Target plate assembly and system for lidar testing

Abstract

The present disclosure relates to a target plate assembly and system for lidar testing. The target plate assembly comprises a target plate and a light source. One side of the target plate faces the lidar; the light source is coupled with the target plate, the light source comprises a light output port, the light output port faces the lidar, the light emitted by the light source comprises infrared light; wherein the light output port comprises a plurality of light output ports, the plurality of light output ports are discretely distributed on the target plate; the light source is configured to simulate ambient light noise. The target plate assembly and system of the present disclosure can efficiently and realistically simulate ambient light in order to better test the lidar.

Description

Technical Field

[0001] This disclosure generally relates to the field of testing technology, and more particularly to a target board assembly and system for testing lidar. Background Technology

[0002] Lidar (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of objects. Due to its advantages such as high resolution, strong resistance to active interference, good detection performance, small size, and light weight, lidar is widely used in fields such as autonomous driving, transportation communication, drones, intelligent robots, and resource exploration.

[0003] In lidar testing, real-world scenarios can be simulated using test environments. For example, a target board can be placed in the test environment, the lidar emits a laser beam towards the target board, and the echo reflected from the target board can be received. This allows for testing the lidar's performance, such as distance accuracy and reflectivity accuracy. Some solutions simulate ambient light noise by placing an external light source in front of or to the side of the target board in the test environment, with the light beam reflected from the target board and then incident on the lidar. However, this method of reflecting the beam from the target board is difficult to efficiently and realistically simulate ambient light noise, and it is also difficult to simulate strong light environments. Therefore, how to efficiently and realistically simulate ambient light noise environments, as well as strong ambient light, for better lidar testing is a technical problem that this disclosure aims to solve.

[0004] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0005] In view of one or more of the problems existing in the prior art, this disclosure provides a target board assembly and system for testing lidar, which can efficiently and realistically simulate ambient light in order to better test lidar.

[0006] According to a first aspect of this disclosure, a target board assembly is provided. The target board assembly includes: a target board, one side of which faces the lidar; and a light source coupled to the target board, the light source including an optical output port facing the lidar, the light emitted by the light source including infrared light; wherein the optical output port includes a plurality of optical output ports discretely distributed on the target board; the light source is configured to simulate ambient light noise.

[0007] Optionally, the target plate includes a non-transparent substrate.

[0008] Optionally, the target plate has a first reflectivity, which is greater than or equal to 2%.

[0009] Optionally, the target plate includes a plurality of micropores, which are arranged in a micropore array on the target plate.

[0010] Optionally, the plurality of micropores are uniformly distributed on the target plate.

[0011] Optionally, the area of ​​the micropore array on the target plate is less than or equal to 10%.

[0012] Optionally, the area of ​​the micropore array on the target plate is less than or equal to 5%.

[0013] Optionally, the spacing between the micropores is 0.5 cm to 20 cm.

[0014] Optionally, the diameter of the micropore is less than 1 cm.

[0015] Optionally, the light output port is located inside the micropore.

[0016] Optionally, the light source includes multiple sub-light sources, which are located within the multiple micropores.

[0017] Optionally, the target board assembly further includes an optical fiber coupled to the light source, the optical fiber being embedded in the target board through the micropores to form the plurality of optical output ports.

[0018] Optionally, the target board assembly further includes a beam splitter, the light source is coupled to the beam splitter, the optical fiber includes a plurality of optical fibers, the plurality of optical fibers are coupled to the beam splitter, and the light emitted by the light source is coupled into the plurality of optical fibers through the beam splitter.

[0019] Optionally, the light from the light source forms a uniform light field on the surface of the target plate through the plurality of light output ports, and the light from the uniform light field enters the lidar through a direct path.

[0020] Optionally, the light source includes an LED light source or a laser, and the laser includes a vertical cavity surface-emitting laser or an edge-emitting laser.

[0021] Optionally, the downstream of the light source includes a lens configured to modulate the light beam incident thereon.

[0022] Optionally, the target board assembly further includes a controller connected to the light source and configured to control the light source to be turned on or off.

[0023] Optionally, the controller is configured to control the luminous intensity of the light source to control the light intensity of the target board assembly, simulating ambient light noise of different intensities, wherein the simulated intensity range of the ambient light noise is 5000 lux to 200000 lux.

[0024] According to a second aspect of this disclosure, a system for testing lidar is provided. The system includes: a lidar; and a target board assembly as described above, the target board assembly being located on one side of the lidar.

[0025] The target board assembly disclosed herein can efficiently and realistically simulate outdoor ambient light noise in test scenarios, such as within a limited indoor test space. Ambient light can include light from the environment in which the lidar is located that may enter the lidar's receiving field of view, including but not limited to sunlight, lamplight, and reflected light. The target board assembly of this disclosure has high light energy utilization efficiency and can simulate strong ambient light. The light source can be directly coupled to the target board, and the light output port is located on the target board. The light emitted by the light source can be directly incident on the lidar through the light output port. Ambient light noise can be constructed based on a direct path, rather than relying on reflection from the target board. The light source has high light energy utilization efficiency and can simulate strong light environments. Moreover, the target board assembly of this disclosure does not require the light source to be located in front of or to the side of the target board. The light source will not obstruct the lidar's field of view and will not interfere with the lidar's normal detection.

