Reflection simulation device and laser radar test system

Abstract

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

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar, and in particular to a reflection simulation device and a laser radar test system. Background Art

[0002] LiDAR (light detection and ranging) emits laser light and receives the echoes from surrounding objects. LiDAR uses these echoes to determine object information, such as its position, speed, and attitude.

[0003] LiDARs require calibration and performance testing before leaving the factory. Most LiDARs have a maximum detection range of several hundred meters (e.g., 200 or 300 meters), requiring a large testing area. Indoor testing sites are often insufficient for the required space. Outdoor sites often lack the stability required for LiDAR calibration or testing.

[0004] The content of the background technology section is merely information known to the applicant personally, and does not mean that the above information has entered the public domain before the application date of this disclosure, nor does it mean that it can become the prior art of the present disclosure. Utility Model Content

[0005] The present disclosure provides a reflection simulation device and a laser radar test system. The reflection simulation device can simulate the reflection of a laser signal from a distant object at a close distance, thereby reducing the space required for laser radar testing or calibration.

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

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

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

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

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

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

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

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

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

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

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

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

[0018] In some embodiments, a second optical path is provided between the attenuation component and the emission component, and the target light is irradiated to the emission component via the second optical path.

[0019] As can be seen from the above technical solution, the reflection simulation device provided in this specification can be used to simulate the reflection of a laser radar laser signal by an object at a first distance from the laser radar. By using the simulation device, the reflection of the laser signal by an object at the first distance can be simulated at a second distance, thereby reducing the test space requirements during the laser radar test, wherein the second distance is smaller than the first distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of this specification, the following briefly introduces the drawings required for use in the description of the embodiments. The drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 A schematic diagram illustrating a working scenario of a laser radar provided according to some embodiments of the present disclosure is shown;

[0022] Figure 2 A schematic diagram showing the distribution of multiple channels in a laser radar according to some embodiments of the present disclosure is shown;

[0023] Figure 3 A schematic diagram of a reflection energy body when a laser signal is irradiated onto a standard diffuse reflection plate according to some embodiments of the present disclosure is shown;

[0024] Figure 4 A schematic diagram of a laser radar testing system provided according to some embodiments of the present disclosure is shown;

[0025] Figure 5 A schematic diagram of a simulation device provided according to some embodiments of the present disclosure is shown;

[0026] Figure 6 A schematic diagram showing another laser radar testing system provided according to some embodiments of the present disclosure is shown; and

[0027] Figure 7 A flowchart of a laser radar testing method provided according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0028] The following description provides specific application scenarios and requirements for this specification, and is intended to enable those skilled in the art to make and use the contents of this specification. It will be apparent to those skilled in the art that the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this specification. Therefore, this specification is not limited to the embodiments shown.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0030] In the description of the embodiments of the present disclosure, technical terms such as "first" and "second" are used solely to distinguish between different objects and should not be understood to indicate or imply relative importance or to implicitly specify the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0031] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present disclosure. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] These and other features of this specification, as well as the operation and function of the associated elements of the structure, and the economical assembly and manufacture of the components, can be significantly improved with consideration of the following description. Reference is made to the accompanying drawings, all of which form a part of this specification. However, it should be expressly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this specification. It should also be understood that the drawings are not drawn to scale.

[0033] The flowcharts used in this specification illustrate operations implemented by systems according to some embodiments of the present specification. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. Rather, the operations may be implemented in reverse order or simultaneously. Furthermore, one or more additional operations may be added to the flowcharts. One or more operations may be removed from the flowcharts.

[0034] The terms "or" and "and / or" in this specification are used to describe the relationship between associated objects, which indicates non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone", "B alone", or "A and B", where "A" and "B" can include a single object or multiple objects. For another example, "A, B and / or C", "A, B or C" can both include: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B and C", where "A", "B" and "C" can include a single object or multiple objects. In addition, " / " in this specification is used to indicate the "or" relationship between the preceding and following associated objects. In this specification, "at least one of A or B" and "one or more of A and B" have the same meaning as "A or B" above, and "one or more of A, B and C" and "at least one of A, B or C" have the same meaning as "A, B or C" above. "One or more of A, B and C" has the same meaning as "A, B or C" above.

[0035] In this specification, the expression "X includes at least one of A, B, or C" means that X includes at least A, or X includes at least B, or X includes at least C. In other words, X may include only any one of A, B, and C, or may include any combination of A, B, and C as well as other possible contents or elements. Any combination of A, B, and C may be A, B, C, AB, AC, BC, or ABC.

[0036] In this specification, unless otherwise specified, the association relationship between structures can be a direct association relationship or an indirect association relationship. For example, when describing "A is connected to B", unless it is clearly stated that A is directly connected to B, it should be understood that A can be directly connected to B or indirectly connected to B; for another example, when describing "A is above B", unless it is clearly stated that A is directly above B (AB are adjacent and A is above B), it should be understood that A can be directly above B or indirectly above B (AB is separated by other elements and A is above B). And so on.

[0037] Before describing the specific embodiments of this specification, Figure 1 A brief description of the structure and working process of the lidar is given.

[0038] Figure 1 A schematic diagram of a working scenario of a laser radar provided according to some embodiments of the present disclosure is shown. Figure 1 As shown, scene 001 includes a lidar 100 and an object 200 . Figure 1The left side of FIG shows a schematic diagram of a partial internal structure of the laser radar 100 , wherein the laser radar 100 may include multiple lasers 110 and multiple detectors 120 .

