Target board and testing system for lidar testing

Abstract

This disclosure relates to a target board and testing system for testing lidar. The target board includes: a light source; and a first board located downstream of the light source's optical path. The first board includes a first surface and a second surface, the first surface facing the lidar and the second surface facing the light source. Light emitted by the light source forms a light field on the first surface, and the light emitted by the light source passes through the first board and then enters the lidar. The target board and testing system of this disclosure can efficiently and realistically simulate the background light environment.

Description

Technical Field

[0001] This disclosure generally relates to the field of testing technology, and more particularly to a target board and testing system for lidar testing. 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, equivalent testing schemes can be used to simulate real-world scenarios. For example, by setting up a target board with a certain reflectivity in an indoor scene to represent an equivalent object, simulation testing of objects at different distances and with different reflectivities can be achieved. In equivalent testing schemes, external light sources can also be used to simulate ambient light. However, within the limited indoor testing space, it is difficult to efficiently and realistically simulate the background light interference caused by outdoor sunlight on the lidar. Therefore, how to efficiently and realistically simulate the outdoor background light noise environment indoors 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 and testing system for lidar testing, which can efficiently and realistically simulate outdoor background light and noise environment indoors.

[0006] According to a first aspect of this disclosure, a target board for testing lidar is provided. It includes: a light source; and a first board located downstream of the light source's optical path. The first board includes a first surface and a second surface, the first surface facing the lidar and the second surface facing the light source; light emitted by the light source forms an optical field on the first surface, and the light emitted by the light source passes through the first board and is incident on the lidar.

[0007] Optionally, the first plate includes a light-transmitting substrate.

[0008] Optionally, the transmittance of the first plate is greater than or equal to 50%.

[0009] Optionally, the first surface has a first reflectivity, which is greater than or equal to 2%.

[0010] Optionally, the first surface includes at least one of a coating, a frosted layer, or an electronically controlled atomizing film.

[0011] Optionally, the target plate further includes a second plate, wherein the light source is disposed on the second plate, the second plate having a second reflectivity, the second reflectivity being less than or equal to the first reflectivity.

[0012] Optionally, the second reflectivity is less than or equal to 2%.

[0013] Optionally, the surface of the second plate may include at least one of black velvet or paint.

[0014] Optionally, the number of light sources is multiple, and the multiple light sources are arranged in an array.

[0015] Optionally, there are multiple light sources, which are evenly distributed on the second plate.

[0016] Optionally, the light emitted by the light source includes infrared light.

[0017] Optionally, the light emitted by the light source passes through the first plate and forms a uniform light field on the first surface.

[0018] 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.

[0019] Optionally, the downstream of the light source includes a lens configured to modulate the light beam incident thereon.

[0020] Optionally, the target board further includes a controller connected to the light source and configured to control the light source to be turned on or off.

[0021] Optionally, the controller is configured to control the luminous intensity of the light source to simulate background light noise of different intensities, wherein the simulated intensity range of the background light noise is 5000 lux to 200000 lux.

[0022] According to a second aspect of this disclosure, a testing system is provided. The testing system includes a lidar and a target board as described above, the target board being located to one side of the lidar and at a predetermined distance from the lidar.

[0023] The target board disclosed herein can efficiently and realistically simulate outdoor background light environments within a limited indoor testing space. Background 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, artificial light, and reflected light. The light emitted by the light source passes through the first board and is incident on the lidar. Background light noise can be constructed based on a direct path, rather than relying on the reflection effect of the target board, fundamentally solving the problem of light energy loss caused by reflection paths and significantly improving light energy utilization efficiency. The first board is located downstream of the light source's optical path, overcoming the limitation of limited light source placement. The placement of the light source does not obstruct the lidar's field of view or interfere with the lidar's normal testing path.

[0024] The test system disclosed herein tests the lidar through a target board. It can simulate ambient light noise in a limited indoor test space, meeting the test 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

[0025] 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.

[0026] Figure 1 A schematic diagram of an exemplary target board consistent with some embodiments of this disclosure is shown.

[0027] Figure 2 A schematic diagram of an exemplary target board consistent with some embodiments of this disclosure is shown.

[0028] Figure 3 A schematic diagram of an exemplary target board consistent with some embodiments of this disclosure is shown.