[0026] The system disclosed herein tests lidar through a target board assembly, which can simulate ambient light noise and meet testing requirements such as high intensity, uniformity, controllability, and non-interference with the test optical path. It has high light energy utilization efficiency, a large dynamic range of light intensity, low cost, and is easy to maintain. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the following description of the embodiments will be provided as examples. The 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 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.

[0028] Figure 1A A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0029] Figure 1B A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0030] Figure 1C A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0031] Figure 1D A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0032] Figure 1E A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0033] Figure 1F A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0034] Figure 2 A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0035] Figure 3 A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0036] Figure 4A A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0037] Figure 4B A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown.

[0038] Figure 5 A schematic diagram of an exemplary system consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0039] In the following description, only certain exemplary embodiments are shown. 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.

[0040] 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., indicate the orientation or positional relationship according to the accompanying drawings, and 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0041] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" 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.

[0042] 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.

[0043] The following provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify this disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit 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, this disclosure provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0044] The following description, in conjunction with the accompanying drawings, illustrates some embodiments of this disclosure. It should be understood that the embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure.

[0045] During lidar testing, some ambient light noise emulation schemes use a reflection path to introduce ambient light. A light source illuminates the target board from the front, and the ambient light is indirectly introduced into the lidar through diffuse reflection from the target board. Because the light source must first illuminate the target board before entering the lidar receiving system via diffuse reflection, the light energy utilization efficiency is low. Most of the light energy is lost during reflection, and the actual energy entering the lidar is very low, making it difficult to simulate high-intensity ambient light (such as strong sunlight). Furthermore, structural layout is limited; the light source is usually placed in front of the target board, which can easily obstruct the lidar's field of view and interfere with the normal testing path.

[0046] This disclosure provides a target board assembly for lidar testing. The target board assembly includes a target board and a light source. The target board includes opposing first and second surfaces. The first surface faces the lidar. The light source is coupled to the target board. The light source includes optical output ports. The optical output ports face the lidar. The light emitted by the light source includes infrared light. The optical output ports include multiple optical output ports. The multiple optical output ports are discretely distributed on the target board. The light source can simulate ambient light noise.

[0047] The target board assembly disclosed herein can efficiently and realistically simulate outdoor ambient light noise in test scenarios, such as within a limited indoor test space. Ambient light can include light from the environment in which the lidar is located that may enter the lidar's receiving field of view, including but not limited to sunlight, lamplight, and reflected light. The target board assembly of this disclosure has high light energy utilization efficiency and can simulate strong ambient light. The light source can be directly coupled to the target board, and the light output port is located on the target board. The light emitted by the light source can be directly incident on the lidar through the light output port. Ambient light noise can be constructed based on a direct path, rather than relying on reflection from the target board. The light source has high light energy utilization efficiency and can simulate strong light environments. Moreover, the target board assembly of this disclosure does not require the light source to be located in front of or to the side of the target board. The light source will not obstruct the lidar's field of view and will not interfere with the lidar's normal detection.

[0048] Figure 1A A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 1B A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 1A , Figure 1B As shown, the target plate assembly 10 includes a target plate 11. One side of the target plate 11 faces the lidar 16. The lidar 16 can emit a probe light, which is incident on the target plate 11 and reflected by the target plate 11 to generate an echo, which can be received by the lidar 16. For example, the surface of the target plate 11 facing the lidar 16 can be flat or curved. For example, the surface of the target plate 11 facing the lidar 16 can have a certain size, and the target plate 11 can cover a portion of the field of view of the lidar 16, so that at least one beam of light can be incident on the target plate 11 during scanning. For example, the minimum size of the target plate 11 can be greater than 0.2m. For example, the target plate 11 can be rectangular, rounded rectangle, ellipse, circle, pentagon, hexagon, or other polygonal shapes. For example, the target plate 11 can be placed vertically, for example, the plane on which the target plate 11 is located is perpendicular to the ground. For example, the target plate 11 can have a certain angle with the vertical direction. For example, the surface of the target plate 11 facing the lidar 16 can be perpendicular to the beam emitted by the lidar 16, or have a certain angle.

[0049] In some embodiments, the light source 13 may be located on the opposite side of the target plate 11. For example, the light source 13 may be located on the side of the target plate 11 away from the lidar 16. For example, the light source 13 may be located on the rear side, oblique rear side, above, or left and right sides of the target plate 11. In some embodiments, the target plate 11 may include opposing first surfaces 111 and second surfaces 112. For example, the first surface 111 and the second surface 112 may be parallel to each other or have a certain angle. For example, the first surface may be a plane or a curved surface. For example, the second surface may be a plane or a curved surface. For example, the first surface 111 and the second surface 112 are spaced apart. The first surface 111 may face the lidar 16. The second surface 112 may face away from the lidar 16. For example, the first surface 111 may face the lidar 16 directly. For example, the detection light emitted by the lidar is incident perpendicularly on the first surface 111. For example, the first surface 111 may face approximately towards the lidar 16. For example, the incident angle of the probe light emitted by the lidar on the first surface 111 is at an angle to the normal direction of the first surface 111.