[0039] When operating, the laser 110 can emit a detection light signal. For example, the detection light signal can be a laser signal. When operating, the detector 120 receives an echo signal generated by the detection light signal being reflected by the object 200. The laser radar 100 also includes a receiving lens 140. The receiving lens 140 can be disposed on the side of the detector 120 close to the object 200. For example, after encountering the object 200, the detection light signal is diffusely reflected by the object 200, forming an echo signal. The echo signal returns to the laser radar 100 and is received by the detector 120 after passing through the receiving lens. In some embodiments, each detector 120 can be provided with a corresponding receiving lens 140. In other embodiments, multiple detectors 120 can share a single receiving lens 140.

[0040] The aforementioned multiple lasers 110 and multiple detectors 120 can form multiple detection channels 130. The detection channel 130 can represent the path through which the laser radar 100 emits laser light and receives corresponding echoes. For example, when the laser 110 is operating, it emits a laser signal. After encountering the object 200, the laser signal is reflected by the object 200 to form an echo signal. The echo signal is detected by the detector 120, thereby forming a detection channel 130. In some embodiments, a channel 130 may include one laser 110 and one detector 120. In other embodiments, a channel 130 may include multiple lasers 110 and one detector 120. In other embodiments, a channel 130 may include one laser 110 and multiple detectors 120. In other embodiments, a channel 130 may include one laser 110 and multiple detectors 120. In other embodiments, a channel 130 may include multiple lasers 110 and multiple detectors 120. This specification does not limit the specific number of lasers 110 or detectors 120 in a channel 130.

[0041] In some embodiments, one channel 130 in the laser radar 100 can correspond to a detection field of view. The laser 110 in this channel 130 can emit a laser beam in the direction of the detection field of view, and the detector 120 can receive the echo generated by the laser beam reflected by objects in the detection field of view. This enables the laser radar 100 to detect objects in the detection field of view. The laser radar 100 may include multiple detection channels 130. In a similar manner, the other channels 130 in the laser radar 100 can respectively detect information about objects within their respective detection fields of view.

[0042] In some embodiments, the laser radar 100 may further include a controller 150. The controller 150 may control the laser 110 to emit a detection light signal, and may control the detector 120 to receive an echo signal. This specification does not limit the type of the controller 150. For example, the controller 150 may include a combination of one or more of the following devices: a single chip microcomputer, a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an advanced RISC machine (ARM), an application specific integrated circuit (ASIC). For another example, the controller 150 is any circuit or processor capable of performing one or more functions, or any combination thereof.

[0043] Figure 2 A schematic diagram showing the distribution of multiple channels in a laser radar provided according to some embodiments of the present disclosure is shown. Figure 2 A gray rectangular box in the figure may represent a channel 130. Figure 2 As shown, when the laser radar 100 is placed on a horizontal plane, multiple channels 130 can be arranged in a direction perpendicular to the horizontal plane (hereinafter referred to as the vertical direction). One channel 130 can correspond to a vertical direction angle (vertical field of view, VFOV). During the operation of the laser radar 100, the laser 110 in a channel 130 emits a laser beam to a vertical direction angle to achieve detection of objects. For example, the vertical direction angle corresponding to the first channel 130 can be +20 degrees. The vertical direction angle corresponding to the last channel 130 can be -25 degrees. The multiple channels 130 can be evenly distributed, and the multiple channels 130 can also be unevenly distributed. The intervals between the angles corresponding to the channels 130 can be the same or different. For example, Figure 2 The intervals between the vertical angles corresponding to each channel 130 of the laser radar 100 shown are not the same, and the middle beam is distributed more densely than the beams on both sides.

[0044] LiDAR 100 can be used in various scenarios. Different objects 200 can have different reflectivities. Reflectivity refers to the ratio of the radiant energy reflected from object 200 to the total radiant energy projected onto object 200. In the LiDAR industry, target plates with varying reflectivities are often used during R&D, testing, and production to simulate objects 200 with varying reflectivities. Target plate 210 can be a standard diffuse reflector (also known as a Lambertian reflector).

[0045] Figure 3 A schematic diagram of a reflection energy body when a laser signal is irradiated onto a standard diffuse reflection plate according to some embodiments of the present disclosure is shown. Figure 3 The dotted line in the middle is the surface normal of the target plate 210, and its direction is perpendicular to the target plate 210. The amount of reflected energy that the laser radar 100 can receive is related to the aperture size of the receiving lens 140 of the laser radar 100 and the incident angle of the laser emitted by the laser radar 100 on the target plate 210. For example, Figure 3 As shown, the laser light emitted by the laser radar 100 is incident perpendicularly on the target plate 210, meaning that the angle of incidence of the laser light emitted by the laser radar 100 on the target plate 210 is 90°. Based on the received echo energy reflected by the object, the laser radar 100 can calculate the object's equivalent Lambertian reflectivity at a specific angle of incidence (e.g., perpendicular incidence). The laser radar's ability to receive realistic and accurate reflected energy is one of the key factors in ensuring the accuracy of test data during performance testing of the laser radar 100.

[0046] As previously mentioned, the maximum detection range of most LiDARs 100 is typically over several hundred meters (e.g., 200 meters, 300 meters, etc.). Testing the performance of a LiDAR 100 requires a larger test site. Indoor sites are often insufficient for testing. Outdoor sites are also insufficient for maintaining the stability required for LiDAR calibration or testing.

[0047] To address the aforementioned issues, this specification provides a laser radar test system. The laser radar test system includes a reflection simulation device. This device can simulate the reflection of laser signals from distant objects at close range, thereby reducing the space required for laser radar testing or calibration.

[0048] Next, the test system 002 will be described in detail with reference to the accompanying drawings.

