Evaluation device and evaluation method for evaluating maximum measurement distance of target lidar device

Abstract

According to the present application, there may be provided an evaluation device for evaluating a maximum measurement distance of a target lidar device, the evaluation device comprising: a target reflection plate; a mount providing a mounting space in which the target lidar device is mounted; an attenuation filter which is disposed between the mount and the target reflection plate and attenuates the intensity of incident light; and a collimation lens which is disposed between the mount and the target reflection plate and changes a flight path of the incident light.

Description

Evaluation device and evaluation method for evaluating the maximum measurement distance of a target lidar device

[0001] The present invention relates to an evaluation device and an evaluation method for evaluating the maximum measurement distance of a target lidar device, and more particularly, to an evaluation device and an evaluation method for evaluating the maximum measurement distance of a target lidar device having a maximum measurement distance longer than a limited space within a limited space.

[0002]

[0003] Recently, with the growing interest in autonomous and driverless cars, LiDAR (Light Detection and Ranging) has been gaining attention. LiDAR is a device that uses lasers to acquire distance information about its surroundings. Thanks to its superior precision and resolution, as well as its ability to perceive objects in three dimensions, it is being applied not only to automobiles but also to drones and aircraft, and in a variety of other fields.

[0004] In particular, lidar devices have the advantage of being able to determine distances more accurately than sensors such as cameras, and of being able to accurately determine distance information of objects located at a greater distance than sensors such as ultrasound.

[0005] Therefore, for lidar devices, range-related performance can serve as a key indicator in explaining the performance of the lidar device.

[0006] However, technology that can practically evaluate the range-related performance of such lidar devices has not yet been developed.

[0007] Therefore, in order for lidar devices to better establish themselves in the market as reliable sensors, it is necessary to develop technologies that can practically evaluate the range-related performance of lidar devices.

[0008]

[0009] One object of the present invention is to provide an evaluation device for evaluating the maximum measurement distance of a target lidar device having a maximum measurement distance longer than the limited space within a limited space.

[0010] The problems to be solved by the present invention are not limited to the problems described above, and problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention pertains from this specification and the attached drawings.

[0011]

[0012] According to one embodiment of the present invention, there is provided an evaluation device for evaluating a maximum measurement distance of a target lidar device, comprising: a target reflector; a mount providing a mounting space in which the target lidar device is mounted; wherein an arrangement between the target reflector and the mount allows, when the target lidar device is mounted on the mount and outputs a laser, a laser output from the target lidar device to be reflected by the target reflector and enter the target lidar device, and the mount and the target reflector are spaced apart by a predetermined distance, allowing the laser output from the target lidar device to fly back and forth over the predetermined distance; an attenuation filter disposed between the mount and the target reflector and attenuating the intensity of incident light; and a collimation lens disposed between the mount and the target reflector and changing a flight path of the incident light, wherein a distance between the collimation lens and the target reflector is determined based on a focal length of the collimation lens and the predetermined reference distance, and the collimation lens is configured to change the flight path of the laser output from the target lidar device and reflected by the target reflector to the target. The incident path to the lidar device mimics a path after a round trip flight for the predetermined reference distance instead of a round trip flight for the predetermined distance, and the collimation lens mimics a path after a round trip flight for the predetermined reference distance instead of a round trip flight for the predetermined distance, and the incident path of the laser output from the target lidar device and flying the round trip for the predetermined distance into the target lidar device mimics a path after a round trip flight for the predetermined reference distance instead of a round trip flight for the predetermined distance, and the attenuation rate of the attenuation filter is selected based on the predetermined reference distance.The attenuation filter may be provided with an evaluation device that causes the intensity of the laser output from the target lidar device to reflect the attenuation after the round-trip flight for the predetermined reference distance instead of the round-trip flight for the predetermined distance after the laser is input to the target lidar device after the round-trip flight for the predetermined distance.

[0013] The solution to the problem of the present invention is not limited to the above-described solution, and solution means not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from this specification and the attached drawings.