[0029] Figure 4 A schematic diagram of an exemplary test system consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] During lidar testing, some ambient light noise emulation schemes employ reflection paths to introduce background light. For example, a light source is placed in front of the target board, illuminating the board and using diffuse reflection to indirectly introduce ambient light into the lidar. Since the light source must first illuminate the target board before entering the lidar receiving system through diffuse reflection, most of the light energy is lost during reflection, resulting in a very low percentage of energy actually reaching the lidar. This leads to low light energy utilization efficiency and makes it difficult to simulate high-intensity ambient light (such as strong sunlight). Furthermore, the light source is typically positioned in front of the target board, which can easily obstruct the lidar's field of view and interfere with the normal testing path.

[0037] This disclosure provides a target board for lidar testing. The target board includes a light source and a first board. The first board is located downstream of the light source's optical path. The first board includes a first surface and a second surface. The first surface faces the lidar. The second surface faces the light source. Light emitted by the light source forms an optical field on the first surface. The light emitted by the light source passes through the first board and then enters the lidar.

[0038] The target board disclosed herein can efficiently and realistically simulate outdoor background light environments within a limited indoor testing space. Background 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, artificial light, and reflected light. The light emitted by the light source passes through the first board and is incident on the lidar. Background light noise can be constructed based on a direct path, rather than relying on the reflection effect of the target board, fundamentally solving the problem of light energy loss caused by reflection paths and significantly improving light energy utilization efficiency. The first board is located downstream of the light source's optical path, overcoming the limitation of limited light source placement. The placement of the light source does not obstruct the lidar's field of view or interfere with the lidar's normal testing path.

[0039] Figure 1 A schematic diagram of an exemplary target board consistent with some embodiments of this disclosure is shown. In some embodiments, such as Figure 1 As shown, the target plate 10 includes a light source 11 and a first plate 13. For example, the first plate 13 may have a certain size, and the first plate 13 may cover a portion of the field of view of the lidar 16, so that at least one beam of light from the lidar 16 can be incident on the first plate 13 during scanning. For example, the minimum size of the first plate 13 may be greater than 0.2m. For example, the first plate 13 may be a rectangle, rounded rectangle, ellipse, circle, pentagon, hexagon, or other polygonal shape. For example, the first plate 13 may be placed vertically, for example, the plane containing the first plate 131 may be perpendicular to the ground. For example, the first plate 13 may have a certain angle with the vertical direction. For example, the surface of the first plate 13 facing the lidar 16 may be perpendicular to the beam emitted by the lidar 16, or have a certain angle.

[0040] For example, the first plate 13 is located between the light source 11 and the lidar 16. For example, the light source 11 and the lidar 16 are located on opposite sides of the first plate 13. The light source 11 does not interfere with the ranging of the lidar 16. The first plate 13 is located downstream of the optical path of the light source 11. The first plate 13 includes a first surface 131 and a second surface 132. For example, the first plate 13 can be a plate-shaped object. The first surface 131 and the second surface 132 can be located on opposite sides of the first plate 13. For example, the first surface 131 and the second surface 132 can be parallel to each other or have a certain angle. For example, the first surface can be a plane or a curved surface. For example, the second surface can be a plane or a curved surface. For example, the first surface 131 and the second surface 132 are spaced apart. The first surface 131 faces the lidar 16. For example, the emitted beam from the lidar 16 can be incident on the first surface 131 and reflected by the first surface 131 to generate an echo, which can return to the lidar 16. The second surface 132 faces the light source 11. For example, light source 11 is located upstream of the optical path of second surface 132. For instance, light source 11 is located on one side of second surface 132. Or, for example, light emitted from light source 11 is guided to second surface 132 by optical elements. The light emitted from light source 11 passes through first plate 13 and then enters lidar 16. The light emitted from light source 11 enters second surface 132 and, after passing through first plate 13, forms a light field on first surface 131. For instance, the light from the light field can directly enter lidar 16 and be received by the detector of lidar 16. For instance, the outgoing direction of the light field is towards lidar 16.

[0041] It should be noted that, in this disclosure, the orientation of the first surface 131 toward the lidar 16 should be interpreted broadly. For example, the first surface 131 may face directly toward the lidar 16. For example, the first surface 131 may generally face the lidar 16. Similarly, the orientation of the second surface 132 toward the light source 11 should be interpreted broadly. For example, the second surface 132 may face directly toward the light source 11. For example, the second surface 132 may be obliquely facing the light source 11. For example, light emitted from the light source 11 may directly incident on the second surface 132, or it may be guided to the second surface 132 by optical elements.