[0049] Figure 4 FIG. 1 shows a schematic diagram of a laser radar test system according to some embodiments of the present disclosure. Figure 4 As shown, the laser radar test system 002 (hereinafter referred to as the test system 002 ) may include a base 300 and a reflection simulation device 400 .

[0050] The base 300 is configured to support the laser radar 100. The laser radar 100 can be fixed directly or indirectly to the base 300 and directed toward the reflection simulation device 400. For example, the laser emitted by the laser radar 100 can be incident on the simulation device 400. In some embodiments, the base 300 may include a clamp. By adjusting the clamping spacing of the clamp, the clamp can clamp laser radars 100 of different sizes. In some embodiments, the base 300 may include a slot and a fixing pin. By adjusting the position of the fixing pin, the slot can fix laser radars 100 of different sizes.

[0051] The reflection simulation device 400 (hereinafter referred to as the simulation device 400) is used to simulate the reflection of the laser signal of the laser radar 100 by an object at a first distance from the laser radar 100. When operating, the simulation device 400 is at a second distance from the laser radar 100. For example, the laser radar 100 is fixed by the base 300, and the laser radar 100 is at a second distance from the simulation device 400. The second distance can be less than the first distance. The first distance is a long distance relative to the second distance, and the second distance is a short distance relative to the first distance. For example, the simulation device 400 is set at a distance of 50 meters from the laser radar 100 to simulate an object at a distance of 300 meters from the laser radar. For another example, the laser radar 100 is set at a distance of 50 meters from the simulation device 400 to simulate an object at a distance of 400 meters from the laser radar 100. For another example, the simulation device 400 is set at a distance of 100 meters from the laser radar 100 to simulate an object at a distance of 400 meters from the laser radar.

[0052] In some embodiments, the first distance can be selected based on factors such as the maximum detection range of the lidar 100 or test requirements. In some embodiments, the second distance can be selected based on factors such as the size of the test site that can be provided or test requirements. In some embodiments, the second distance is greater than or equal to the optical consistency distance. When the distance between the lidar 100 and the object is greater than or equal to the optical consistency distance, the factors that affect the energy of the echo signal that it can receive are the same, so that when the distance between the lidar 100 and the object 200 is greater than or equal to the optical consistency distance, the optical efficiency of the lidar is consistent. For example, the energy that the lidar 100 can receive is affected by the reflectivity of the object 200. When the distance between the object and the lidar 100 is greater than or equal to the optical consistency distance, the effect of changes in the object's reflectivity on the energy that the lidar 100 can receive is consistent at different distances. For another example, the energy that the lidar 100 can receive is affected by the distance between the object 200 and the lidar 100. When the distance between the object 200 and the lidar 100 is greater than or equal to the optical consistency distance, the effect of changes in distance on the energy that the lidar 100 can receive is consistent. Therefore, when the distance between the laser radar 100 and the object 200 exceeds a certain distance, the simulation device 400 can be used to simulate the distant object 200 at a close distance for performance testing. This distance can be called the optical consistency distance.

[0053] In some embodiments, the simulation device 400 is set at a distance greater than or equal to the optical consistency distance from the laser radar 100. This can make the test results more accurate when the simulation device 400 is used to simulate objects at a long distance at a close distance to perform laser radar performance testing. The optical consistency distance may be related to the optical-mechanical structure of the laser radar 100. The optical consistency distance of laser radars 100 with different structures may be different. In some embodiments, the optical consistency distance of the laser radar 100 may be 30 meters. The second distance may be any distance greater than 30 meters. For example, the second distance may be 31 meters, 33 meters, 35 meters, 40 meters, 45 meters, 50 meters, and so on. In some embodiments, the optical consistency distance may be 50 meters. The second distance may be any distance greater than 50 meters. For example, the second distance may be 51 meters, 53 meters, 55 meters, 60 meters, 65 meters, 70 meters, and so on.

[0054] Figure 5 FIG. 1 shows a schematic diagram of a simulation device provided according to some embodiments of the present disclosure. Figure 5As shown, the reflection simulation device 400 includes a receiving component 410, an attenuation component 420, and a transmitting component 430. The laser signal emitted by the laser radar 100 can be received by the receiving component 410, attenuated by the attenuation component 420, and then transmitted back to the laser radar 100 by the transmitting component 430. The reflection simulation device 400 can simulate the entire process of the laser signal being reflected by the object 200.

[0055] The receiving component 410 is configured to receive the laser signal emitted by the laser radar 100. In some embodiments, the receiving component 410 may include a lens or a lens assembly for receiving the laser signal emitted by the laser radar 100. In some embodiments, the receiving component 410 may include a filter. The filter may allow light within the wavelength range of the laser signal to pass through.

[0056] Attenuation component 420 is configured to attenuate the laser signal by a target attenuation value, thereby generating an attenuated signal. The target attenuation value is determined based on at least the first distance, the second distance, and the aperture of the receiving lens. Attenuation component 420 receives the laser signal transmitted by receiving component 410 and attenuates the laser signal by the target attenuation value, thereby at least simulating the attenuation of the laser signal by object 200.

[0057] As an example, this application uses the example of a tester placing a simulation device 400 50 meters away from a lidar 100 to simulate an object 200 with a reflectivity of 10% at a distance of 300 meters. Therefore, in this example, the first distance is 300 meters and the second distance is 50 meters. It is worth noting that the following analysis is based on a series of assumptions. These assumptions are provided for ease of description and are not quantitative. Actual conditions may differ from the numerical values and assumptions.