[0050] In some embodiments, the target board assembly 10 includes a light source 13. The light emitted by the light source 13 includes infrared light. For example, the wavelength of the light emitted by the light source 13 may include any one of 905 nm, 940 nm, 1440 nm, 1510 nm, or 1550 nm. For example, the light emitted by the light source 13 includes the operating wavelength of the lidar 16. For example, the light emitted by the light source 13 may be a broadband beam. For example, the light source 13 includes both visible and infrared wavelengths. The light source 13 can simulate ambient light noise. The light source 13 includes a light output port 130. The light emitted by the light source 13 can exit through the light output port 130. The light output port 130 faces the lidar 16. For example, the opening direction of the light output port 130 is generally towards the lidar 16. The light emitted by the light source 13 can directly enter the lidar 16 after exiting through the light output port 130. The light source 13 is coupled to the target board 11. For example, the light output port 130 may be disposed on the target board 11. For example, the light output port 130 is connected to the target board 11 by means of snap-fit, interference fit, bonding, plugging, etc. For instance, the light output port 130 may be formed on the target board 11. For instance, the target board 11 has a light transmission channel, which forms the light output port 130. Light emitted by the light source 13 can be transmitted through the light output channel and then emitted from the light output port 130. For instance, the target board 11 has a through hole, one end of which can be formed on the first surface 111. For instance, the through hole can extend from the second surface 112 to the first surface 111. Alternatively, the through hole can extend from another surface of the target board 11 to the first surface 111. For instance, the light output port 130 is exposed on the first surface 111 of the target board 11. For instance, light emitted by the light source 13 can be transmitted from the second surface 112 of the target board 11 to the first surface 111 through the light output port 130, and then emitted from the first surface 111 of the target board 11.

[0051] In some embodiments, the optical output port 130 includes a plurality of optical output ports 130. For example, the number of the plurality of optical output ports 130 may be greater than 4. For example, the number of the plurality of optical output ports 130 may be greater than 10. For example, the number of the plurality of optical output ports 130 may be greater than 20. It should be noted that this disclosure does not limit the number of optical output ports 130, and in practical applications, it can be configured according to requirements. For example, the plurality of optical output ports 130 are discretely distributed on the target board 11. For example, the plurality of optical output ports 130 can be arranged in an array, such as a one-dimensional array or a two-dimensional array. Multiple columns of optical output ports 130 can be aligned or staggered. For example, the spacing between the plurality of optical output ports 130 may be the same. For example, the plurality of optical output ports 130 are uniformly distributed on the target board 11. For example, the spacing between the plurality of optical output ports 130 may be different. For example, the plurality of optical output ports 130 are non-uniformly distributed on the target board 11. For example, the spacing between two adjacent optical output ports 130 may be greater than 5 mm. For example, the distance between two adjacent optical output ports 130 can be less than 200 mm. In a plane parallel to the first surface 111, multiple optical output ports 130 can be distributed along a first direction and a second direction. The first direction and the second direction are perpendicular to each other. Along the first direction, adjacent optical output ports 130 have a first distance. Along the second direction, adjacent optical output ports 130 have a second distance. For example, the first distance and the second distance can be the same or different. For example, the number of light sources 13 can be equal to the number of optical output ports 130; for example, one light source 13 has one optical output port 130. Light emitted by one light source 13 can be output through one optical output port 130. For example, the number of light sources 13 can be less than the number of optical output ports 130. For example, one light source 13 includes multiple optical output ports 130. Light emitted by one light source 13 can be output through multiple optical output ports 130.

[0052] In some embodiments, the light source 13 may include an LED light source or a laser. The laser may include a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or a fiber laser, etc.

[0053] In some embodiments, the target plate assembly may include a lens. For example, the lens is disposed downstream of the optical path of the light source 13. For example, the lens is disposed between the light source 13 and the target plate 11. For example, the lens may be integrated onto the light source. The lens can modulate the light beam incident upon it. For example, the lens can shape or collimate the light beam incident upon it. For example, the light source 13 may be located at the focal plane of the lens. For example, the light source 13 may be offset from the focal plane of the lens. For example, the lens may be disposed separately from the light source 13. The lens is located downstream of the optical path of the light source 13. The lens can cause the light emitted by the light source 13 to form a directional conical beam, which can be uniformly and concentratedly directed towards the lidar 16. In some embodiments, the light emitted by the light source 13 can be parallel light.

[0054] In some embodiments, the target panel 11 includes a non-transparent substrate. For example, the non-transparent substrate may include opaque plastic, MDF, etc. For example, the non-transparent substrate may be completely opaque, or its light transmittance may be less than a threshold. For example, the light transmittance of the target panel 11 may be less than 5%.

