth position is the position of the second target plate 802b relative to the second lidar under test 801b. For example, the fourth position includes a fourth angle b822 and a fourth azimuth angle h8122, wherein the fourth azimuth angle h8122 is the azimuth angle of the second target plate 802b relative to the second lidar under test 801b, and the fourth angle b822 is the angle subtended by the second target plate 802b relative to the second lidar under test 801b.

[0151] In some embodiments of the example, the steps of determining the fourth angle b822 and the fourth azimuth angle h8122 of the second target plate 802b relative to the second lidar under test 801b include determining the fourth azimuth angle h8122 based on the azimuth angle of the geometric center of the second target plate 802b in the internal coordinate system of the second lidar under test 801b. The steps of determining the fourth angle b822 and the fourth azimuth angle h8122 of the second target plate 802b relative to the second lidar under test 801b further include determining the fourth angle b822 based on the azimuth angle of the two opposite edges of the second target plate 802b along the scanning direction in the internal coordinate system of the second lidar under test 801b.

[0152] For example, if the scanning direction of the lidar under test is horizontal, that is, the scanning direction is parallel to the horizontal plane, the second angle is determined based on the azimuth angle of the two edges of the second target plate 802b set opposite each other in the horizontal direction in the internal coordinate system of the lidar under test 801b.

[0153] For example, if the scanning direction of the lidar under test is vertical, that is, the scanning direction is perpendicular to the horizontal plane, the second angle is determined based on the azimuth angle of the two edges of the second target plate 802b set opposite each other in the vertical direction in the internal coordinate system of the lidar under test 801b.

[0154] It should be noted that in some embodiments, the internal coordinate system of the lidar under test is a spherical coordinate system, and the geometric center of the target plate is located at the azimuth and elevation angles of the spherical coordinate system within the internal coordinate system of the lidar under test. The third azimuth angle h8121 and the fourth azimuth angle h8122 are the azimuth angles of the spherical coordinate system.

[0155] In some embodiments, the step of determining the minimum synchronization angle difference between different lidars under test involves using the difference in azimuth angles of different target plates relative to different lidars under test and the maximum opening angle of different target plates to determine the minimum synchronization angle difference between different lidars under test.

[0156] In some specific embodiments, such as Figure 9 As shown, step S811, determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle, further includes steps S811f and S811g. Step S811f includes determining the first test angle of the first target board based on the first angle and the second angle. Step S811g includes determining the second test angle of one or more second target boards based on one or more third angles and one or more fourth angles. In step S811e, the step of determining the first minimum synchronization angle difference value is based on the first azimuth angle, the second azimuth angle, one or more third azimuth angles, one or more fourth azimuth angles, the first test angle, and one or more second test angles.

[0157] For example, such as Figure 8 As shown, the first test angle x1 is the maximum value of the first angle b811 and the second angle b812, x1 = max(b812, b811). The second test angle x2 is the maximum value of one or more third angles b821 and one or more fourth angles b822, x2 = max(b821, b822, ...).

[0158] In some specific embodiments, in the step of determining the synchronization angle difference value of different lidars under test, the synchronization angle difference value is determined based on the difference in azimuth angle of different target boards relative to different lidars under test, combined with the test angle of the corresponding target board.

[0159] In some embodiments, the step of determining the first minimum synchronization angle difference value is based on the difference value between the first azimuth angle and the second azimuth angle, the difference value between the third azimuth angle and the fourth azimuth angle, and in combination with the first test angle and the second test angle.

[0160] For example, such as Figure 8 In some embodiments shown, in the step of determining the first minimum synchronization angle difference value, the first minimum synchronization angle difference value D12 is expressed as D12 = max(|h8111-h8112|+x1, |h8121-h8122|+x2).

[0161] It should be noted that in the aforementioned embodiments, the test scenario includes only two lidars under test, namely the first lidar under test and the second lidar under test. In other embodiments of this disclosure, the test scenario may also include more than two lidars under test.

[0162] refer to Figure 10 This illustrates a structural schematic diagram of an exemplary test scenario for a test method for lidar consistent with some embodiments of this disclosure. (Referring to reference...) Figure 11 The diagram illustrates a flowchart of a testing method for lidar that is consistent with some embodiments of this disclosure.

[0163] When the test scenario includes two or more lidars under test, the steps to determine the synchronization angle of different lidars under test include determining the synchronization angle of different lidars under test based on the position of the target board relative to the different lidars under test.

[0164] like Figure 10 As shown, in some embodiments, the test scenario includes not only the first LiDAR under test 901a and the second LiDAR under test 901b, but also a third LiDAR under test 901c, which has a third synchronization angle.

[0165] In some embodiments of this disclosure, at least two of the two or more lidars under test are arranged along a predetermined direction. For example, at least two of the first, second, and third lidars under test are arranged along a predetermined direction. For instance, as shown... Figure 10 As shown, the first lidar under test 801a, the second lidar under test 801b, and the third lidar under test 801c are all arranged along a preset direction x.

[0166] In some embodiments of this disclosure, the maximum number of lidars under test in the test scenario is determined based on the maximum value of the minimum synchronization angle difference between two lidars under test. When the number of lidars under test being tested simultaneously is too large, the maximum value of the minimum synchronization angle difference between different lidars under test will exceed the field of view of the lidars under test in the preset direction, making it impossible to stagger the scanning times of different lidars under test on the same target board.