[0042] In some embodiments, the first plate 13 may include a light-transmitting substrate. For example, the light-transmitting substrate may include resin, plexiglass, plastics (such as acrylic), transparent ceramics, etc. The light-transmitting substrate has high transmittance, which can improve light energy utilization efficiency and is beneficial for simulating high-intensity outdoor ambient light (such as strong sunlight).

[0043] In some embodiments, the transmittance of the first plate 13 is greater than or equal to 50%. In some embodiments, the transmittance of the first plate 13 is greater than or equal to 70%. In some embodiments, the transmittance of the first plate 13 is greater than or equal to 90%. For example, the transmittance of the first plate 13 can be 50%, 55%, 60%, 65%, 70%, 75%, 80%, 85%, 90%, 95%, 99%, etc. The transmittance of the first plate 13 can be any value between 50% and 100%, and can be configured according to requirements in practical applications.

[0044] In some embodiments, the first surface 131 has a first reflectivity. For example, the first reflectivity may be the reflectivity of the first surface 131 to the probe light emitted by the lidar 16 when it is incident on the target plate 13. For example, the first reflectivity may be the overall reflectivity of the target plate 13 to the probe light emitted by the lidar 16 when it is incident on the target plate 13.

[0045] 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%.

[0046] 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%.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] In some embodiments, the first surface 131 may include multiple regions. Different regions may have different reflectivities. For example, the first surface 131 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 131 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. In practical applications, the first surface may include four, five, or other numbers of regions, which can be configured according to requirements.

[0052] In some embodiments, the first surface 131 may include at least one of a coating, a frosted layer, or an electronically controlled atomizing film.

[0053] In some embodiments, the first surface 131 may include a coating. The coating may be formed by spraying a paint with a preset reflectivity onto the first surface 131. For example, the preset reflectivity may be 10%-50%. For example, the paint may be sprayed onto the first surface 131 multiple times to achieve a lower reflectivity. For example, the paint color may be white, black, yellow, etc.

[0054] In some embodiments, the first surface 131 may include a frosted layer. For example, the frosted layer can be formed by sanding the first surface 131 with sandpaper. In some embodiments, the grit of the sandpaper can range from 500 to 2000. For example, the grit of the sandpaper can be 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300, 1400, 1500, 1600, 1700, 1800, 1900, 2000, etc. The grit of the sandpaper can be any value between 500 and 2000. For example, the frosted layer can be achieved by sandblasting, etching, etc. This allows for the simulation of objects with different reflectivities and different intensities of background light noise.

[0055] In some embodiments, the first surface 131 may include an electrically controlled atomizing film. The electrically controlled atomizing film is a polymer dispersed liquid crystal (PDLC) film. In some embodiments, the electrically controlled atomizing film can switch between a transparent state and a atomized state. When energized, the liquid crystal molecules align in an orderly manner under the influence of an electric field, making the electrically controlled atomizing film transparent. When de-energized, the liquid crystal molecules align randomly, making the electrically controlled atomizing film atomized and scattering state. Thus, the electrically controlled atomizing film can switch between transparent and atomized states. In some embodiments, the transmittance of the electrically controlled atomizing film can be adjusted by changing the driving voltage or driving current. This allows adjustment of the transmittance of the electrically controlled atomizing film, thereby adjusting the reflectivity and transmittance of the target plate, simulating background light noise of different intensities, and adapting to testing and calibration under different operating conditions of the lidar.

[0056] In some embodiments, the light emitted by light source 11 includes infrared light. For example, the wavelength of the light emitted by light source 11 may include any one of 905 nm, 940 nm, 1440 nm, 1510 nm, or 1550 nm. For example, the light emitted by light source 11 includes the operating wavelength of lidar 16. For example, the light emitted by light source 11 may be a broadband beam. For example, light source 11 includes both visible and infrared wavelengths. Light source 11 can simulate ambient light noise.