[0055] In some embodiments, the target plate 11 has a first reflectivity. For example, the surface of the target plate 11 can be equivalent to a Lambertian body. For example, the first reflectivity can be the reflectivity of the first surface 111 to the probe light emitted by the lidar 16 when it is incident on the target plate 11. For example, the first reflectivity can be the overall reflectivity of the target plate 11 to the probe light emitted by the lidar 16 when it is incident on the target plate 11.

[0056] In some embodiments, the first reflectivity is greater than or equal to 2%. For example, the range of the first reflectivity can be 2%-20%, such as 2%, 3%, 5%, 8%, 10%, 12%, 15%, 20%, etc. The first reflectivity can be any value between 2% and 20%.

[0057] For example, the range of the first reflectivity can be 20%-50%, such as 20%, 25%, 30%, 35%, 40%, 45%, 50%, etc. The first reflectivity can be any value between 20% and 50%.

[0058] The target panel has a first reflectivity, which ranges from 2% to 20% or 20% to 50%. The target panel can achieve low reflectivity characteristics, and can simulate objects at greater distances within a limited indoor space based on a smaller distance.

[0059] For example, the range of the first reflectivity can be above 100%, such as 100%, 110%, 120%, 130%, 140%, 150%, 160%, 170%, 180%, 190%, etc. For example, the range of the first reflectivity can be above 200%, such as 200%, 210%, 220%, 230%, 240%, 250%, 260%, 270%, 280%, 290%, etc.

[0060] The first reflectivity ranges from 100% or more, or 200% or more. The target board can achieve high reflectivity characteristics, and can simulate closer objects at a smaller distance in a limited indoor space, or can simulate highly reflective objects.

[0061] In some embodiments, the first surface 111 may include multiple regions. Different regions may have different reflectivities. For example, the first surface 111 may include a first region and a second region. For example, the first region may be located on one side of the second region. For example, the first region and the second region may be arranged alternately. The first region and the second region have different reflectivities. For example, the reflectivity of the first region may be lower than that of the second region. Or, for example, the reflectivities of the first region and the second region may differ significantly. For example, the reflectivity of the first region may be 5%, and the reflectivity of the second region may be 100%. For example, the first surface 111 may also include a third region. For example, the first region, the second region, and the third region may be arranged sequentially. For example, the first region, the second region, and the third region may be arranged alternately. The third region may have a different reflectivity than the first region and the second region. For example, the reflectivity of the third region may be 200%. In this way, a target board can simulate different objects to test the performance of the lidar. It should be noted that this description uses two or three regions as examples of the first surface, but this disclosure is not limited to these. The first surface may include four, five, or other numbers of regions. In practical applications, it can be configured according to requirements.

[0062] Figure 1C A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 1D A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 1C , Figure 1D As shown, the target plate 11 includes a plurality of micro-holes 110. The micro-holes 110 may be located on a first surface of the target plate 11. One end of the micro-hole 110 may generally face the lidar. For example, the micro-holes 110 may extend through the target plate 11. For example, the micro-holes 110 may extend from a second surface to the first surface. For example, the plurality of micro-holes 110 are arranged in a micro-hole array on the target plate 11. For example, see reference... Figure 1C , Figure 1D Multiple micro-holes 110 are arranged in a two-dimensional array on the target plate 11. Alternatively, multiple micro-holes 110 can also be arranged in a one-dimensional array on the target plate 11.

[0063] In some embodiments, a plurality of micropores 110 are uniformly distributed on the target plate 11. For example, see reference... Figure 1C Multiple micropores 110 are uniformly distributed across the target plate 11. For example, multiple micropores 110 are uniformly distributed on the target plate 11 at the same spacing d. Alternatively, the multiple micropores 110 may be uniformly distributed in zones on the target plate 11. For example, the target plate 11 may include multiple regions, and the multiple micropores 110 may be uniformly distributed at the same spacing within each region, with different spacing between the micropores 110 in different regions. (See reference...) Figure 1D The target board 11 includes a first region A1 and a second region A2. Multiple micropores 110 in the first region A1 are uniformly distributed with a first spacing d1, and multiple micropores 110 in the second region A2 are uniformly distributed with a second spacing d2. The first spacing d1 is different from the second spacing d2; the first spacing d1 is smaller than the second spacing d2. It should be noted that this description uses the first and second regions as examples, but the disclosure is not limited to these. Multiple regions may also include a third region, a fourth region, and more. The areas of different regions may be the same or different, and the micropore spacings in different regions may be completely different or partially the same. In practical applications, the configuration can be tailored to specific requirements.

[0064] In some embodiments, the area of ​​the microvia array on the surface of the target board 11 is less than or equal to 10%. For example, the area of ​​the microvia array on the target board 11 can be 10%, 9%, 8%, 7%, 6%, etc. It should be noted that these proportions are merely illustrative examples and are not intended to limit the scope of this disclosure. In practical applications, they can be configured according to requirements.

[0065] In some embodiments, the area of ​​the microvia array on the target board 11 is less than or equal to 5%. For example, the area of ​​the microvia array on the target board 11 can be 5%, 4%, 3%, 2%, 1%, etc. It should be noted that these percentages are merely illustrative examples, and this disclosure is not limited thereto; in practical applications, they can be configured according to requirements.