[0167] Specifically, such as Figure 10 As shown, the field of view (e.g., 360° or 120°) of the lidar under test in the scanning direction. The number of lidars under test in the test scenario is determined based on the maximum value of the minimum synchronization angle difference between any two lidars under test in the test scenario. In some embodiments, the maximum value of the minimum synchronization angle difference between any two lidars under test is not greater than the field of view of the lidar under test in the scanning direction.

[0168] It should be noted that, Figure 10 In some embodiments shown, the test scenario includes two target boards, namely a first target board 902a and a second target board 902b. In other embodiments, the test scenario may include only one target board. In still other embodiments, the test scenario may include more than two target boards.

[0169] In some embodiments of this disclosure, such as Figure 11 As shown, the test method further includes step S1130. Step S1130 includes determining a third synchronization angle based on the fifth position of the first target board 902a relative to the third lidar under test 901c. The step of determining the control signal includes step S1120. Step S1120 includes determining the control signal based on the first synchronization angle, the second synchronization angle, and the third synchronization angle, and the first lidar under test 901a, the second lidar under test 902b, and the third lidar under test 901c perform data acquisition based on the control signal.

[0170] In some embodiments, the synchronization angles of different LiDARs under test in the test scenario are determined by accumulating the values ​​one by one. For example, the LiDARs under test in the test scenario are the first LiDAR under test, the second LiDAR under test, ..., the a-th LiDAR under test, where a is a positive integer. Determining different LiDARs under test in the test scenario by accumulating the values ​​one by one means that in the step of determining the synchronization angle of the (i+1)-th LiDAR under test, the synchronization angle of the (i+1)-th LiDAR under test is determined based on the minimum synchronization angle difference between the i-th LiDAR under test and the (i+1)-th LiDAR under test, combined with the synchronization angle of the i-th LiDAR under test, where i is a positive integer greater than 0 and less than a.

[0171] It should be noted that in some embodiments, in the test scenario, the first LiDAR to be tested, the second LiDAR to be tested, ..., the a-th LiDAR to be tested are arranged sequentially along a preset direction, that is, the i-th LiDAR to be tested and the (i+1)-th LiDAR to be tested are adjacent along the preset direction.

[0172] like Figure 10 As shown, the first lidar under test 901a, the second lidar under test 901b, and the third lidar under test 901c are arranged adjacent to each other along a preset direction. Figure 12 As shown, in some embodiments, step S1230, determining the third synchronization angle, includes steps S1231 and S1232. Step S1231 includes determining a third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle based on the second position and the fifth position. Step S1232 includes determining the third synchronization angle based on the difference value between the second synchronization angle and the third minimum synchronization angle, wherein the difference value between the third synchronization angle and the second synchronization angle is greater than or equal to the difference value between the third minimum synchronization angle.

[0173] The third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle is determined as a constraint condition for determining the first synchronization angle and the second synchronization angle, so that the scanning times of the second and third lidars under test are staggered.

[0174] In some of the example embodiments, such as Figure 10 and Figure 13 As shown, step S1331, the step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle, includes steps S1331a, S1331b, and S1331d. Step S1331a includes determining the second sub-angle b912 and the second azimuth h9112 of the first target plate 902a relative to the second laser radar 901b based on the second position. Step S1331b includes determining the fifth sub-angle b913 and the fifth azimuth h9113 of the first target plate 902a relative to the third laser radar 901c based on the fifth position. Step S1331d includes determining the third minimum synchronization angle difference value based on the second sub-angle b912, the second azimuth h9112, the fifth sub-angle b913, and the fifth azimuth h9113.

[0175] In some embodiments, step S1331, determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle, further includes step S1331c. Step S1331c includes determining the fourth test angle x4 of the first target board 902a based on the second angle b912 and the fifth angle b913. The step of determining the third minimum synchronization angle difference value includes determining the third minimum synchronization angle difference value based on the second azimuth angle h9112, the fifth azimuth angle h9113, and the fourth test angle x4.

[0176] The fourth test angle x4 is the maximum angle subtended by the first target board 902a relative to all the LiDARs under test in the test scenario. In the step of determining the fourth test angle x4 of the first target board 902a, based on the first angle b911, the second angle b912, and the fifth angle b913, the fourth test angle x4 is determined as x4 = max(b911, b912, b913). Here, the first angle b911 is the angle subtended by the first target board 902a relative to the first LiDAR 901a under test. The first angle b911 can be determined based on the first position of the first target board 902a relative to the first LiDAR 901a under test.

[0177] In the step of determining the third minimum synchronization angle difference value, the third minimum synchronization angle difference value is determined based on the difference value between the second azimuth angle h9112 and the fifth azimuth angle h9113 and the fourth test angle x4. For example, the third minimum synchronization angle difference value D23 is expressed as D23=max(|h9112-h9113|+x4).

[0178] It should be noted that, as Figure 10 As shown, the test scenario also includes a second target board 902b. In the step of determining the third synchronization angle, the third synchronization angle is determined based on the fifth position of the first target board 902a relative to the third LiDAR 901c under test and based on the sixth position of the second target board 902b relative to the third LiDAR 901c under test.

[0179] In some embodiments, the synchronization angles of different lidars under test in the test scenario are determined by accumulating them one by one. In the step of determining the third synchronization angle, the third synchronization angle is determined based on the difference between the second synchronization angle and the third minimum synchronization angle.

[0180] As can be seen, in the step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle, the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle is determined based on the second position, the fifth position, the fourth position and the sixth position of the second target plate 902b relative to the second laser radar 901b.