[0057] In some embodiments, the light emitted by the light source 11 passes through the first plate 13, forming a uniform light field on the first surface 131. For example, the light emitted by the light source 11 passes through the first plate 13 and is scattered at the first surface 131, forming a uniform light field on the first surface 131. The entire target plate 10 presents a uniform light-emitting surface, forming uniform background light noise. The light from the uniform light field can directly enter the lidar 16 and be received by the detector. In this way, the light emitted by the light source 11 enters the lidar 16 based on a direct path, resulting in high light energy utilization efficiency and the ability to simulate strong light environments. This allows for the simulation of high-intensity, highly uniform background light noise.

[0058] In some embodiments, the light source 11 includes an LED light source or a laser. For example, the laser includes a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting laser (EEL).

[0059] In some embodiments, the emitting surface of the light source 11 may be arranged parallel to the second surface. The light emitted by the light source 11 may be incident perpendicularly onto the second surface. In some embodiments, the emitting surface of the light source 11 may be arranged at an angle relative to the second surface. This can reduce the reflection of the detection light from the non-emitting surface of the lidar 16. The light emitted by the light source 11 may be incident non-perpendicularly onto the second surface. In some embodiments, the non-emitting surface of the light source 11 may have a light-absorbing material. For example, the non-emitting surface may be blackened. This can reduce the reflection of the detection light from the non-emitting surface of the lidar 16. In some embodiments, the light source 11 may be disposed on a chip. In some embodiments, the light source 11 may be disposed on a circuit board. In some embodiments, the light source 11 may be disposed on a substrate.

[0060] In some embodiments, a lens may be included downstream of the optical path of the light source 11. The lens can modulate (e.g., shape or collimate) the light beam incident upon it. For example, the light source 11 may be located at the focal plane of the lens. For example, the light source 11 may be offset from the focal plane of the lens. For example, the lens may be integrated with or separate from the light source 11. The lens downstream of the optical path of the light source 11 can cause the light emitted by the light source 11 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 11 can be parallel light.

[0061] Figure 2 A schematic diagram of an exemplary target board consistent with some embodiments of this disclosure is shown. For example... Figure 2As shown, the target plate 20 includes a light source 21 and a first plate 23. For example, the light source 21 may be the same as or similar to the light source 11. For example, the first plate 23 may be the same as or similar to the first plate 13. For example, the first surface 231 may be the same as or similar to the first surface 131. For example, the second surface 232 may be the same as or similar to the second surface 132. The first plate 23 is located downstream of the light path of the light source 21. For example, the first plate 23 is located between the light source 21 and the lidar 26. For example, the light source 21 and the lidar 26 are located on opposite sides of the first plate 23. The first plate 23 includes a first surface 231 and a second surface 232. The first surface and the second surface are spaced apart. The first surface 231 faces the lidar 26. The second surface 232 faces the light source 21. For example, the first surface and the second surface are arranged opposite each other. For example, the first surface and the second surface are parallel to each other. Light emitted by the light source 21 is incident on the second surface 232, passes through the first plate 23, and exits from the first surface 231. The light emitted by the light source 21 forms a light field on the first surface 231. The light emitted by the light source 21 passes through the first plate 23 and then enters the lidar 26. The beam of light field can directly enter the lidar 26.

[0062] In some embodiments, the target plate 20 further includes a second plate 25. A light source 21 is disposed on the second plate 25. The second plate 25 has a second reflectivity. In some embodiments, the second reflectivity is less than or equal to a first reflectivity. In some embodiments, the second reflectivity is less than or equal to 2%. For example, the range of the second reflectivity can be 0%-2%, such as 0%, 1%, 1.5%, 2%, etc. The second reflectivity can be any value between 0% and 2%.

[0063] In some embodiments, the surface of the second plate 23 comprises at least one of black velvet or paint. For example, the surface of the second plate 23 facing the lidar 26 may comprise black velvet. For example, the surface of the second plate 23 facing the lidar 26 may comprise paint. For example, the reflectivity of the paint may range from 0% to 2%. The surface of the second plate 23 is equivalent to a low-reflection absorption layer, used to absorb transmitted light from the first plate 23, preventing the transmitted light from undergoing secondary reflection on the second plate surface and re-entering the lidar 26.