[0014]

[0015] According to one embodiment of the present invention, an evaluation device is provided for evaluating a maximum measurement distance of a target lidar device having a maximum measurement distance longer than a limited space within a limited space.

[0016] The effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by a person skilled in the art to which the present invention pertains from this specification and the attached drawings.

[0017]

[0018] FIG. 1 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0019] FIG. 2 is a drawing for explaining a target reflector structure according to one embodiment.

[0020] FIG. 3 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0021] Figure 4 is a drawing for explaining a method for evaluating the maximum measurement distance of a target lidar device.

[0022] Figure 5 is a drawing for explaining a method for evaluating the maximum measurement distance of a target lidar device.

[0023] FIG. 6 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0024] FIG. 7 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0025]

[0026] Since the embodiments described in this specification are intended to clearly explain the idea of ​​the present invention to a person having ordinary skill in the art to which the present invention pertains, the present invention is not limited to the embodiments described in this specification, and the scope of the present invention should be interpreted to include modified or altered examples that do not depart from the idea of ​​the present invention.

[0027] The terms used in this specification have been selected from widely used terms, taking into account the functions of the present invention. However, these terms may vary depending on the intentions of those skilled in the art, precedents, or the emergence of new technologies. However, if a specific term is defined and used with an arbitrary meaning, the meaning of that term will be described separately. Therefore, the terms used in this specification should be interpreted based on the actual meaning of the term and the overall content of this specification, rather than simply the name of the term.

[0028] The drawings attached to this specification are intended to facilitate explanation of the present invention, and the shapes depicted in the drawings may be exaggerated as necessary to help understand the present invention, and therefore the present invention is not limited by the drawings.

[0029] When an element or layer described herein is referred to as being “on” or “on” another element or layer, it may include not only directly on top of the other element or layer, but also cases where there is another layer or other component interposed therebetween.

[0030] Throughout this specification, identical reference numbers may, in principle, represent identical components.

[0031] The numbers (e.g., first, second, etc.) used in the description of this specification can be understood as identification symbols to distinguish one component from another.

[0032] The suffixes “module” and “part” used for components in the description of this specification are used or used interchangeably depending on the ease of writing the specification, and may not have distinct meanings or roles in themselves.

[0033] In this specification, if it is determined that a specific description of the configuration or function of a public notice related to the present invention may obscure the gist of the present invention, a detailed description thereof will be omitted as necessary.

[0034] According to one embodiment of the present invention, there is provided an evaluation device for evaluating a maximum measurement distance of a target lidar device, comprising: a target reflector; a mount providing a mounting space in which the target lidar device is mounted; wherein an arrangement between the target reflector and the mount allows, when the target lidar device is mounted on the mount and outputs a laser, a laser output from the target lidar device to be reflected by the target reflector and enter the target lidar device, and the mount and the target reflector are spaced apart by a predetermined distance, allowing the laser output from the target lidar device to fly back and forth over the predetermined distance; an attenuation filter disposed between the mount and the target reflector and attenuating the intensity of incident light; and a collimation lens disposed between the mount and the target reflector and changing a flight path of the incident light, wherein a distance between the collimation lens and the target reflector is determined based on a focal length of the collimation lens and the predetermined reference distance, and the collimation lens is configured to change the flight path of the laser output from the target lidar device and reflected by the target reflector to the target. The incident path to the lidar device mimics a path after a round trip flight for the predetermined reference distance instead of a round trip flight for the predetermined distance, and the collimation lens mimics a path after a round trip flight for the predetermined reference distance instead of a round trip flight for the predetermined distance, and the incident path of the laser output from the target lidar device and flying the round trip for the predetermined distance into the target lidar device mimics a path after a round trip flight for the predetermined reference distance instead of a round trip flight for the predetermined distance, and the attenuation rate of the attenuation filter is selected based on the predetermined reference distance.The attenuation filter may be provided with an evaluation device that causes the intensity of the laser output from the target lidar device to reflect the attenuation after the round-trip flight for the predetermined reference distance instead of the round-trip flight for the predetermined distance after the laser is input to the target lidar device after the round-trip flight for the predetermined distance.