[0066] The micro-aperture array occupies a small area on the target plate 11 and does not affect the overall reflectivity of the target plate 11.

[0067] In some embodiments, the spacing of the micropores 110 is 0.5 cm to 20 cm. For example, see [reference needed]. Figures 1B to 1DThe spacing d, d1, and d2 of the micropores 110 can range from 0.5 cm to 20 cm. For example, 0.5, 1, 1.5, 2, 2.5, 3, 3.5, 4, 4.5, 5, 5.5, 6, 6.5, 7, 7.5, 8, 8.5, 9, 9.5, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 19.5, and 20 cm, etc. It should be noted that the spacing of the micropores in this disclosure should be interpreted broadly. For example, the spacing of the micropores can be the distance between the centers of adjacent micropores. For example, the spacing of the micropores can be the distance between the adjacent edges of adjacent micropores. It should be noted that these spacings are merely illustrative examples and are not limited to this disclosure. In practical applications, they can be adjusted according to requirements.

[0068] In some embodiments, the diameter of the micro-aperture 110 is less than 1 cm. For example, the diameter of the micro-aperture 110 can be 9.5, 9, 8.5, 8, 7.5, 7, 6.5, 6, 5.5, 5, 4.5, 4, 3.5, 3, 2.5, 2, 1.5, 1, 0.5 mm, etc. It should be noted that these diameters are merely illustrative examples and are not intended to limit the scope of this disclosure. In practical applications, they can be adjusted according to requirements. The small diameter of the micro-aperture 110 does not affect the overall reflectivity of the target plate 11, making the target plate 11 an equivalent low-reflectivity target.

[0069] In some embodiments, the cross-section of the micropore 110 can be circular, elliptical, square, or other polygonal. For example, the shape, diameter, and other parameters of multiple micropores 110 can be the same or different.

[0070] In some embodiments, the size of the microvia can remain consistent along the direction from the second plane of the target plate to the first plane. For example, the cross-sectional size of the microvia at the second plane is equal to the cross-sectional size of the microvia at the first plane. In some embodiments, the size of the microvia can vary along the direction from the second plane of the target plate to the first plane, for example, gradually increasing or increasing in a stepped manner. For example, the cross-sectional size of the microvia at the second plane is smaller than the cross-sectional size of the microvia at the first plane.

[0071] Figure 1E A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. In some embodiments, such as Figure 1EAs shown, the optical output port 130 is located within the micro-aperture 110. The size of the optical output port 130 is less than, equal to, or slightly larger than the size of the micro-aperture 110. The optical output port 130 and the micro-aperture 110 can be correspondingly arranged. One optical output port 130 is located within one micro-aperture 110. Multiple optical output ports 130 are respectively located within their respective corresponding micro-apertures 110. The number of micro-apertures 110 is greater than or equal to the number of optical output ports 130. In some embodiments, the micro-aperture 110 can directly form the optical output port. Light emitted by the light source exits through the micro-aperture 110. One end of the micro-aperture can generally face the lidar, and the light exiting through that end of the micro-aperture can directly enter the lidar.

[0072] Figure 1F A partial schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 1B , Figure 1F As shown, the light source 13 includes a plurality of sub-light sources 132. The plurality of sub-light sources 132 are located within a plurality of micro-apertures 110. The size of the sub-light source 132 is less than or equal to the size of the micro-aperture 110. The sub-light sources 132 and micro-apertures 110 can be correspondingly arranged. One sub-light source 132 can be located within one micro-aperture 110. The plurality of sub-light sources 132 can each be located within their respective corresponding micro-apertures 110. The number of micro-apertures 110 is greater than or equal to the number of sub-light sources 132. In some embodiments, the sub-light source 132 may include an LED light source or a laser. The laser includes a VCSEL or an EEL. For example, the light emission direction of the sub-light source 132 may be towards the lidar. The light emitted by the sub-light source 132 can exit through the micro-apertures 110.

[0073] In some embodiments, the sub-light source 132 can be embedded within the micro-aperture 110. For example, the sub-light source 132 can be fixed within the micro-aperture 110 by means of a slot, adhesive, or snap-fit, ensuring stable installation and accurate light emission direction, which is beneficial for achieving a stable light field. In some embodiments, the sub-light source 132 can be located outside the micro-aperture 110. For example, the sub-light source 132 can be located at one end of the micro-aperture 110.

[0074] In some embodiments, a lens may be included downstream of the optical path of the sub-light source 132. The lens can modulate the light beam incident upon it. For example, the lens may be integrated with or separate from the sub-light source 132. The lens enables the light emitted by the sub-light source 132 to form a directional conical beam, uniformly oriented towards the lidar, which is beneficial for achieving a uniform light field. For example, the lens is located between the sub-light source and the target plate. For example, the lens may be embedded within the micro-aperture 110. For example, the lens may be located outside the micro-aperture 110.