[0064] Figure 3 A schematic diagram of an exemplary target board consistent with some embodiments of this disclosure is shown. For example... Figure 3As shown, the target plate 30 includes a light source 31, a first plate 33, and a second plate 35. For example, the light source 31 is the same as or similar to light sources 21 and 11. For example, the first plate 33 is the same as or similar to first plates 23 and 13. For example, the second plate 35 is the same as or similar to second plate 25. The first plate 33 is located downstream of the optical path of the light source 31. The first plate 33 includes a first surface 331 and a second surface 332. For example, the first surface 331 is the same as or similar to first surfaces 231 and 131. The second surface 332 is the same as or similar to second surfaces 232 and 132. The first surface 331 faces the lidar 36. The second surface 332 faces the light source 31. The light emitted by the light source 31 forms a light field on the first surface 331. The light emitted by the light source 31 passes through the first plate 33 and then enters the lidar 36.

[0065] In some embodiments, the number of light sources 31 is multiple. The multiple light sources 31 are arranged in an array. For example, the multiple light sources 31 can be arranged in a one-dimensional array. For example, the multiple light sources 31 can be arranged in a two-dimensional array. For example, the spacing between the multiple light sources 31 can be approximately the same. For example, a lens can be included downstream of the optical path of the light source 31. The light emitted by the light source 31 is modulated by the lens to form a uniform light spot, and after passing through the first plate 33, it undergoes secondary homogenization at the first surface 331, forming a uniform light field.

[0066] In some embodiments, the light source 31 is disposed on the second plate 35. For example, the light source 31 is embedded in the second plate 35 or mounted on the surface of the second plate 35. This provides a secure mounting and strong light stability. In some embodiments, multiple light sources 31 are uniformly distributed on the second plate 35. For example, multiple light sources 31 are uniformly and discretely embedded in the second plate 35. This facilitates the achievement of a stable and uniform light field.

[0067] In some embodiments, such as Figure 3 As shown, the target board 30 may further include a controller 37. The controller 37 is connected to the light source 31. The controller 37 can control the light source 31 to be turned on or off. For example, the controller 37 can control the light source 31 to be turned on according to a first control signal. For example, the controller 37 can control the light source 31 to be turned off according to a second control signal.

[0068] In some embodiments, when the controller 37 controls the light source 31 to be turned off, the lidar 36 can emit a laser to illuminate the first plate 33. A small amount of light is reflected by the first surface 331, and most of the light passes through the first plate 33 and is absorbed by the second plate 35. The target plate 30 is equivalent to a low-reflection target plate.

[0069] In some embodiments, when the controller 37 controls the light source 31 to turn on, the light emitted by the light source 31 passes through the first plate 33 and is scattered on the first surface 331, forming a uniform light field on the first surface 331. Viewed from the lidar 36, the entire target plate 30 can appear as a uniformly emitting surface, forming uniform background light noise. The light emitted by the light source 31 enters the lidar 36 through a direct path.

[0070] In some embodiments, the light source 31 may include a unique identification code. The light source 31 can be controlled independently. The controller 37 can control the light emission strategy of the light source 31 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.

[0071] In some embodiments, the controller 37 can control the luminous intensity of the light source 31 to simulate background light noise of different intensities, thereby achieving an adjustable light field. For example, the controller 37 can control the luminous intensity of the light source 31 by adjusting the driving current, driving voltage, PWM duty cycle, and number of light emitted, thereby simulating background light noise of different intensities.

[0072] In some embodiments, the simulated intensity of the background light noise ranges from 5000 lux to 200000 lux. For example, the simulated intensity of the background 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.

[0073] In some embodiments, the target plate 30 can be positioned on a track. The controller 37 can adjust the position of the target plate 30 on the track, changing the distance between the target plate 30 and the lidar 36. This allows for the simulation of background light noise of varying intensities and objects at different distances.

[0074] In some embodiments, the controller 37 can change the light transmittance of the first plate 33. For example, the controller 37 can adjust the light transmittance of the electrically controlled atomizing film on the first surface 331 by changing the driving voltage or driving current to simulate background light noise of different intensities.

[0075] In some embodiments, the controller 37 may be located externally to the target board 30. For example, the controller 37 may be configured independently. The controller 37 and the light source 31 can be connected wirelessly. For example, the wireless connection may include Bluetooth, Wi-Fi, ZigBee, 4G, 5G, infrared, LoRa, etc.

[0076] In some embodiments, the controller 37 may be located inside the target board 30. For example, the controller 37 may be located inside the second board 35, and the controller 37 and the light source 31 may be connected via a wired connection. For example, the wired connection may include a power cable, serial port, CAN, Ethernet, etc.