[0035] Here, the attenuation filter may be positioned between the mount and the collimation lens.

[0036] Here, the attenuation filter may be provided as an ND (Neutral Density) filter.

[0037] Here, the attenuation rate of the attenuation filter can satisfy the following relationship.

[0038] [Relationship]

[0039] Attenuation (%) = 100-((predetermined distance)^2 / (predetermined reference distance)^2)*100

[0040] Here, the collimation lens can change the divergence of the laser output from the target lidar device and the flight path to the target reflector, and can change the divergence of the laser reflected from the target reflector and entering the target lidar device and the flight path entering the target lidar device.

[0041] Here, the attenuation filter can be arranged so that the normal of the attenuation filter and the optical axis of the collimation lens are parallel.

[0042] Here, the evaluation device may further include a tilting mechanism for changing the inclination of the target reflector.

[0043] Here, the angle between the normal of the target reflector and the optical axis of the collimation lens can be changed by the operation of the tilting mechanism.

[0044] Here, the mount may include a body for fixing the target lidar device, a rotation mechanism for rotating the body about a rotation axis, and at least one parallel translation mechanism for translating about at least one axis.

[0045] Here, the at least one axis may include an axis perpendicular to the rotation axis.

[0046] Here, the evaluation device may further include a shield positioned between the mount and the collimation lens.

[0047] Here, the shield may be positioned between an area corresponding to a transmission module of the target lidar device and an area corresponding to a reception module of the target lidar device when the target lidar device is positioned on the mount.

[0048] Here, the mount includes a body for fixing the target lidar device and a rotation mechanism for rotating the body about a rotation axis, wherein the shield is arranged to be parallel to the optical axis of the collimation lens and parallel to the rotation axis.

[0049] Here, the shield includes first and second sides parallel to the rotation axis of the rotation mechanism of the mount, and third and fourth sides parallel to the optical axis of the collimation lens, wherein the first and second sides face each other, the third and fourth sides face each other, and the third and fourth sides can connect the first and second sides.

[0050] Here, the distance between the first side and the second side may correspond to the distance between the mount and the collimation lens.

[0051] Here, the distance between the first side and the second side may be longer than the distance between the mount and the attenuation filter.

[0052]

[0053] I. Introduction

[0054] 1. The need to evaluate the maximum measurement range of the lidar device.

[0055] The LiDAR (Light Detection And Ranging) device described in this specification may refer to a device that measures distance using a laser.

[0056] More specifically, the lidar device may refer to a device that outputs a laser, and when the output laser is reflected from an object and returns to the lidar device, detects the laser reflected from the object and enters the lidar device to measure the distance between the lidar device and the object.

[0057] In addition, the maximum measurement distance of the lidar device described in this specification may mean i) a measurable distance for an object that satisfies a specific reflectivity condition in an environment where external light satisfies a specific condition, and ii) a measurable distance for an object that satisfies a specific reflectivity condition. In this case, the measurable distance may mean the farthest distance for which the probability of satisfying a preset accuracy, etc. is greater than a standard probability, compared to the distance at which the object is actually located, as measured from the lidar device in an environment that satisfies the above-described conditions.

[0058] For example, as an example, the maximum measurable distance of a lidar device may mean, but is not limited to, the measurable distance for an object with a reflectivity of 10%, i) in an environment with an external light of 100 klux, and ii) for an object with a reflectivity of 10%.

[0059] The maximum measurement distance of these lidar devices is currently used as a key indicator to indicate the performance of the lidar devices.

[0060] However, even though the maximum measurement distance of a lidar device, as described above, is used as a key indicator to indicate the performance of the lidar device, there is currently no method or device for evaluating the maximum measurement distance of a manufactured lidar device.

[0061] Therefore, the indicators currently indicated as the maximum measurement distance of the lidar device by the majority of companies manufacturing lidar devices are often numbers that have not been objectively evaluated, and there are cases where there is a large difference between the performance of the actually manufactured lidar device and the indicated performance.