[0075] Figure 2A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 2 As shown, the target plate assembly 20 includes a target plate 21, a light source 23, and a microlens array 25. The microlens array 25 is disposed between the light source 23 and the target plate 21. For example, the target plate 21 is the same as or similar to the target plate 11. The target plate 21 includes multiple micro-holes 210. For example, the micro-holes 210 are the same as or similar to the micro-holes 110. For example, the light source 23 is the same as or similar to the light source 13. The light source 23 includes multiple sub-light sources 232. The sub-light sources 232 are the same as or similar to the sub-light source 132. The microlens array 25 includes multiple microlenses 250. The sub-light sources 232, microlenses 250, and micro-holes 210 are arranged in a one-to-one correspondence. The center of the emitting surface of the sub-light source 232, the optical center of the microlens 250, and the center of the micro-hole 210 can be aligned. The microlens 250 can focus or collide the light emitted by the sub-light source 232 into the micro-hole 210. This is beneficial for achieving a highly efficient, uniform, and stable light field.

[0076] Figure 3 A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 3 As shown, the target board assembly 30 includes a target board 31 and a light source 33. The target board 31 is the same as or similar to target boards 21 and 11. The target board 31 includes a plurality of micro-holes 310. For example, micro-holes 310 are the same as or similar to micro-holes 210 and 110. For example, the light source 33 is the same as or similar to light sources 23 and 13. The light source 33 includes a plurality of sub-light sources 332. For example, sub-light sources 332 are the same as or similar to sub-light sources 232 and 132. The target board 31 includes a first surface 311 and a second surface 312. For example, the first surface 311 is the same as or similar to the first surface 111. For example, the second surface 312 is the same as or similar to the second surface 112. The first surface 311 faces the lidar. The second surface 312 faces the light source 33. The light source 33 is coupled to the target board 31. The light source 33 is in close contact with or near the second surface 312. The light source 33 includes a plurality of light output ports. For example, the light output ports are the same as or similar to light output port 130. In this example, the light output port, sub-light source 332, and micro-aperture 310 are configured in a one-to-one correspondence. The light emitted by the sub-light source 332 is coupled into the micro-aperture 310 and exits through one end of the micro-aperture 310. The light emitted by the sub-light source 332 exits through the micro-aperture 310 on the first surface 311, forming a uniform light field. The light from this uniform light field can enter the lidar via a direct path.

[0077] Figure 4A A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 4AAs shown, the target board assembly 40 includes a target board 41 and a light source 43. For example, the target board 41 is the same as or similar to target boards 31, 21, and 11. The target board 41 includes a plurality of microholes 410. For example, the microholes 410 are the same as or similar to microholes 310, 210, and 110. The target board 41 includes a first surface 411 and a second surface 412. For example, the first surface 411 is the same as or similar to first surfaces 111 and 311. For example, the second surface 412 is the same as or similar to second surfaces 112 and 312. For example, the light source 43 is the same as or similar to light sources 33, 23, and 13. The light source 43 includes a plurality of sub-light sources 432. For example, the sub-light sources 432 are the same as or similar to sub-light sources 332, 232, and 132.

[0078] In some embodiments, the target board assembly further includes an optical transmitter. The optical transmitter can connect a light source and a target board. Light emitted from the light source is transmitted to the target board via the optical transmitter and exits from a first surface of the target board. For example, the optical transmitter may include a total internal reflection light guide, an optical fiber, etc. For example, such as... Figure 4A As shown, the target plate assembly 40 also includes an optical fiber 44. The optical fiber 44 is coupled to the light source 43. The light source 43 is coupled to the target plate 41 through the optical fiber 44. There can be multiple optical fibers 44. The optical fiber 44 can include a single-core optical fiber. One end of the optical fiber 44 can form an optical output port. One end of the optical fiber 44 can be embedded in the target plate 41. For example, the optical fiber 44 can be embedded in the target plate 41 through a micro-hole 410. One end of the optical fiber 44 can be exposed on the first surface 411 of the target plate 41. The light emitted by the light source 43, after being transmitted through the optical fiber 44, can exit from the first surface 411 and be incident on the lidar. For example, one end of the optical fiber 44 can be flush with the first surface 411. For example, one end of the optical fiber 44 can be located inside the target plate 41 or slightly protrude from the first surface 411. In some embodiments, the light emitted by the light source 43 forms a uniform light field on the first surface 411 through multiple optical output ports, and the light in the uniform light field enters the lidar through a direct path. For example, the sub-light source 432, optical fiber 44, and micro-aperture 410 are arranged in a one-to-one correspondence. The light emitted by the sub-light source 432 passes through the optical fiber 44 and the micro-aperture 410 and exits through the first surface 411 to form a uniform light field.

[0079] Figure 4B A schematic diagram of an exemplary target board assembly consistent with some embodiments of this disclosure is shown. Figure 4BAs shown, in some embodiments, the target plate assembly 40 further includes a lens 45. The lens 45 is located downstream of the optical path of the light source 43. The lens 45 can couple the light emitted by the light source 43 into the optical fiber 44. In some embodiments, the target plate assembly 40 further includes a beam splitter 46. The light source 43 is coupled to the beam splitter 46. The optical fiber 44 includes a plurality of optical fibers 44. The plurality of optical fibers 44 are coupled to the beam splitter 46. The beam splitter 46 can split the light emitted by the light source 43 into multiple beams. For example, the beam splitter 46 can directly split the light emitted by the light source 43 into multiple beams. For example, the beam splitter 46 can split the light emitted by the light source 43 into multiple beams after being modulated by the lens 45. The light emitted by the light source 43 is coupled into the plurality of optical fibers 44 through the beam splitter 46. The plurality of optical fibers 44 can be embedded in the target plate 41 respectively. For example, the plurality of optical fibers 44 can be embedded in a plurality of micro-holes 410 respectively. The plurality of optical fibers 44 will cause the light coupled into them to exit through the micro-holes 410 and form a uniform light field on the first surface 411.