[0181] For example, such as Figure 13 As shown, step S1331, determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle, further includes steps S1331e and S1331f. Step S1331e includes determining the fourth angle b922 and the fourth azimuth angle h9122 of the second target plate 902b relative to the second laser radar 901b based on the fourth position. Step S1331f includes determining the sixth angle b923 and the sixth azimuth angle h9123 of the second target plate 902b relative to the third laser radar 901c based on the sixth position.

[0182] Therefore, in the step of determining the third minimum synchronization angle difference value, the third minimum synchronization angle difference value is determined based on the second angle b912, the second azimuth angle h9112, the fourth angle b922, the fourth azimuth angle h9122, the fifth angle b913, the fifth azimuth angle h9113, the sixth angle b923, and the sixth azimuth angle h9123.

[0183] In some embodiments, the step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle further includes step S1331g. Step S1331g includes determining the fifth test angle x5 of the second target board 902b based on the fourth angle b922 and the sixth angle b923. The step of determining the third minimum synchronization angle difference value includes determining the third minimum synchronization angle difference value based on the second azimuth angle h9112, the fifth azimuth angle h9113, the fourth azimuth angle h9122, the sixth azimuth angle h9123, the fourth test angle x4, and the fifth test angle x5.

[0184] The fifth test angle x5 is the maximum angle subtended by the second target board 902b relative to all the LiDARs under test in the test scenario. In the step of determining the fifth test angle x5 of the second target board 902b, based on the third angle b921, the fourth angle b922, and the sixth angle b923, the fifth test angle x5 is determined as x5 = max(b921, b922, b923). Here, the third angle b921 is the angle subtended by the second target board 902b relative to the first LiDAR 901a under test. The third angle b921 can be determined based on the third position of the second target board 902b relative to the first LiDAR 901a under test.

[0185] In the step of determining the third minimum synchronization angle difference value, the third minimum synchronization angle difference value is determined based on the difference value between the second azimuth angle h9112 and the fifth azimuth angle h9113, the difference value between the fourth test angle x4, the fourth azimuth angle h9122 and the sixth azimuth angle h9123, and the fifth test angle x5.

[0186] For example, such as Figure 10 As shown, in the step of determining the third minimum synchronization angle difference value, the third minimum synchronization angle difference value D23 is expressed as D23=max(|h9112-h9113|+x4、|h9122-h9123|+x5).

[0187] It should be noted that, as Figure 11 In some embodiments shown, the testing method further includes step S1110. Step S1110 includes determining a first synchronization angle and a second synchronization angle based on a first position of the first target board relative to the first lidar under test and a second position of the first target board relative to the second lidar under test.

[0188] Moreover, such as Figure 10 As shown, the test scenario also includes a second target board 902b. Therefore, in the step of determining the first synchronization angle and the second synchronization angle, the first synchronization angle and the second synchronization angle are determined based on the first position of the first target board 902a relative to the first LiDAR 901a under test, the second position of the first target board 902a relative to the second LiDAR 901b under test, the third position of the second target board 902b relative to the first LiDAR 901a under test, and the fourth position of the second target board 902b relative to the second LiDAR 901b under test.

[0189] In some embodiments, the steps for determining the first synchronization angle and the second synchronization angle can refer to the technical solutions of the foregoing embodiments.

[0190] In some embodiments, the step of determining the first synchronization angle and the second synchronization angle is based on a first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle. Therefore, the step of determining the first minimum synchronization angle difference value is based on a first position, a second position, a third position, and a fourth position.

[0191] For example, the step of determining the first minimum synchronization angle difference value includes determining a first sub-angle b911 and a first azimuth h9111 of the first target plate 902a relative to the first LiDAR 901b based on a first position. The step of determining the first minimum synchronization angle difference value also includes determining a second sub-angle b912 and a second azimuth h9112 of the first target plate 902a relative to the second LiDAR 901b based on a second position. The step of determining the first minimum synchronization angle difference value also includes determining a third sub-angle b921 and a third azimuth h9121 of the second target plate 902b relative to the first LiDAR 901b based on a third position. Finally, the step of determining a fourth sub-angle b922 and a fourth azimuth h9122 of the second target plate 902b relative to the second LiDAR 901b based on a fourth position.

[0192] Therefore, in the step of determining the first minimum synchronization angle difference value, the first minimum synchronization angle difference value is determined based on the first angle b911, the first azimuth angle h9111, the second angle b912, the second azimuth angle h9112, the third angle b921, the third azimuth angle h9121, the fourth angle b922, and the fourth azimuth angle h9122.

[0193] In some embodiments, the step of determining the first minimum synchronization angle difference value further includes determining a first test angle x1 of the first target board 902a based on the first angle b911 and the second angle b912. The step of determining the first minimum synchronization angle difference value further includes determining a second test angle x2 of the second target board 902b based on the third angle b921 and the fourth angle b922. The step of determining the first minimum synchronization angle difference value includes determining the first minimum synchronization angle difference value using the first azimuth angle h9111, the second azimuth angle h9112, the third azimuth angle h9121, the fourth azimuth angle h9122, the first test angle x1, and the second test angle x2.

[0194] Wherein, the first test angle x1 is the maximum angle subtended by the first target board 902a relative to all the LiDARs under test in the test scene. The second test angle x2 is the maximum angle subtended by the second target board 902b relative to all the LiDARs under test in the test scene. For example... Figure 10 As shown, the test scenario also includes a third lidar under test.

[0195] In the step of determining the first test angle x1 of the first target plate 902a, based on the first angle b911, the second angle b912, and the fifth angle b913, the first test angle x1 is determined to be x1 = max(b911, b912, b913). Here, the fifth angle b913 is the angle of the first target plate 902a relative to the third laser radar 901c under test. The fifth angle b913 can be determined based on the fifth position of the first target plate 902a relative to the third laser radar 901c under test.