[0062] Therefore, objectively evaluating the maximum measurement distance of a lidar device, which functions as a key performance indicator of a manufactured lidar device, may be essential to increasing the reliability of the lidar device as a distance detection sensor, and technology development for objectively evaluating the maximum measurement distance of a lidar device is necessary.

[0063]

[0064] 2. Issues in evaluating the maximum measurement distance of a lidar device.

[0065] As described above, the maximum measurement distance of the lidar device may need to be evaluated in an environment where external light satisfies specific conditions (hereinafter, evaluation environment conditions).

[0066] However, since external light conditions can vary greatly depending on weather, season, etc., an environment that satisfies the evaluation environmental conditions does not always exist.

[0067] Therefore, it may be reasonable to evaluate the maximum measurement distance of a lidar device indoors where artificial lighting simulating sunlight can be used to suit the evaluation environment conditions described above, but even in this case, the following problems arise.

[0068] Typically, lidar devices used in autonomous driving or infrastructure are often used for the purpose of measuring the distance to a target object at a long distance, and accordingly, the maximum measurement distance of the target lidar device can be long.

[0069] Therefore, in order to evaluate the maximum measurement distance of a lidar device used in autonomous driving or infrastructure, a very large space may be required, which may be a significant limitation in implementing a system that practically evaluates the maximum measurement distance of a lidar device.

[0070] In addition, in order to evaluate the maximum measurement distance of a lidar device in a limited space, a method may be considered in which a target is positioned at a preset distance, and a laser measured from a target lidar device is reflected from the target located at the preset distance and enters the target lidar device, and a method is used to estimate the maximum measurement distance of the target lidar device using the intensity value of the laser obtained from the target lidar device.

[0071] That is, a method for estimating an intensity value that can be acquired from the target lidar device when the target is located at a long distance can be considered based on an intensity value for a laser reflected from a target located at a preset distance acquired from the target lidar device.

[0072] However, even in this case, there are problems as follows, so it cannot be a practical solution.

[0073] 1) The flight path of the laser that is output from the target lidar device, reflected from an object located at the preset distance, and then flows into the target lidar device is different from the flight path of the laser that is output from the target lidar device, reflected from an object located at the long distance, and then flows into the target lidar device.

[0074] 2) Accordingly, the optical relationship between the laser output from the target lidar device at the preset distance and the light detection element of the target lidar device for detecting the laser may be different from the optical relationship between the laser and the light detection element at the long distance.

[0075] 3) For the same target object, the degree to which the intensity value obtained from the target lidar device decreases as the distance from the target lidar device increases and the degree to which the light entering the target lidar device is attenuated are not the same.

[0076] 4) It is difficult to consider it a practical evaluation to estimate the intensity value that can be obtained from the target lidar device when the target is located at a long distance based on the intensity value for the laser reflected from the target located at a preset distance obtained from the target lidar device.

[0077]

[0078] Therefore, the following describes a device and method for solving the above-described problems and practically evaluating the maximum measurement distance of a target lidar device in a limited space.

[0079]

[0080] II. Evaluation device and evaluation method for evaluating the maximum measurement distance of a target lidar device.

[0081] 1. An evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0082] FIG. 1 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0083] Referring to FIG. 1, an evaluation device (hereinafter, evaluation device) (1000) for evaluating the maximum measurement distance of a target lidar device according to one embodiment may include a target reflector (1010), a mount (1020), a collimation lens (1030), and an attenuation filter (1040).

[0084] An evaluation device (1000) according to one embodiment allows a laser output from a target lidar device mounted on the mount (1020) to be reflected by the target reflector (1010) and enter the target lidar device, and allows the laser output from the target lidar device to pass through the collimation lens (1030) and the attenuation filter (1040) and enter the target lidar device, thereby simulating a measurement environment of the target lidar device at a predetermined reference distance through the collimation lens (1030) and the attenuation filter (1040).

[0085] Accordingly, according to the evaluation device (1000) according to one embodiment, the measurement environment of the target lidar device at a predetermined reference distance can be simulated, so that when the predetermined reference distance is set longer than the limited space, an environment can be provided in which the maximum measurement distance of the target lidar device can be practically evaluated even within the limited space.