[0058] Assume that the energy of the laser signal emitted by the laser radar 100 is P. When lasers of certain wavelengths propagate in the air, the air attenuates their energy very little. For ease of explanation, the attenuation of the laser in the air is not considered. The laser signal is irradiated onto the object 200, and the reflectivity of the object is 10%. Then the total reflected energy reflected by the object 200 is approximately 0.1P. Only a portion of the total reflected energy can be received by the laser radar 100. If the object 200 is at the first distance from the laser radar 100, the laser radar 100 can only receive 1% of the total reflected energy. Then the laser radar 100 can only receive 0.001P of reflected energy.

[0059] When using the simulation device 400 to simulate the object 200, in order to accurately simulate the object 200, it is necessary to ensure that when the simulation device 400 and the laser radar 100 are at a second distance, the energy that the laser radar 100 can receive is still 0.001P.

[0060] Without considering the attenuation of the laser signal by air, the percentage of the reflected energy received by the laser radar 100 as a percentage of the total reflected energy is related to the distance between the laser radar 100 and the object 200. The greater the distance between the laser radar 100 and the object 200, the smaller the percentage of the reflected energy received by the laser radar 100 as a percentage of the total reflected energy; and the smaller the distance between the laser radar 100 and the object 200, the larger the percentage of the reflected energy received by the laser radar 100 as a percentage of the total reflected energy. For example, when the total reflected energy is 0.1P, at a long distance (e.g., the first distance), the laser radar 100 can receive 1% of the total reflected energy, or 0.001P of energy; at a close distance (e.g., the second distance), the laser radar 100 can receive 10% of the total reflected energy, or 0.01P of energy. With other conditions remaining unchanged, the energy received by the laser radar 100 increases from 0.001P to 0.01P as the distance decreases. Therefore, by reasonably adjusting the target attenuation value of the attenuation component 420, when the reflection simulation device 400 is set at the second distance, the amount of reflected energy that the laser radar 100 can receive is consistent with the amount of reflected energy that the laser radar 100 can receive when the simulated object 200 is set at the first distance.

[0061] In some embodiments, the target attenuation value is also determined based on the reflectivity of the simulated object 200. Due to differences in material properties, surface roughness, and other factors, different objects 200 have different reflectivities to the laser signal. The reflectivity of an object can affect the amount of reflected energy received by the lidar 100. Therefore, the target attenuation value can also be determined based on the reflectivity of the simulated object 200.

[0062] Laser signals propagating through the atmosphere are attenuated due to air absorption, scattering, and other effects. The degree of atmospheric attenuation of the laser signal energy varies depending on the distance the laser signal travels through the air. For example, the greater the distance, the greater the atmospheric attenuation of the laser signal; the closer the distance, the less atmospheric attenuation of the laser signal. In some embodiments, because the simulation device 400 is closer to the laser radar 100 than the object 200 to be simulated, the attenuation component 420 can also increase the attenuation value to simulate the air's attenuation of the laser signal.

[0063] The above assumptions are made for ease of description only. Actual values may differ from the assumptions. Any embodiment that does not deviate from the core invention of this specification is within the scope of protection of this specification.

[0064] Attenuation assembly 420 can be configured based on a target attenuation value. In some embodiments, attenuation assembly 420 can include a set of laser attenuation devices with adjustable laser attenuation to adjust the power of the laser signal. In other embodiments, attenuation assembly 420 can include attenuation sheets. By configuring different attenuation sheets, different attenuation values for the laser signal can be achieved. In still other embodiments, attenuation assembly 420 can include an attenuation film.

[0065] In some embodiments, the testing system 002 may include a memory. The memory may store a correspondence between the first distance, the second distance, and / or the aperture of the receiving lens and a target attenuation value. In some embodiments, the testing system may include a controller that controls the attenuation component 420. Once the first distance, the second distance, and the aperture of the receiving lens are determined, the testing system may adjust the target attenuation value of the laser signal by the attenuation component 420.

[0066] In some embodiments, as Figure 5 As shown, the attenuation component 420 is disposed between the receiving component 410 and the transmitting component 430. After the laser light is attenuated by the laser attenuation component 420, an attenuated signal is obtained and transmitted along the optical path to the transmitting component 430. In other embodiments, the attenuation component 420 is disposed between the transmitting component 430 and the laser radar 100. This description is not limited to this.

[0067] The transmitting component 430 is configured to receive the attenuated signal from the attenuating component 420 and transmit the attenuated signal.

[0068] In some embodiments, within a preset angle range, the percentage difference between the optical power distribution of the attenuated signal emitted by the transmitting component 430 and the optical power distribution of the diffuse reflection object is less than or equal to a first preset threshold. For example, the optical power distribution of the attenuated signal emitted by the transmitting component 430 and having an angle with the normal of the plane where the simulation device 400 is located within a preset angle range is less than a preset threshold value from the optical power distribution of the diffuse reflection object. For example, the aforementioned preset angle range can be 0° to 30°, 0° to 40°, 0° to 60° or other angle ranges. For another example, the aforementioned first preset threshold can be any value less than or equal to 50%, such as 50%, 30%, 20%, 10% or 5%. In some embodiments, within a preset angle range, the optical power difference between the attenuation signals at each angle emitted by the transmitting component 430 does not exceed a second preset threshold (for example, any multiple less than 3 times, such as 1 times, 2 times, or 3 times), and the optical power difference between the attenuation signal at any angle and its adjacent angles within ±1° does not exceed a third preset threshold (for example, any multiple less than 1.5 times, such as 0.5 times, 1 times, or 1.5 times).

[0069] In some embodiments, the emitting assembly 430 may be configured to reflect ambient light. After the external ambient light is irradiated by the emitting assembly 430 , it may be reflected by the emitting assembly 430 to simulate the reflection of the ambient light by the object 200 .