[0196] In the step of determining the second test angle x2 of the second target plate 902b, the second test angle x2 is determined based on the third angle b921, the fourth angle b922, and the sixth angle b923. For example, the second test angle x2 is represented as x2 = max(b921, b922, b923). Here, the sixth angle b923 is the angle subtended by the second target plate 902b relative to the third lidar under test 901c. The sixth angle b923 can be determined based on the sixth position of the second target plate 902b relative to the third lidar under test 901c.

[0197] In the step of determining the second minimum synchronization angle difference value, the first minimum synchronization angle difference value is determined based on the difference between the first azimuth angle h9111 and the second azimuth angle h9112, the difference between the first test angle x1, the third azimuth angle h9121 and the fourth azimuth angle h9122, and the second test angle x2. For example, the first minimum synchronization angle difference value D12 is expressed as D12 = max(|h9111-h9112|+x1, |h9121-h9122|+x2).

[0198] It should be noted that in the foregoing embodiments, the synchronization angles of different lidars under test in the test scenario are determined by accumulating them one by one. In other embodiments of this disclosure, the synchronization angles of different lidars under test in the test scenario can also be determined by other methods.

[0199] In other embodiments, the synchronization angles of other LiDARs under test in the test scenario are determined based on the synchronization angle of the same LiDAR under test. For example, the LiDARs under test in the test scenario are the first LiDAR under test, the second LiDAR under test, ..., the a-th LiDAR under test, where a is a positive integer. Determining the synchronization angle of other LiDARs under test in the test scenario based on the synchronization angle of the same LiDAR under test means that the j-th LiDAR under test is the reference LiDAR under test. In the step of determining the synchronization angle of the k-th LiDAR under test, the synchronization angle of the k-th LiDAR under test is determined based on the minimum synchronization angle difference between the k-th LiDAR under test and the reference LiDAR under test, combined with the synchronization angle of the reference LiDAR under test, where j and k are positive integers greater than 0 and less than or equal to a, and j ≠ k.

[0200] For example, such as Figure 12 As shown, in some embodiments, step S1230, the step of determining the third synchronization angle, may include steps S1233 and S1234. Step S1233 includes determining a second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle based on the first position and the fifth position. Step S1234 includes determining the third synchronization angle based on the difference value between the first synchronization angle and the second minimum synchronization angle, wherein the difference value between the third synchronization angle and the first synchronization angle is greater than or equal to the second minimum synchronization angle difference value.

[0201] For example, in some embodiments, such as Figure 10 and Figure 14 As shown, step S1431, the step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle, includes steps S1431a, S1431b, and S1431d. Step S1431a includes determining the first sub-angle b911 and the first azimuth h9111 of the first target plate relative to the first lidar under test based on the first position. Step S1431b includes determining the fifth sub-angle b913 and the fifth azimuth h9113 of the first target plate relative to the third lidar under test based on the fifth position. Step S1431d includes determining the second minimum synchronization angle difference value based on the first sub-angle b911, the first azimuth h9111, the fifth sub-angle b913, and the fifth azimuth h9113.

[0202] In some embodiments, the step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle further includes step S1431c. Step S1431c includes determining the third test angle x3 of the first target board based on the first angle b911 and the fifth angle b913. The step of determining the second minimum synchronization angle difference value includes determining the second minimum synchronization angle difference value based on the first azimuth angle h9111, the fifth azimuth angle h9113, and the third test angle.

[0203] The third test angle x3 is the maximum angle subtended by the first target board 902a relative to all the LiDARs under test in the test scenario. In the step of determining the third test angle x3 of the first target board 902a, based on the first angle b911, the second angle b912, and the fifth angle b913, the third test angle x3 is determined as x3 = max(b911, b912, b913). Here, the second angle b912 is the angle subtended by the first target board 902a relative to the second LiDAR 901b under test. The second angle b912 can be determined based on the second position of the first target board 902a relative to the second LiDAR 901b under test.

[0204] In the step of determining the second minimum synchronization angle difference value, the second synchronization angle difference value is determined based on the difference between the first azimuth angle h9111 and the fifth azimuth angle h9113 and the third test angle. For example, the third minimum synchronization angle difference value D13 is expressed as D13 = max(|h9111-h9113|+x3).

[0205] like Figure 10 As shown, the test scenario also includes a second target board 902b. In the step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle, the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle is determined based on the first position, the third position and the fifth position of the second target board 902b relative to the first lidar under test 901a, and the sixth position of the second target board 902b relative to the third lidar under test 901c.

[0206] Step S1431, the step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle, further includes determining the third angle b921 and the third azimuth angle h9121 of the second target plate 902b relative to the first laser radar 901a under test based on the third position. The step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle further includes determining the sixth angle b923 and the sixth azimuth angle h9123 of the second target plate 902b relative to the third laser radar 901c under test based on the sixth position.

[0207] Therefore, in the step of determining the second minimum synchronization angle difference value, the first angle b911, the first azimuth angle h9111, the fifth angle b913, the fifth azimuth angle h9113, the third angle b921, the third azimuth angle h9121, the sixth angle b923, and the sixth azimuth angle h9123 are used to determine the second minimum synchronization angle difference value.

[0208] In some embodiments, the step of determining the second minimum synchronization angle difference value further includes determining the sixth test angle x6 of the second target board 902b based on the third angle b921 and the sixth angle b923. The step of determining the second minimum synchronization angle difference value includes using the first azimuth angle h9111, the fifth azimuth angle h9113, the third azimuth angle h9121, the sixth azimuth angle h9123, the third test angle x3, and the sixth test angle x6 to determine the second minimum synchronization angle difference value.