[0086] At this time, the predetermined reference distance may mean a reference distance corresponding to a measurement environment that the evaluation device (1000) according to one embodiment intends to simulate, and the predetermined reference distance may be set to correspond to the target maximum measurement distance of the target lidar device, but is not limited thereto.

[0087] Below, the detailed configurations of the evaluation device (1000) according to one embodiment will be described in more detail.

[0088] A target reflector (1010) according to one embodiment may function to reflect an output laser when a target lidar device outputs a laser.

[0089] Additionally, the target reflector (1010) according to one embodiment may be designed to have a preset reflectivity that meets specific reflectivity conditions for evaluating the maximum measurement distance of the target lidar device.

[0090] For example, if the target object has a specific reflectivity condition of 10% for evaluating the maximum measurement distance of the target lidar device, the target reflector (1010) can be designed to have a reflectivity corresponding to 10%, which is the specific reflectivity condition for evaluating the maximum measurement distance of the target lidar device.

[0091]

[0092] A mount (1020) according to one embodiment may provide a mounting space in which a target lidar device is mounted.

[0093] At this time, the mounting space in which the target lidar device is mounted may mean a space in which the target lidar device can be positioned and fixed, but is not limited thereto.

[0094] Additionally, the mount (1020) according to one embodiment may be designed to be translated in parallel about at least one axis, but also to be rotated about at least one axis.

[0095] Additionally, a mount (1020) according to one embodiment may be designed to provide a mounting space in which the target lidar device is mounted and include a body for fixing the target lidar device, at least one rotation mechanism for rotating around at least one axis, and at least one parallel translation mechanism for translating around at least one axis.

[0096] For example, the mount (1020) may include a body, a rotation mechanism coupled so that the body can rotate about a first axis, a first translation mechanism coupled so that the rotation mechanism can translate in parallel about the first axis, a second translation mechanism coupled so that the rotation mechanism can translate in parallel about a second axis orthogonal to the first axis, and a third translation mechanism coupled so that the rotation mechanism can translate in parallel about a third axis orthogonal to the first and second axes.

[0097]

[0098] According to one embodiment, the arrangement between the target reflector (1010) and the mount (1020) may allow, when a target lidar device is mounted on the mount and outputs a laser, a laser output from the target lidar device to be reflected by the target reflector (1010) and enter the target lidar device.

[0099] Additionally, according to one embodiment, the distance between the target reflector (1010) and the mount (1020) may be spaced apart by a predetermined distance to allow the laser output from the target lidar device to fly back and forth for a predetermined distance.

[0100] Additionally, according to one embodiment, the mount (1020) can be moved so that the measurement target position of the target lidar device is aligned with the target reflector (1010) after the target lidar device is mounted in the mounting space.

[0101] For example, the mount (1020) can move the mounting space in the direction of the target reflector (1010) so that the distance between the target lidar device and the target reflector (1010) becomes a predetermined distance after the target lidar device is mounted in the mounting space.

[0102] Additionally, for example, the mount (1020) can rotate the mounting space so that the measurement target pixel of the target lidar device faces the preset position of the target reflector (1010) after the target lidar device is mounted in the mounting space.

[0103]

[0104] A collimation lens (1030) according to one embodiment can change the flight path of a laser output from a target lidar device to the target reflector (1010).

[0105] To this end, the collimation lens (1030) may be positioned on the reciprocating path of the laser that is output from the target lidar device, reflected from the target reflector (1010), and then introduced into the target lidar device.

[0106] For example, the collimation lens (1030) may be placed between the mount (1020) and the target reflector (1010).

[0107] Additionally, a collimation lens (1030) according to one embodiment can change the flight path of a laser beam output from a target lidar device and reflected from the target reflector (1010) to the target lidar device from the target reflector (1010).

[0108] Additionally, the collimation lens (1030) according to one embodiment can change the divergence of the laser output from the target lidar device.

[0109] Additionally, a collimation lens (1030) according to one embodiment can change the divergence of a laser output from a target lidar device and reflected from the target reflector (1010).