[0077] In some embodiments, the controller 37 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.

[0078] This disclosure also provides a testing system. Figure 4 A schematic diagram of an exemplary test system consistent with some embodiments of this disclosure is shown. For example... Figure 4 As shown, the test system 40 includes a target board 41 and a lidar 42. The target board 41 is located to one side of the lidar 42 and is at a preset distance from the lidar 42. For example, the target board 41 may face the lidar 42. The target board 41 is the same as or similar to target boards 30, 20, and 10. The lidar 42 includes a laser 421, a detector 423, and a processor 425. The laser 421 can emit detection light. The detector 423 can receive echo light. The processor 425 is connected to the laser 421 and the detector 423, and can control the operation of the laser 421 and the detector 423, and can determine object information based on the echo light.

[0079] In some embodiments, laser 421 may include a semiconductor laser, such as a VCSEL, EEL, or other semiconductor laser capable of generating laser light. In some embodiments, laser 421 may also include a fiber laser. For example, the wavelength of laser light emitted by laser 421 may be any one of 905nm, 940nm, 1440nm, 1510nm, or 1550nm. It should be noted that laser 421 may also emit laser light of other wavelengths.

[0080] In some embodiments, detector 423 may include a light detection circuit, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or a similar device.

[0081] In some embodiments, the processor 425 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 425 may communicate with the controller of the target board 41.

[0082] In some embodiments, lidar 42 may be the same as or similar to lidar 36, lidar 26, and lidar 16.

[0083] In some embodiments, the lidar 42 may include a solid-state lidar, a semi-solid-state lidar, or a mechanically scanned lidar.

[0084] In some embodiments, the lidar 42 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.

[0085] The test system disclosed herein tests the lidar through a target board. It can simulate ambient light noise in a limited indoor test space, meeting the test 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.

[0086] It should be noted that although several modules of the target board / test 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.

[0087] It should be noted that this disclosure may include Figure 1-4 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 / test system of this disclosure. Figure 1-4 Any one or more features of any one or more embodiments can be arbitrarily combined or applied.

[0088] 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 for lidar testing, characterized in that, include: light source; and A first plate is located downstream of the light source in the optical path. The first plate includes a first surface and a second surface, with the first surface facing the lidar and the second surface facing the light source. The light emitted by the light source forms a light field on the first surface, and the light emitted by the light source passes through the first plate and is incident on the lidar.

2. The target board according to claim 1, characterized in that, The first plate includes a light-transmitting substrate.

3. The target board according to claim 1 or 2, characterized in that, The transmittance of the first plate is greater than or equal to 50%.

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

5. The target board according to claim 1 or 2, characterized in that, The first surface includes at least one of a coating, a frosted layer, or an electronically controlled atomizing film.

6. The target board according to claim 4, characterized in that, Also includes: The second plate, wherein the light source is disposed on the second plate, the second plate having a second reflectivity, the second reflectivity being less than or equal to the first reflectivity.

7. The target board according to claim 6, characterized in that, The second reflectivity is less than or equal to 2%.

8. The target board according to claim 6, characterized in that, The surface of the second plate includes at least one of black velvet or paint.

9. The target board according to claim 6, characterized in that, The number of light sources is multiple, and the multiple light sources are arranged in an array.

10. The target board according to claim 6, characterized in that, The number of light sources is multiple, and the multiple light sources are evenly distributed on the second plate.

11. The target board according to claim 6, characterized in that, The light emitted by the light source includes infrared light.

12. The target board according to claim 1 or 2, characterized in that, The light emitted by the light source passes through the first plate and forms a uniform light field on the first surface.

13. The target board according to claim 1 or 2, 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.

14. The target board according to claim 1 or 2, characterized in that, Downstream of the light source is a lens configured to modulate the light beam incident thereon.

15. The target board according to claim 1 or 2, characterized in that, Also includes: A controller, connected to the light source, is configured to control the light source to turn on or off.

16. The target board according to claim 15, characterized in that, The controller is configured to control the luminous intensity of the light source to simulate background light noise of different intensities, wherein the simulated intensity range of the background light noise is 5000 lux to 200000 lux.

17. A testing system, characterized in that, include: LiDAR; and The target board as described in any one of claims 1-16 is located on one side of the lidar and has a predetermined distance from the lidar.

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