[0070] In some embodiments, the transmitting assembly 430 includes a lens assembly. For example, the transmitting assembly 430 may include a collimating lens to collimate the attenuated signal before sending it to the laser radar 100. In some embodiments, the transmitting assembly 410 may also include a diffuse reflector to simulate diffuse reflection of the laser signal by the object 200.

[0071] In some embodiments, the simulation device 400 may further include a transmission component 440. For example, the transmission component 440 may be a waveguide. For example, the transmission component 440 may include an optical fiber, a rectangular waveguide, or a circular waveguide. As another example, the transmission component 440 may be a solid medium. For example, the transmission component 440 may be quartz glass or other transparent medium. The transmission component 440 may be configured to transmit the laser signal for a predetermined duration. The laser signal here may include an unattenuated laser signal and an attenuated laser signal. The predetermined duration may correspond to the laser flight time corresponding to the difference between the first distance and the second distance. Since the laser flight time is the total time it takes for the laser to be emitted from the laser radar and reflected and then returned to the laser radar, the laser flight time corresponding to the difference between the first distance and the second distance is the time required for the laser to travel a distance twice the difference between the first distance and the second distance. By using the transmission component 440, the laser flight time corresponding to the difference between the first distance and the second distance can be "compensated."

[0072] For example, if the first distance is 200 meters and the second distance is 100 meters, the transmission component 440 can be used to optically delay the laser signal to compensate for the 200-meter optical distance, so that the flight time or transmission time of the laser signal within the transmission component 440 is equal to the laser flight time corresponding to the difference between the first distance and the second distance. For example, when the transmission component 440 is an optical fiber, the laser signal can be transmitted in the optical fiber for a predetermined time. The transmission time of the laser signal in the optical fiber is related to factors such as the length of the optical fiber and the refractive index of the optical fiber. For example, the longer the length of the optical fiber, the longer the laser signal transmission time. For another example, the higher the refractive index of the optical fiber, the longer the laser signal transmission time.

[0073] In some embodiments, the attenuation component 420 can be disposed within the transmission component 440. For example, an attenuation plate can be coupled into the interior of an optical fiber so that the laser signal is attenuated during transmission.

[0074] By using the transmission component 440 to transmit the laser signal for a predetermined duration, the laser signal's flight at different distances can be simulated, thereby adapting to testing requirements at different distances. For example, by changing the length or refractive index of the optical fiber, the laser signal's transmission duration can be changed, thereby simulating the laser signal's flight at different distances and adapting to testing requirements at different distances.

[0075] A first optical path may exist between the receiving component 410 and the attenuating component 420 , and a second optical path may exist between the attenuating component 420 and the transmitting component 430 .

[0076] In some embodiments, transmission component 440 can provide a first optical path and a second optical path. For example, receiving component 410 and attenuation component 420 are connected via optical fiber, and attenuation component 420 and transmitting component 430 are also connected via optical fiber. After receiving the laser signal, receiving component 410 converges the collected laser signal into the optical fiber and transmits it to attenuation component 420. Attenuation component 420 attenuates the laser signal to a target attenuation value and then transmits it to transmitting component 430 via optical fiber. Transmitting component 430 can emit the attenuated signal in the optical fiber in a manner that simulates diffuse reflection from object 200.

[0077] In other embodiments, the transmission component 440 can provide a first optical path. For example, the receiving component 410 and the attenuation component 420 are connected via an optical fiber. The attenuation component 420 can be in close contact with the transmitting component 430. For example, the attenuation component 420 includes the aforementioned attenuation film. The attenuation film can be formed on the transmitting component 430 using a thin film manufacturing process, or the attenuation film formed by the thin film manufacturing process can be affixed to the transmitting component 430. In other embodiments, the transmission component 440 can provide a second optical path. For example, the attenuation component 420 and the transmitting component 430 are connected via an optical fiber. The attenuation component 420 can be in close contact with the transmitting component 410. For example, the attenuation component 420 can include an attenuation film. The attenuation film can be formed on the receiving component 410 using a thin film manufacturing process, or the attenuation film formed by the thin film manufacturing process can be affixed to the receiving component 410.

[0078] It is worth noting that the laser signal may also experience energy loss during the aforementioned reception, forwarding, or transmission processes. For example, energy loss occurs when the laser signal is transmitted through an optical fiber. When using the attenuation component 420 to attenuate the laser signal to a target attenuation value, the target attenuation value of the attenuation component may be appropriately lowered to account for the energy loss in the aforementioned processes.

[0079] In some embodiments, the simulation device 400 is composed of a plurality of tiny structural units arranged in an array. Figure 6 FIG. 1 shows a schematic diagram of another laser radar test system provided according to some embodiments of the present disclosure. Figure 6 As shown, the simulation device 400 can be a rectangular plate-shaped structure as a whole. The simulation device 400 can be composed of small honeycomb-shaped structural units.

[0080] In some embodiments, the receiving component 410 may include a plurality of receiving units 411. The receiving unit 411 may be configured to receive a laser signal. The attenuation component 420 may include a plurality of attenuation units 421. The attenuation unit 421 may be configured to attenuate the laser signal transmitted from the corresponding receiving unit 411 by a target attenuation value to obtain an attenuated signal. The transmitting component 430 may include a plurality of transmitting units 431. The transmitting unit 431 may be configured to receive the attenuated signal from the corresponding attenuation unit and transmit the attenuated signal. In addition, the plurality of receiving units 411 may be distributed in an array with the plurality of transmitting units 431 on the target plane 500, and the transmitting units 431 are distributed adjacent to the corresponding receiving units 411. Figure 6As shown, simulation device 400 includes 36 structural units arranged in a 6×6 array. These include 18 receiving units 411 and 18 transmitting units 431. Receiving units 411 and transmitting units 431 are evenly distributed on target plane 500. Receiving units 411 and transmitting units 431 can be connected via optical fibers or other optical transmission components. Attenuation unit 420 can be disposed within the optical fiber, between receiving units 411 and the optical fiber, or between transmitting units 431 and the optical fiber.