[0110] In addition, according to one embodiment, the collimation lens (1030) changes the divergence of the laser output from the target lidar device, changes the flight path of the laser to the target reflector (1010), changes the divergence of the laser reflected from the target reflector (1010) and returned to the target lidar device, and changes the flight path of the laser from the target reflector (1010) to the target lidar device, thereby changing the incident path of the laser output from the target lidar device and reflected from the target reflector (1010) to the target lidar device.

[0111] Additionally, the collimation lens (1030) according to one embodiment can cause the path of the laser beam output from the target lidar device and flying back and forth over the predetermined distance to be incident on the target lidar device to mimic the path after the back and forth flight over the predetermined reference distance instead of the back and forth flight over the predetermined distance.

[0112] Additionally, the collimation lens (1030) according to one embodiment can cause the path of the laser beam reflected from the target reflector (1010) and output from the target lidar device to the target lidar device to mimic a path after a round trip for a predetermined reference distance instead of a round trip for the predetermined distance.

[0113] At this time, the meaning that the incident path of the laser output from the target lidar device and reflected from the target reflector (1010) into the target lidar device mimics the path after a round trip flight for a predetermined reference distance instead of a round trip flight for the predetermined distance may mean that the incident path of the laser output from the target lidar device and reflected from the target reflector (1010) through the collimation lens (1030) and entering the target lidar device is more similar to the incident path of the laser input into the target lidar device after a round trip flight for the predetermined reference distance when the collimation lens (1030) is absent than the incident path of the laser input into the target lidar device after a round trip flight for the predetermined distance when the collimation lens (1030) is absent.

[0114] In addition, this may mean that the size and position at which the laser reflected from the target reflector (1010) passes through the collimation lens (1030) and is focused on the light-sensing element (or light-sensing element array) of the target lidar device are more similar to the size and position at which the laser, which enters the target lidar device after making a round trip for the predetermined distance, is focused on the light-sensing element (or light-sensing element array) of the target lidar device than the size and position at which the laser, which enters the target lidar device after making a round trip for the predetermined reference distance, is focused on the light-sensing element (or light-sensing element array) of the target lidar device.

[0115] In addition, at this time, the focal length of the collimation lens (1030) and the distance between the collimation lens (1030) and the target reflector (1010) can be designed to simulate the incident path of the laser to the target lidar device after a round trip flight for the predetermined reference distance according to one embodiment.

[0116] For example, the distance between the collimation lens (1030) and the target reflector (1010) may be smaller than the focal length of the collimation lens (1030).

[0117] For example, the focal length of the collimation lens (1030) can be determined based on the distance between the collimation lens (1030) and the target reflector (1010) and the predetermined reference distance.

[0118] More specifically, when the focal length of the collimation lens (1030) is f, the distance between the collimation lens (1030) and the target reflector (1010) is a, and the predetermined reference distance is b, the focal length f of the collimation lens (1030) can satisfy the following relationship.

[0119] [Relationship]

[0120] f= 1 / (1 / a + 1 / b).

[0121] Additionally, for example, the focal length of the collimation lens (1030) and the distance between the collimation lens (1030) and the target reflector (1010) can be determined based on the predetermined reference distance.

[0122] More specifically, when the focal length of the collimation lens (1030) is f, the distance between the collimation lens (1030) and the target reflector (1010) is a, and the predetermined reference distance is b, the focal length f of the collimation lens (1030) and the distance a between the collimation lens (1030) and the target reflector (1010) can satisfy the following relationship.

[0123] [Relationship]

[0124] 1 / (1 / f - 1 / a) = b.

[0125] Additionally, for example, the distance between the collimation lens (1030) and the target reflector (1010) can be determined based on the focal length of the collimation lens (1030) and the predetermined reference distance.

[0126] More specifically, when the focal length of the collimation lens (1030) is f, the distance between the collimation lens (1030) and the target reflector (1010) is a, and the predetermined reference distance is b, the distance a between the collimation lens (1030) and the target reflector (1010) can satisfy the following relationship.