[0209] The sixth test angle x6 is the maximum angle subtended by the second target board 902b relative to all the LiDARs under test in the test scenario. In the step of determining the sixth test angle x6, based on the third angle b921, the fourth angle b922, and the sixth angle b923, the sixth test angle x6 is determined as x6 = max(b921, b922, b923). Here, the fourth angle b922 is the angle subtended by the second target board 902b relative to the second LiDAR 901b under test. The fourth angle b922 can be determined based on the fourth position of the second target board 902b relative to the second LiDAR 901b under test.

[0210] In the step of determining the second minimum synchronization angle difference value, the difference between the first azimuth angle h9111 and the fifth azimuth angle h9113, the difference between the third test angle x3, the difference between the third azimuth angle h9121 and the sixth azimuth angle h9123, and the sixth test angle x6 are used to determine the second minimum synchronization angle difference value. For example, the second minimum synchronization angle difference value D13 is expressed as D13 = max(|h9111-h9113|+x3, |h9121-h9123|+x6).

[0211] In other embodiments, the step of determining the synchronization angle of the lidar under test can also be based on the minimum synchronization angle difference between the lidar under test and other lidars under test in the test scene that are different from the lidar under test, combined with the synchronization angle of other lidars under test in the corresponding test scene that are different from the lidar under test, to determine the synchronization angle of the lidar under test.

[0212] In some embodiments, the lidars under test in the test scenario are designated as the first lidar under test, the second lidar under test, ..., the a-th lidar under test, where a is a positive integer. Determining the synchronization angle of the lidar under test based on the minimum synchronization angle difference between the lidar under test and other lidars under test in the test scenario, combined with the synchronization angles of the corresponding lidars under test in the test scenario, means that in the step of determining the synchronization angle of the m-th lidar under test, the synchronization angle of the m-th lidar under test is determined based on the minimum synchronization angle difference between the m-th and n-th lidars under test, combined with the synchronization angle of the n-th lidar under test, where m and k are positive integers greater than 0 and less than or equal to a, and j ≠ k.

[0213] For example, such as Figure 12 As shown, in some embodiments, step S1230, determining the third synchronization angle, includes steps S1233, S1231, and S1235. Step S1233 includes determining a second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle based on the first position and the fifth position. Step S1231 includes determining a third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle based on the second position and the fifth position. Step S1235 includes determining the third synchronization angle based on the first synchronization angle, the second minimum synchronization angle difference value, and the difference value between the second synchronization angle and the third minimum synchronization angle, wherein the difference value between the third synchronization angle and the first synchronization angle is greater than or equal to the second minimum synchronization angle difference value, and the difference value between the third synchronization angle and the second synchronization angle is greater than or equal to the third minimum synchronization angle difference value.

[0214] Accordingly, this disclosure also provides a testing system for lidar.

[0215] The testing system includes a first target board, a first lidar under test (DUT), a second lidar under test (DUT), and a controller. The first DUT has a first synchronization angle, and the second DUT has a second synchronization angle. The controller is configured to determine the first and second synchronization angles based on a first position of the first target board relative to the first DUT and a second position of the first target board relative to the second DUT. The controller is also configured to determine a control signal based on the first and second synchronization angles, and the first and second DUTs perform data acquisition based on the control signal.

[0216] In some embodiments, the test system includes at least two lidars under test, with the first lidar under test and the second lidar under test being two of the at least two lidars under test. Furthermore, both lidars under test have a synchronization angle function, with the first lidar under test having a first synchronization angle and the second lidar under test having a second synchronization angle.

[0217] In some embodiments, at least two lidar sensors under test can be arranged along a preset direction in the test scenario. For example, a first lidar sensor and a second lidar sensor under test can be arranged along a preset direction.

[0218] In some embodiments, the preset direction may be consistent with the field of view direction where the synchronization angle of the lidar under test is located. For example, the synchronization angle of the lidar under test is the synchronization angle in the horizontal field of view direction, and the preset direction is parallel to the horizontal plane. The synchronization angle of the lidar under test is the synchronization angle in the vertical field of view direction, and the preset direction is perpendicular to the horizontal plane.

[0219] In some embodiments of this disclosure, the projections of the first and second lidar under test in the horizontal plane are not collinear with the first target plate, so that in a plane parallel to the horizontal plane, the first target plate is located on the same side of the line connecting the first and second lidar under test.

[0220] like Figure 1 and Figure 2 In some of the embodiments shown, the test scenario has 2×2, a total of 4 test stations, which can realize the simultaneous testing of 4 LiDARs under test. That is to say, the test scenario includes 4 LiDARs under test, namely LiDAR 101a, LiDAR 101b, LiDAR 101c and LiDAR 101d.

[0221] In a plane perpendicular to the horizontal plane, four lidar detectors under test are arranged in a 2×2 array. For example, in a plane perpendicular to the horizontal plane, lidar detectors 101a, 101b, 101c, and 101d form a 2x2 array. The projections of lidar detectors 101a and 101b arranged in the column direction coincide on the horizontal plane, as do the projections of lidar detectors 101c and 101d arranged in the column direction.

[0222] In some embodiments, the first lidar under test is one of lidar under test 101a and lidar under test 101b. The second lidar under test is one of lidar under test 101c and lidar under test 101d.