[0081] As previously mentioned, laser signals may experience energy loss during reception, forwarding, or transmission. For example, when the laser signal is irradiated across the entire target plane 500, multiple receiving units 411 may receive the laser signal, while multiple transmitting units 431 may not. This results in energy loss during the laser signal reception process by the simulation device 400. This energy loss can also be considered when using the attenuation component 420 to attenuate the laser signal to a target attenuation value.

[0082] When simulation device 400 is composed of small honeycomb-shaped structural units, the smaller the structural units, the more accurately the simulation device 400 can be used to reconstruct the shape and energy distribution of the laser signal spot. For example, when test data is abnormal, the energy distribution of the spot can be restored using simulation device 400. For example, a detector is provided after receiving unit 411, attenuation unit 421, or transmitting unit 431 to transmit the laser signal incident on simulation device 400 to the detector.

[0083] As previously described, the transmitting assembly 430 may include a diffuse reflector to simulate diffuse reflection of the laser signal by the object 200. The multiple transmitting units 431 may include multiple diffuse reflectors. Using multiple diffuse reflectors to scatter the laser signal (attenuate the signal) allows the laser signal to be scattered more evenly, thereby better simulating diffuse reflection by the transmitting assembly 430.

[0084] The laser radar 100 may include a plurality of channels 130. For example, Figure 2 As shown, the laser radar 100 includes multiple channels 130 distributed along the vertical direction. The multiple channels 130 can be tested sequentially or in batches to ensure that each channel 130 can illuminate the target plane 500 at the incident angle required by the test (for example, vertical incidence or near-vertical incidence, or other incident angles).

[0085] In some embodiments, the test system 002 may include an adjustment component 600. The adjustment component 600 may be mechanically connected to at least one of the simulation device 400 or the base 300. The adjustment component 600 is configured to adjust the relative position of the simulation device 400 and the laser radar 100. For example, the adjustment component 600 may be mechanically connected to the simulation device 400. Figure 6 As shown, the adjustment component 600 can drive the simulation device 400 to move to adjust its relative position with the laser radar 100. For another example, the adjustment component 600 can be mechanically connected to the base 300. Figure 6 As shown, the adjustment component 600 drives the base 300 to move, thereby driving the laser radar 100 to move, and then adjusting the relative posture of the laser radar 100 and the base 300. For another example, Figure 6 As shown, the adjustment assembly 600 can be mechanically connected to the simulation device 400 and the base 300.

[0086] In some embodiments, the adjustment assembly 600 may include a rotating assembly 610. The rotating assembly 610 may be mechanically connected to at least one of the simulation device 400 or the base 300. The rotating assembly 610 is configured to adjust the angle of the laser radar 100 or the simulation device 400 in the test space so that the laser signal is incident on the simulation device 400 in a predetermined direction. The predetermined direction includes a direction perpendicular to the simulation device 400. For example, the rotating assembly 610 may include a rotating shaft. The rotating shaft may be mechanically connected to the base 300, thereby driving the laser radar 100 to rotate or swing. For another example, the rotating assembly 610 may include a rotary cylinder, a motor (such as a stepper motor), or other driving mechanism. Taking a rotary cylinder as an example, the rotating shaft of the rotary cylinder may be connected to the base 610. When the rotary cylinder is in operation, it can drive the base 300 to rotate, thereby driving the laser radar 100 to rotate, and then adjusting the angle of the laser radar 100 in the test space.

[0087] In some embodiments, the adjustment component 600 may further include a moving component 620. The moving component 620 may be mechanically connected to at least one of the simulation device 400 or the base 300. The moving component 620 may be configured to adjust the relative position of the simulation device 400 and the laser radar 100. Adjusting the relative position of the simulation device 400 and the laser radar 100 may include adjusting the relative distance between the simulation device 400 and the laser radar 100. For example, Figure 6 As shown, the moving component 620 can be mechanically connected to the simulation device 400. The moving component 620 adjusts the distance between the simulation device 400 and the laser radar 100 by adjusting the position of the simulation device 400.

[0088] In some embodiments, the moving component 620 can drive the simulation device 400 to perform one-dimensional motion, two-dimensional motion, or three-dimensional motion. For example, the moving component 620 may include a screw-nut structure and a motor. The motor drives the screw to rotate. The nut converts the rotation of the screw into linear motion to drive the simulation device 400 to move. This specification does not limit the movement mode of the moving component 620. The relative distance between the simulation device 400 and the laser radar 100 can be adjusted by the moving component 620. The relative posture of the simulation device 400 and the laser radar 100 can be adjusted by the rotating component 610 so that the laser signal enters the simulation device 400 in a predetermined direction, thereby ensuring the accuracy of the test results.

[0089] In some embodiments, the test system 002 may further include an ambient light simulation component 700. Figure 6 As shown, the ambient light simulation component 700 is configured to emit a target light having a preset wavelength and a preset intensity. For example, the ambient light simulation component 700 may include a light emitting diode (LED). For another example, the ambient light simulation component 700 may include a fiber optic spectrometer. The preset wavelength and preset intensity of the target light can be selected according to different test scenarios. For example, the ambient light simulation component 700 can emit a target light having the same wavelength as the laser signal. In some embodiments, the intensity or wavelength of the target light can be adjusted. For example, the test system 002 may include an LED adjustment circuit. The intensity of the target light emitted by the LED can be adjusted by the LED adjustment circuit. The ambient light simulation component can be used to simulate a variety of applications or test scenarios, which is beneficial to improving the consistency of the lidar test environment and improving the accuracy of the test results.