[0127] [Relationship]

[0128] a= 1 / (1 / f - 1 / b).

[0129] At this time, the focal length and the distance between the collimation lens (1030) and the target reflector (1010) may be defined by the back focal length, which may mean the distance from the outermost structure in the focal length direction of the collimation lens (1030), but is not limited thereto, and concepts understood as back focal length by those skilled in the art may be applied.

[0130]

[0131] An attenuation filter (1040) according to one embodiment can function to attenuate the intensity of light that is incident on the attenuation filter (1040) and passes through the attenuation filter (1040) when light is incident on the attenuation filter (1040) and passes through the attenuation filter (1040).

[0132] That is, the attenuation filter (1040) can have a function of passing light incident on the attenuation filter (1040) with an attenuated intensity, and accordingly, an attenuation rate or transmittance can be defined for the attenuation filter (1040).

[0133] At this time, the attenuation rate of the attenuation filter (1040) may mean the ratio of the intensity of light incident upon and passing through the attenuation filter (1040) to the intensity of light incident upon the attenuation filter (1040), and the transmittance of the attenuation filter (1040) may mean the ratio of the intensity of light incident upon and passing through the attenuation filter (1040) to the intensity of light incident upon the attenuation filter (1040).

[0134] That is, the attenuation rate of the attenuation filter (1040) may mean the ratio of light incident on the attenuation filter (1040) to the attenuation filter (1040) attenuated as it passes through the attenuation filter (1040), and the transmittance of the attenuation filter (1040) may mean the ratio of light incident on the attenuation filter (1040) to the attenuation filter (1040) that passes through the attenuation filter (1040).

[0135] In addition, an attenuation filter (1040) according to one embodiment can attenuate the intensity of light by absorbing or reflecting incident light, can attenuate the intensity of light by adjusting the degree of blocking of polarization of incident light, and can attenuate the intensity of light by being configured with a photosensitive element for absorbing incident light.

[0136] Additionally, in one embodiment, the attenuation filter (1040) may cause the intensity of the laser output from the target lidar device and then entering the target lidar device after round-trip flight over the predetermined distance to reflect the attenuation after round-trip flight over the predetermined reference distance instead of round-trip flight over the predetermined distance.

[0137] Additionally, the attenuation filter (1040) according to one embodiment may function so that the intensity of the laser output from the target lidar device and entering the target lidar device in the evaluation device reflects attenuation after a round-trip flight for the predetermined reference distance instead of a round-trip flight for the predetermined distance.

[0138] To this end, the attenuation filter (1040) may be positioned on the path of the laser output from the target lidar device and entering the target lidar device.

[0139] For example, the attenuation filter (1040) may be placed between the mount (1020) and the target reflector (1010).

[0140] For example, the attenuation filter (1040) may be located on the path of the laser output from the target lidar device to the target reflector (1010).

[0141] Additionally, for example, the attenuation filter (1040) may be located on the path of the laser reflected from the target reflector (1010) to the target lidar device.

[0142] Additionally, for example, the attenuation filter (1040) may be located on the reciprocating path of the laser that is output from the target lidar device, reflected from the target reflector (1010), and then introduced into the target lidar device.

[0143] Additionally, for this purpose, the attenuation rate of the attenuation filter (1040) can be selected based on the predetermined reference distance.

[0144] For example, when the attenuation filter (1040) is located on the one-way path of the laser that is output from the target lidar device, reflected from the target reflector (1010), and then introduced into the target lidar device, the attenuation rate of the attenuation filter (1040) can be selected to satisfy the following relationship.

[0145] [Relationship]

[0146] Attenuation (%) = 100-((predetermined distance)^2 / (predetermined reference distance)^2)*100

[0147] In addition, for example, when the attenuation filter (1040) is located on the reciprocating path of the laser that is output from the target lidar device, reflected from the target reflector (1010), and then introduced into the target lidar device, the attenuation rate of the attenuation filter (1040) can be selected to satisfy the following relationship.