[0223] The test scenario may include at least one target board, one of which is the first target board. Specifically, as follows... Figure 1 In some of the embodiments shown, the test scenario includes three target boards, namely target board 102a, target board 102b and target board 102c, wherein the first target board is one of target board 102a, target board 102b and target board 102c.

[0224] In some embodiments of this disclosure, the test scenario may include at least two target boards, and the test scenario may also include a second target board, which may be one of the at least two target boards in the test scenario that is different from the first target board. Specifically, as follows... Figure 1 In some of the embodiments shown, the first target board and the second target board are any two of target board 102a, target board 102b and target board 102c, respectively.

[0225] In some embodiments of this disclosure, the controller can use the testing methods of this disclosure to control the first and second lidar under test. Specific technical solutions for the controller can be found in the embodiments of the foregoing testing methods.

[0226] In some embodiments of this disclosure, the controller includes a first sub-controller, a second sub-controller, and a main controller. The first sub-controller is connected to a first lidar under test. The second sub-controller is connected to a second lidar under test. The main controller is connected to both the first and second sub-controllers. For example, the controller includes at least two sub-controllers, each connected to at least two lidars under test in a one-to-one correspondence.

[0227] For example, such as Figure 15 In some embodiments shown, the test system includes LiDAR under test 151a, LiDAR under test 151b, LiDAR under test 151c, and LiDAR under test 151d. The test system includes sub-controllers P1, P2, P3, and P4. Sub-controllers P1, P2, P3, and P4 are connected to LiDARs under test 151a, 151b, 151c, and 151d in a one-to-one correspondence. The main controller M is connected to all sub-controllers P1, P2, P3, and P4.

[0228] Among them, two of the lidars under test 151a, 151b, 151c, and 151d are the first lidar under test and the second lidar under test, respectively. Of the sub-controllers P1, P2, P3, and P4, the sub-controller connected to the first lidar under test and the second lidar under test are the first sub-controller and the second sub-controller, respectively.

[0229] In some embodiments, the clocks of at least two sub-controllers in the controller are synchronized. The clock synchronization of all sub-controllers ensures that the clocks of all LiDARs under test in the test scenario are synchronized, enabling simultaneous testing of all LiDARs under test and achieving the synchronization angle function. For example, the clocks of the first sub-controller and the second sub-controller are synchronized.

[0230] For example, the clocks of at least two sub-controllers in the controller are synchronized with the clock of the master controller, thereby achieving synchronization of the clocks of all sub-controllers. For instance, the clocks of the first and second sub-controllers are synchronized with the clock of the master controller.

[0231] It should be noted that the practice of having at least two sub-controllers connected one-to-one with at least two lidars under test in the controller is merely an example. In other embodiments of this disclosure, the number of sub-controllers in the controller may be less than the number of lidars under test, with one sub-controller connected to at least two lidars under test.

[0232] It should also be noted that the configuration of the controller including a main controller and at least two first sub-controllers is merely an example. In other embodiments of this disclosure, the controller may also include only a main controller, which is directly connected to all the lidars under test.

[0233] In some embodiments of this disclosure, all LiDARs under test in the test scenario are tested simultaneously based on control signals, that is, the tests start and stop simultaneously. In other words, the control signals are used to enable all LiDARs under test in the test scenario to start and stop testing simultaneously.

[0234] In some embodiments of this disclosure, all LiDARs under test in the test scenario are tested at the same frequency based on control signals. This method of using control signals to make all LiDARs under test in the test scenario test at the same frequency allows for flexible increases or decreases in the number of LiDARs under test, effectively improving the flexibility of the test system.

[0235] In some embodiments, during the testing of the LiDAR under test in the test scenario, each LiDAR under test performs at least two data acquisitions. Simultaneous testing of all LiDARs under test in the test scenario based on control signals means that all LiDARs under test in the test scenario simultaneously start and simultaneously end one data acquisition based on the control signal; that is, the control signal is used to cause all LiDARs under test in the test scenario to simultaneously start and end one data acquisition.

[0236] For example, in some embodiments, during the testing of the LiDAR under test in the test scenario, each LiDAR needs to undergo multiple pose changes (e.g., 20 times). After each pose change, the LiDAR under test performs one data acquisition. That is, during the testing of the LiDAR under test in the test scenario, each LiDAR needs to undergo multiple data acquisitions (e.g., 20 times).

[0237] like Figure 16As shown, the test scenario includes LiDAR 1601, LiDAR 1602, and LiDAR 1603 under test. The testing process for each LiDAR under test in the test scenario includes an intervald data acquisition period 161 and a pose transformation period 162. During the data acquisition period 161, the LiDAR under test acquires data in a fixed pose. During the pose transformation period 162, the LiDAR under test changes its pose but does not acquire data.

[0238] In some embodiments, the control signal can make the start and end times of the data acquisition period 161 and pose transformation period 162 of the lidar under test 1601, lidar under test 1602 and lidar under test 1603 the same.

[0239] During the testing of lidar 1601, lidar 1602 and lidar 1603 were added to the testing system. Control signals caused the first data acquisition period 163 of lidar 1602 and the q-th data acquisition period 164 of lidar 1601 to start simultaneously at time T1 and end simultaneously at time T2. Control signals also caused the first data acquisition period 165 of lidar 1603, the second data acquisition period 166 of lidar 1602, and the (q+1)-th data acquisition period 167 of lidar 1601 to start simultaneously at time T3 and end simultaneously at time T4.