[0090] In some embodiments, the target light can be directly irradiated onto the entire simulation device 400. The target light can be reflected by the emitting component 430 and then received by the laser radar 100. In other embodiments, a second optical path is included between the attenuation component 420 and the emitting component 430. The target light can be irradiated to the emitting component via the second optical path. For example, the second optical path may include an optical fiber. The ambient light simulation component 700 can couple the target light into the optical fiber of the second optical path through a fiber coupling lens. The target light is irradiated to the emitting component 430 via the second optical path, and the emitting component emits the target light. This makes it possible for the target light to not pass through the attenuation component 420, thereby reducing the luminous power of the ambient light simulation component 700.

[0091] In some embodiments, the test system 002 may further include other environmental simulation components to simulate the test environment in actual scenarios, making the test results more accurate. For example, the test system 002 may include a temperature regulator to simulate high or low temperatures in actual scenarios. For another example, the test system 002 may further include a liquid sprayer. The liquid sprayer may spray water in the form of a mist to the area where the test system 002 is located to simulate the atmospheric environment under foggy days. The sprayer may also spray water in the form of a water column to the area where the test system 002 is located to simulate the atmospheric environment under rainy days.

[0092] This specification also provides a test system 002. The test system 002 may include the aforementioned base 300 and the simulation device 400. The base 300 may be configured to carry the laser radar 100. The simulation device 400 may be configured to simulate the object 200. Figure 4 as well as Figure 6 The corresponding embodiment provides a base 300. The simulation device 400 may include the aforementioned Figures 4 to 6 The corresponding embodiment provides a simulation device 400.

[0093] Figure 7 A flow chart of a laser radar testing method S100 according to some embodiments of the present disclosure is shown. The testing method S100 can be applied to the above-mentioned testing system 002. The testing method S100 may include:

[0094] S110: Set the simulation device 400 and the laser radar to be at a second distance from the laser radar 100.

[0095] The simulation device 400 is set at a second distance from the laser radar 100 to simulate the object 200 at the first distance from the laser radar 100.

[0096] As mentioned above, the distance between the simulation device 400 and the laser radar 100 can be set to be greater than or equal to the optical consistency distance. In some embodiments, the test method S100 may further include: determining the optical consistency distance of the laser radar 100, wherein the second distance is greater than or equal to the optical consistency distance.

[0097] As previously described, in some embodiments, the test system 002 may include an adjustment component 600. The adjustment component 600 (e.g., the moving component 620 in the adjustment component) drives the simulation device 400 or the laser radar 100 to move, so as to adjust the distance between the laser radar 100 and the simulation device 400 to a second distance, wherein the second distance is greater than or equal to the optical consistency distance. For example, the second distance can be any distance greater than or equal to the optical consistency distance and less than or equal to the first distance. The size of the second distance can be set according to the test requirements and the size of the site, and is not specifically limited here.

[0098] S130 : Determine a target attenuation value based on at least the first distance, the second distance, and the aperture of the receiving lens 140 of the laser radar 100 .

[0099] As mentioned above, the target attenuation value is determined based on at least the first distance, the second distance, and the aperture of the receiving lens 140 of the laser radar 100.

[0100] In some embodiments, the target attenuation value is also related to the reflectivity of the object 200 to be simulated. The target attenuation value can also be determined based at least on the reflectivity of the object 200. In some embodiments, the target attenuation value is also related to the energy loss during reception, forwarding, and transmission of the simulation device 400. The target attenuation value can also be determined based at least on the aforementioned energy loss.

[0101] S150: Setting the attenuation component 420 based on the target attenuation value.

[0102] S170: Control the operation of the laser radar 100 and determine the performance of the laser radar 100 based at least in part on the attenuation signal.

[0103] The performance of the laser radar 100 may include at least one of range finding performance, distance measurement accuracy, or reflectivity measurement accuracy.

[0104] As previously mentioned, in some embodiments, the test system 002 may further include a rotation assembly 610. In some embodiments, the test method S100 may further include rotating at least one of the laser radar 100 or the simulation device 400 so that the laser signal is incident on the simulation device 400 in a predetermined direction. The predetermined direction includes a direction perpendicular to the simulation device.

[0105] As mentioned above, the test system 002 may further include a transmission component 440. In some embodiments, the test method S100 may further include: setting the transmission component 440 based on the first distance and the second distance.

[0106] As previously mentioned, in some embodiments, the test system 002 may further include an ambient light simulation component 700. In some embodiments, the test method S100 may further include irradiating the simulation device 400 with target light. The target light may have a preset wavelength and a preset intensity. In some embodiments, the test method S100 may further include adjusting the preset intensity of the target light. In some embodiments, the test method S100 may further include adjusting the preset wavelength of the target light.

[0107] In summary, the present disclosure provides a reflection simulation device 400. Simulation device 400 can be used to simulate the reflection of a laser signal from a laser radar 100 by an object 200 at a first distance from the laser radar 100. By using simulation device 400, the reflection of a laser signal from a distant object can be simulated at close range, thereby reducing the space required for testing or calibrating the laser radar 100. Reducing the space required for calibration or testing of the laser radar 100 facilitates the construction of an indoor test site to meet the environmental stability requirements during calibration or testing.