[0080] In some embodiments, such as Figure 4B As shown, the target board assembly 40 also includes a controller 48. The controller 48 is connected to the light source 43. The controller 48 can control the light source 43 to turn on or off. For example, the controller 48 can control the light source 43 to turn on according to a first control signal. For example, the controller 48 can control the light source 43 to turn off according to a second control signal.

[0081] In some embodiments, when the controller 48 controls the light source 43 to be turned off, the lidar can emit a laser to illuminate the target plate 41. A small amount of light is reflected by the first surface 411, and the target plate 41 is equivalent to a low-reflection target plate.

[0082] In some embodiments, when the controller 48 controls the light source 43 to turn on, the light emitted by the light source 43 can exit from the first surface 411 to form a uniform light field. Viewed from the lidar perspective, the entire target plate 41 can appear as a uniformly emitting surface, forming uniform ambient light noise. The light emitted by the light source 43 enters the lidar through a direct path.

[0083] In some embodiments, the light source 43 may include a unique identification code. The light source 43 can be controlled independently. The controller 48 can control the light emission strategy of the light source 43 based on the identification code. For example, the light emission strategy may include the light emission sequence, whether to emit light, the timing of light emission, the light emission intensity, etc. This is beneficial for achieving an adjustable uniform light field.

[0084] In some embodiments, refer to Figure 4A , Figure 4BThe sub-light source 432 may include a unique identification code. The sub-light source 432 can be controlled independently. The controller 48 can control the emission strategy of the sub-light source 432 based on the identification code. For example, the emission strategy may include the emission sequence, whether to emit light, the emission time, and the emission intensity of the sub-light source 432. This is beneficial for achieving a finely tunable uniform light field.

[0085] In some embodiments, the controller 48 can control the luminous intensity of the light source 43 and the sub-light source 432 to control the light intensity of the target board assembly 40, simulate ambient light noise of different intensities, and achieve an adjustable light field. For example, the controller 48 can control the luminous intensity of the light source 43 or the sub-light source 432 by adjusting the driving current, driving voltage, PWM duty cycle, number of light emitted, etc., of the light source 43 or the sub-light source 432, thereby simulating ambient light noise of different intensities.

[0086] In some embodiments, the simulated intensity of ambient light noise ranges from 5000 lux to 200000 lux. For example, the simulated intensity of ambient light noise can be 5000, 5500, 6000, 6500, 7000, 7500, 8000, 8500, 9000, 9500, 10000, 20000, 30000, 40000, 50000, 60000, 70000, 80000, 90000, 100000, 110000, 120000, 130000, 140000, 150000, 160000, 170000, 180000, 190000, 200000 lux, etc. It should be noted that these light intensities are merely illustrative examples, and this disclosure is not limited thereto.

[0087] In some embodiments, the target plate 41 can be positioned on a track. The controller 48 can adjust the position of the target plate 41 on the track, changing the distance between the target plate 41 and the lidar. This allows for the simulation of ambient light noise of varying intensities and objects at different distances.

[0088] In some embodiments, the controller 48 may include control circuitry, a central processing unit (CPU), a microcontroller unit (MCU), a digital signal processor (DSP), a graphics processing unit (GPU), an accelerator, a neural processing unit (NPU), a tensor processing unit (TPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, gate devices, or transistor logic devices, or similar devices.

[0089] In some embodiments, the controller 48 may be located external to the target board assembly 40. For example, the controller 48 may be configured independently. The controller 48 and the light source 43 can be connected wirelessly. For example, the wireless connection may include Bluetooth, WiFi, ZigBee, 4G, 5G, infrared, LoRa, etc.

[0090] In some embodiments, the controller 48 may be located inside the target board assembly 40. For example, the controller 48 may be located inside the target board 41. For example, the controller 48 may be integrated into the light source 43. The controller 48 and the light source 43 can be connected via a wired connection. For example, the wired connection may include a power cable, serial port, CAN, Ethernet, etc.

[0091] This disclosure also provides a system for testing lidar. Figure 5 A schematic diagram of an exemplary system consistent with some embodiments of this disclosure is shown. For example... Figure 5 As shown, system 50 includes a lidar 51 and a target board assembly 52. ​​The target board assembly 52 is located to one side of the lidar 51. The target board assembly 52 is the same as or similar to target board assemblies 10, 20, 30, and 40.

[0092] The lidar 51 includes a laser 511, a detector 513, and a processor 515. The laser 511 emits detection light. The detector 513 receives echo light. The processor 515 connects to the laser 511 and the detector 513, controls their operation, and determines object information based on the echo light.