[0240] It should be understood that the division of modules and units in the above system is only a logical functional division. In actual implementation, there may be other division methods. In practice, they may be fully or partially integrated into a single physical entity, or they may be physically separated. Furthermore, the modules and units in the device can be implemented by a processor calling software. For example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each module and unit of the device. The processor may be a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory may be internal or external to the system. Alternatively, the modules and units in the device can be implemented as hardware circuits. The functions of some or all modules can be implemented through the design of the hardware circuit, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functions of some or all of the above modules are implemented through the design of the logical relationships between the components within the circuit. For example, in another implementation, the hardware circuit can be implemented using a programmable logic device (PLD), which can include a large number of logic gates. The logical relationships between the logic gates are configured through a configuration file, thereby realizing the functions of some or all of the above modules. All modules of the above system can be implemented entirely through processor-invoked programs, entirely through hardware circuits, or partially through processor-invoked programs with the remaining parts implemented through hardware circuits.

[0241] Based on the first position of the first target board relative to the first lidar under test (DUT) and the second position of the first target board relative to the second lidar under test (DUT), a first synchronization angle and a second synchronization angle are determined. Based on the first and second synchronization angles, a control signal is determined to enable the first and second lidars under test to acquire data. Utilizing the synchronization angle function of the lidars under test, the synchronization angles of different lidars under test in the test scenario are set to appropriate values, so that the detection timing of different lidars under test on the same target board is staggered, thereby avoiding mutual interference between different lidars under test in the same test scenario. This achieves testing of multiple lidars in the same test scenario without mutual interference, improving the utilization rate of the test site.

[0242] While the above disclosure is provided, it is not limited thereto. Any person skilled in the art may make various alterations and modifications without departing from the spirit and scope of this disclosure; therefore, the scope of protection of this disclosure shall be determined by the scope defined in the claims.

Claims

1. A testing method for lidar, characterized in that, The test method is executed in a test scenario, which includes: a first target board, a first lidar under test and a second lidar under test, wherein the first lidar under test has a first synchronization angle and the second lidar under test has a second synchronization angle. The testing method includes: Based on the first position of the first target board relative to the first lidar under test and the second position of the first target board relative to the second lidar under test, the first synchronization angle and the second synchronization angle are determined. Based on the first synchronization angle and the second synchronization angle, a control signal is determined, and the first and second lidar under test perform data acquisition based on the control signal.

2. The test method of claim 1, wherein, The steps for determining the first synchronization angle and the second synchronization angle include: Based on the first position and the second position, determine the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle; Based on the first minimum synchronization angle difference value, the first synchronization angle and the second synchronization angle are determined, wherein the difference value between the first synchronization angle and the second synchronization angle is greater than or equal to the first minimum synchronization angle difference value.

3. The test method as described in claim 2, characterized in that, Determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle includes: Based on the first position, determine the first angle and the first azimuth angle of the first target plate relative to the first laser radar under test; Based on the second position, determine the second angle and second azimuth angle of the first target plate relative to the second lidar under test; Based on the first angle, the first azimuth angle, the second angle, and the second azimuth angle, a first minimum synchronization angle difference value is determined between the first synchronization angle and the second synchronization angle.

4. The test method as described in claim 3, characterized in that, The determination of the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle further includes: Based on the first angle and the second angle, the first test angle of the first target board is determined; The step of determining the first minimum synchronization angle difference value includes: determining the first minimum synchronization angle difference value based on the first azimuth angle, the second azimuth angle, and the first test angle.

5. The test method as described in claim 1, characterized in that, The test scenario also includes: one or more second target boards; The step of determining the first synchronization angle and the second synchronization angle based on the first position of the first target board relative to the first lidar under test and the second position of the first target board relative to the second lidar under test includes: The first synchronization angle and the second synchronization angle are determined based on the first position, the second position, the third position of one or more second target boards relative to the first lidar under test, and the fourth position of one or more second target boards relative to the second lidar under test.

6. The test method as described in claim 5, characterized in that, Determining the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle includes: Based on the first position, determine the first angle and the first azimuth angle of the first target plate relative to the first laser radar under test; Based on the second position, determine the second angle and second azimuth angle of the first target plate relative to the second lidar under test; Based on the one or more of the third positions, determine the third angle and third azimuth angle of one or more of the second target plates relative to the first lidar under test; Based on the one or more of the fourth positions, determine the fourth angle and fourth azimuth angle of the one or more second target plates relative to the second lidar under test; The first minimum synchronization angle difference value is determined based on the first angle, the first azimuth angle, the second angle, the second azimuth angle, one or more of the third angles, one or more of the third azimuth angles, one or more of the fourth angles and one or more of the fourth azimuth angles.

7. The test method as described in claim 6, characterized in that, The determination of the first minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle further includes: Based on the first angle and the second angle, determine the first test angle of the first target board; Based on one or more of the third angles and one or more of the fourth angles, determine the second test angles of one or more of the second target plates; The first minimum synchronization angle difference value is determined based on the first azimuth angle, the second azimuth angle, one or more of the third azimuth angles, one or more of the fourth azimuth angles, the first test angle, and one or more of the second test angles.

8. The test method as described in claim 2, characterized in that, The test scenario also includes: a third lidar under test, which has a third synchronization angle; The testing method also includes: The third synchronization angle is determined based on the fifth position of the first target board relative to the third lidar under test; In the step of determining the control signal, the control signal is determined based on the first synchronization angle, the second synchronization angle, and the third synchronization angle, and the first lidar under test, the second lidar under test, and one or more third lidars under test perform data acquisition based on the control signal.

9. The test method as described in claim 8, characterized in that, The step of determining the third synchronization angle includes: Based on the first position and the fifth position, a second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle is determined; The third synchronization angle is determined based on the difference between the first synchronization angle and the second minimum synchronization angle, wherein the difference between the third synchronization angle and the first synchronization angle is greater than or equal to the difference between the second minimum synchronization angle.