[0108] On the other hand, this specification provides a non-transitory storage medium that stores at least one set of executable instructions for calibrating or testing a laser radar. When the executable instructions are executed by a processor, the executable instructions instruct the processor to implement the steps of the laser radar test method S100 described in this specification. In some possible implementations, various aspects of this specification can also be implemented in the form of a program product, which includes program code. When the program product is run on the test system 002, the program code is used to enable the test system 002 to perform the steps of the laser radar test method S100 described in this specification. The program product for implementing the above method can use a portable compact disk read-only memory (CD-ROM) to include program code and can be run on the test system 002. However, the program product of this specification is not limited to this. In this specification, a readable storage medium can be any tangible medium that contains or stores a program that can be used by an instruction execution system or used in combination with it. The program product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. The computer-readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, which carries readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable storage medium may also be any readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof. Program code for performing the operations described herein may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as C or similar programming languages. The program code may execute entirely on the test system 002, partially on the test system 002, as a stand-alone software package, partially on the test system 002 and partially on a remote computing device, or entirely on the remote computing device.

[0109] The foregoing description describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0110] In summary, after reading this detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure may be presented by way of example only and may not be limiting. Although not expressly stated herein, those skilled in the art will understand that the present application requires various reasonable changes, improvements, and modifications to the embodiments. Such changes, improvements, and modifications are intended to be proposed by the present application and are within the spirit and scope of the exemplary embodiments of the present application.

[0111] In addition, certain terms in this application have been used to describe embodiments of the application. For example, "one embodiment," "an embodiment," and / or "some embodiments" mean that a particular feature, structure, or characteristic described in conjunction with that embodiment may be included in at least one embodiment of the application. Therefore, it is emphasized and should be understood that two or more references to "an embodiment," "one embodiment," or "an alternative embodiment" in various sections of this application do not necessarily refer to the same embodiment. Furthermore, particular features, structures, or characteristics may be appropriately combined in one or more embodiments of the application.

[0112] It should be understood that in the foregoing description of the embodiments of this application, in order to facilitate understanding of a feature and to simplify this application, this application combines various features into a single embodiment, figure, or description thereof. However, this does not mean that the combination of these features is required. When reading this application, it is entirely possible for a person skilled in the art to mark out some of the devices and understand them as separate embodiments. In other words, the embodiments of this application can also be understood as the integration of multiple secondary embodiments. This also applies when the content of each secondary embodiment is less than all the features of a single aforementioned disclosed embodiment.

[0113] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, articles, and the like, cited herein, except any historical prosecution documents to which it relates, any equivalent that may be inconsistent or conflicting with this document, or any equivalent historical prosecution documents that may have a limiting effect on the broadest scope of the claims, is hereby incorporated by reference for all purposes now or hereafter connected with this document. In addition, in the event of any inconsistency or conflict between the descriptions, definitions, and / or use of terms associated with any incorporated material and the terminology, descriptions, definitions, and / or use associated with this document, the terminology in this document shall control.

[0114] Finally, it should be understood that the embodiments of the application disclosed herein are illustrations of the principles of the embodiments of the present application. Other modified embodiments are also within the scope of the present application. Therefore, the embodiments disclosed in the present application are merely examples and not limitations. Those skilled in the art can adopt alternative configurations based on the embodiments in the present application to implement the applications in the present application. Therefore, the embodiments of the present application are not limited to the embodiments precisely described in the application.

Claims

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

2. The simulation device according to claim 1, characterized in that Also includes: transmission components, where A first optical path is included between the receiving component and the attenuation component, A second optical path is included between the attenuation component and the emission component, The transmission component provides: at least one of a first optical path or a second optical path.

3. The simulation device according to claim 2, characterized in that The transmission component is configured to transmit the laser signal for a predetermined duration.

4. The device according to claim 3, characterized in that The transmission component includes an optical fiber.

5. The device according to claim 3, characterized in that The predetermined duration corresponds to a laser flight time corresponding to a difference between the first distance and the second distance.

6. The device according to claim 1, characterized in that The receiving component includes a plurality of receiving units, each of which is configured to receive the laser signal; The attenuation component includes a plurality of attenuation units, each of which is configured to attenuate the laser signal transmitted from the corresponding receiving unit by the target attenuation value to obtain the attenuated signal; The transmitting component includes a plurality of transmitting units, each of which is configured to receive the attenuated signal from the corresponding attenuation unit and transmit the attenuated signal; and The multiple receiving units and the multiple transmitting units are distributed in an array on the target plane, and the transmitting units are adjacent to the corresponding receiving units.

7. The device according to claim 1, characterized in that The emitting assembly is further configured to reflect ambient light.

8. The device according to claim 1, characterized in that The target attenuation value is also determined based on the reflectivity of the object to be simulated.

9. A laser radar testing system, characterized in that: include: The simulation device according to any one of claims 1 to 8, configured to simulate the object; as well as A base is configured to carry the laser radar.

10. The test system according to claim 9, characterized in that: Also includes: An adjustment component is mechanically connected to at least one of the simulation device or the base and is configured to adjust the relative position of the simulation device and the laser radar.

11. The test system according to claim 10, characterized in that: The adjustment component includes: a moving assembly mechanically connected to at least one of the simulation device or the base, and configured to adjust the relative position of the simulation device and the laser radar; and A rotating assembly is mechanically connected to at least one of the simulation device or the base and is configured to adjust the angle of the laser radar or the simulation device in the test space so that the laser signal is incident on the simulation device in a predetermined direction, wherein the predetermined direction includes a direction perpendicular to the simulation device.

12. The test system according to claim 9, wherein: Also includes: The ambient light simulation component is configured to emit target light with a preset wavelength and a preset intensity.

13. The test system according to claim 12, characterized in that: A second optical path is included between the attenuation component and the emission component; and The target light is irradiated to the emitting component via the second light path.

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