[0093] In some embodiments, laser 511 may include a semiconductor laser, such as a VCSEL, EEL, or other semiconductor laser capable of generating laser light. In some embodiments, laser 511 may also include a fiber laser. For example, the wavelength of laser light emitted by laser 511 may be any one of 905 nm, 940 nm, 1440 nm, 1510 nm, or 1550 nm. Laser 511 may also emit laser light of other wavelengths.

[0094] In some embodiments, detector 513 may include a light detection circuit, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or a similar device.

[0095] In some embodiments, the processor 515 may include processing circuitry, a CPU, MCU, DSP, GPU, accelerator, NPU, TPU, ASIC, FPGA, or other programmable logic devices, gate devices, or transistor logic devices, or similar devices. In some embodiments, the processor 515 may communicate with the controller 48.

[0096] In some embodiments, lidar 51 may be the same as or similar to lidar 16.

[0097] In some embodiments, the lidar 51 may include a solid-state lidar, a semi-solid-state lidar, or a mechanically scanned lidar.

[0098] In some embodiments, the lidar 51 can be mounted on vehicles, ships, aircraft (e.g., flying vehicles or drones), robots (e.g., industrial robots, lawnmowers or home robots), servers, computers, and other equipment.

[0099] The system disclosed herein tests lidar through a target board assembly, which can simulate ambient light noise and meet testing requirements such as high intensity, uniformity, controllability, and non-interference with the test optical path. It has high light energy utilization efficiency, a large dynamic range of light intensity, low cost, and is easy to maintain.

[0100] It should be noted that although several modules of the target board assembly / system have been mentioned in the detailed description above, this division is merely illustrative and not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0101] It should be noted that this disclosure may include Figure 1A-5 Any one or more features of any one or more embodiments. In other words, not all features shown in the figures need to be implemented simultaneously in the target board assembly / system of this disclosure.

[0102] Finally, it should be noted that the above descriptions are merely exemplary embodiments of this disclosure and are not intended to limit this disclosure. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A target board assembly for lidar testing, characterized in that, include: A target board, one side of which faces the lidar; and A light source coupled to the target plate, the light source including a light output port facing the lidar, and the light emitted by the light source including infrared light; The optical output port includes multiple optical output ports, which are discretely distributed on the target board; The light source is configured to simulate ambient light noise.

2. The target board assembly according to claim 1, characterized in that, The target board includes a non-transparent substrate.

3. The target board assembly according to claim 1, characterized in that, The target plate has a first reflectivity, which is greater than or equal to 2%.

4. The target board assembly according to claim 1, characterized in that, The target plate includes multiple micropores, which are arranged in a micropore array on the target plate.

5. The target board assembly according to claim 4, characterized in that, The multiple micropores are evenly distributed on the target plate.

6. The target board assembly according to claim 4, characterized in that, The area of ​​the micropore array on the target plate is less than or equal to 10%.

7. The target board assembly according to claim 6, characterized in that, The area of ​​the micropore array on the target plate is less than or equal to 5%.

8. The target board assembly according to claim 4, characterized in that, The spacing between the micropores is 0.5 cm to 20 cm.

9. The target board assembly according to claim 4, characterized in that, The diameter of the micropores is less than 1 cm.

10. The target board assembly according to claim 4, characterized in that, The optical output port is located inside the micropore.

11. The target board assembly according to claim 4, characterized in that, The light source includes multiple sub-light sources, which are located within the multiple micropores.

12. The target board assembly according to claim 4, characterized in that, The target board assembly also includes an optical fiber coupled to the light source, which is embedded in the target board through the micropores to form the plurality of optical output ports.

13. The target board assembly according to claim 12, characterized in that, The target board assembly further includes a beam splitter, the light source is coupled to the beam splitter, the optical fiber includes multiple optical fibers, the multiple optical fibers are coupled to the beam splitter, and the light emitted by the light source is coupled into the multiple optical fibers through the beam splitter.

14. The target board assembly according to claim 11 or 12, characterized in that, The light from the light source forms a uniform light field on the surface of the target plate through the multiple light output ports, and the light from the uniform light field enters the lidar through a direct path.

15. The target board assembly according to any one of claims 1-13, characterized in that, The light source includes an LED light source or a laser, and the laser includes a vertical cavity surface-emitting laser or an edge-emitting laser.

16. The target board assembly according to any one of claims 1-13, characterized in that, Downstream of the light source is a lens configured to modulate the light beam incident thereon.

17. The target board assembly according to any one of claims 1-13, characterized in that, Also includes: A controller, connected to the light source, is configured to control the light source to turn on or off.

18. The target board assembly according to claim 17, characterized in that, The controller is configured to control the luminous intensity of the light source to control the light intensity of the target board assembly, simulating ambient light noise of different intensities, wherein the simulated intensity range of the ambient light noise is 5000 lux to 200000 lux.

19. A system for testing lidar, characterized in that, include: LiDAR; and The target board assembly as described in any one of claims 1-18, wherein the target board assembly is located on one side of the lidar.

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