10. The test method as described in claim 8, characterized in that, The step of determining the third synchronization angle includes: Based on the second position and the fifth position, a third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle is determined; The third synchronization angle is determined based on the difference between the second synchronization angle and the third minimum synchronization angle, wherein the difference between the third synchronization angle and the second synchronization angle is greater than or equal to the difference between the third minimum synchronization angle.

11. The test method as described in claim 8, characterized in that, The step of determining the third synchronization angle includes: Based on the first position and the fifth position, a second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle is determined; Based on the second position and the fifth position, a third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle is determined; The third synchronization angle is determined based on the first synchronization angle, the difference value of the second minimum synchronization angle, the difference value of the second synchronization angle and the difference value of the third minimum synchronization angle, wherein the difference value of the third synchronization angle and the first synchronization angle is greater than or equal to the difference value of the second minimum synchronization angle, and the difference value of the third synchronization angle and the second synchronization angle is greater than or equal to the difference value of the third minimum synchronization angle.

12. The test method as described in claim 9 or 11, characterized in that, The step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle includes: Based on the first position, determine the first angle and the first azimuth angle of the first target plate relative to the first laser radar under test; Based on the fifth position, the fifth angle and fifth azimuth angle of the first target plate relative to the third lidar under test are determined; Based on the first angle, the first azimuth angle, the fifth angle, and the fifth azimuth angle, the second minimum synchronization angle difference value is determined.

13. The test method as described in claim 12, characterized in that, The step of determining the second minimum synchronization angle difference value between the first synchronization angle and the third synchronization angle further includes: Based on the first and fifth angles, the third test angle of the first target board is determined; The step of determining the second minimum synchronization angle difference value includes: determining the second minimum synchronization angle difference value based on the first azimuth angle, the fifth azimuth angle, and the third test angle.

14. The test method as described in claim 10 or 11, characterized in that, The step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle includes: Based on the second position, determine the second angle and second azimuth angle of the first target plate relative to the second lidar under test; Based on the fifth position, the fifth angle and fifth azimuth angle of the first target plate relative to the third lidar under test are determined; The third minimum synchronization angle difference value is determined based on the second angle, the second azimuth angle, the fifth angle, and the fifth azimuth angle.

15. The test method as described in claim 14, characterized in that, The step of determining the third minimum synchronization angle difference value between the second synchronization angle and the third synchronization angle further includes: Based on the second and fifth angles, the fourth test angle of the first target board is determined; The step of determining the third minimum synchronization angle difference value includes: determining the third minimum synchronization angle difference value based on the second azimuth angle, the fifth azimuth angle, and the fourth test angle.

16. The test method as described in claim 8, characterized in that, At least two of the first, second, and third lidar under test are arranged along a preset direction.

17. The test method as described in claim 8, characterized in that, The maximum number of lidars to be tested in the test scenario is determined based on the maximum value of the minimum synchronization angle difference between two lidars to be tested.

18. The test method as described in claim 1, characterized in that, Also includes: A rotation signal is determined, and the first and second lidar under test adjust their poses based on the rotation signal. After determining the rotation signal, determine the first synchronization angle and the second synchronization angle.

19. The test method as described in claim 18, characterized in that, After determining the rotation signal, the steps for determining the first synchronization angle and the second synchronization angle include: Based on the rotation signal, one or more first poses of the first lidar under test and one or more second poses of the second lidar under test are determined. Based on one or more first positions under the first pose and one or more second positions under the second pose, determine the first minimum synchronization angle difference value under one or more pose combinations; The first synchronization angle and the second synchronization angle are determined based on the first minimum synchronization angle difference value under one or more pose combinations.

20. The test method as described in claim 19, characterized in that, After determining the rotation signal, the steps of determining the first synchronization angle and the second synchronization angle further include: Based on the first minimum synchronization angle difference value under multiple pose combinations, determine the test minimum synchronization angle difference value between the first synchronization angle and the second synchronization angle. In the step of determining the first synchronization angle and the second synchronization angle, the first synchronization angle and the second synchronization angle are determined based on the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle, wherein the difference between the first synchronization angle and the second synchronization angle is greater than or equal to the minimum test synchronization angle difference value between the first synchronization angle and the second synchronization angle.

21. A testing system for lidar, characterized in that, include: The system comprises a first target board, a first lidar under test, a second lidar under test, and a controller, wherein the first lidar under test has a first synchronization angle and the second lidar under test has a second synchronization angle. The controller is configured to determine the first synchronization angle and the second synchronization angle based on the first position of the first target board relative to the first lidar under test and the second position of the first target board relative to the second lidar under test; the controller is also configured to determine a control signal based on the first synchronization angle and the second synchronization angle, and the first lidar under test and the second lidar under test perform data acquisition based on the control signal.

22. The testing system as described in claim 21, characterized in that, The projections of the first and second lidar under test in the horizontal plane are not collinear with the first target plate.

23. The testing system as described in claim 21, characterized in that, The controller includes a first sub-controller, a second sub-controller, and a main controller. The first sub-controller is connected to the first lidar under test; The second sub-controller is connected to the second lidar under test; The main controller is connected to the first sub-controller and the second sub-controller.

24. The testing system as described in claim 23, characterized in that, The clocks of the first sub-controller and the second sub-controller are synchronized.

25. The testing system as described in claim 23 or 24, characterized in that, The clocks of the first sub-controller and the second sub-controller are synchronized with the clock of the main controller.

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