[0148] [Relationship]

[0149] Attenuation ratio (%)^2 = 100-((predetermined distance)^2 / (predetermined reference distance)^2)*100

[0150] In addition, for example, when the attenuation filter (1040) is configured with a first attenuation filter having a first attenuation rate positioned on the path of the laser output from the target lidar device and entering the target lidar device, and a second attenuation filter having a second attenuation rate positioned on the path of the laser reflected from the target reflector (1010) to the target lidar device, the first attenuation rate of the first attenuation filter and the second attenuation rate of the second attenuation filter may satisfy the following relationship.

[0151] [Relationship]

[0152] First damping rate * Second damping rate = 100-(predetermined distance)^2 / (predetermined reference distance)^2

[0153] In addition, the attenuation filter (1040) according to one embodiment may have an optical density, and the optical density of the attenuation filter (1040) may be determined by the attenuation rate of the attenuation filter (1040), and may satisfy the following relationship.

[0154] [Relationship]

[0155] Optical density = -log ((1-(attenuation rate / 100))

[0156] In addition, the attenuation filter (1040) according to one embodiment may be provided as a fixed filter having a predetermined attenuation rate, and in this case, the attenuation filter (1040) may be selected as an attenuation filter having a selected attenuation rate based on the predetermined reference distance.

[0157] In addition, the attenuation filter (1040) according to one embodiment may be provided as a variable filter whose attenuation rate may be variable, and in this case, the attenuation filter (1040) may be adjusted to have a selected attenuation rate based on the predetermined reference distance.

[0158] In addition, the above-described contents were explained based on the attenuation rate of the attenuation filter (1040), but the contents explained above can be sufficiently explained and understood with the concept of the transmittance of the attenuation filter (1040), so redundant descriptions will be omitted.

[0159] Additionally, according to one embodiment, the attenuation filter (1040) may be positioned between the mount (1020) and the collimation lens (1030) so that the range of angles at which the laser output from the target lidar device is incident on the attenuation filter (1040) is set small.

[0160] That is, according to one embodiment, the collimation lens (1030) and the attenuation filter (1040) are positioned between the mount (1020) and the target reflector (1010), wherein the attenuation filter (1040) is positioned closer to the mount (1020) than the collimation lens (1030), and the collimation lens (1030) may be positioned closer to the target reflector (1010) than the attenuation filter (1040).

[0161] This may be to make the distribution of angles of light rays of the laser output from the target lidar device smaller than the distribution of angles of light rays between the collimation lens (1030) and the target reflector (1010), thereby making the distribution of angles of light rays of the laser incident on the attenuation filter (1040) smaller and uniform in the attenuation of the intensity of the laser output from the target lidar device.

[0162] Additionally, according to one embodiment, the attenuation filter (1040) may be arranged such that the normal of the attenuation filter (1040) and the optical axis of the collimation lens (1030) are parallel.

[0163] Additionally, the attenuation filter (1040) according to one embodiment may be provided as an ND (Neutral Density) filter, but is not limited thereto, and may be provided as various filters for attenuating incident light.

[0164]

[0165] FIG. 2 is a drawing for explaining a target reflector structure according to one embodiment.

[0166] Referring to FIG. 2, a target reflector structure (1100) according to one embodiment may include a target reflector (1110), at least one tilting mechanism (1120), at least one rotation mechanism (1130), and at least one translation mechanism (1140).

[0167] At this time, since the above-described contents can be applied to the target reflector (1110), redundant descriptions will be omitted.

[0168] At least one tilting mechanism (1120) according to one embodiment may function to change the inclination of the target reflector (1110).

[0169] For example, the at least one tilting mechanism may function to support at least two areas of the target reflector (1010), but change the supported height to change the inclination of the target reflector (1010), but is not limited thereto, and various tilting mechanisms may be applied.

[0170] Additionally, at least one rotation mechanism (1130) according to one embodiment may function to rotate the target reflector (1010) about a first axis.

[0171] For example, the at least one rotation mechanism may function to rotate the target reflector (1010) about a first axis parallel to the normal of the target reflector (1010) while the target reflector (1010) is not tilted, but is not limited thereto, and various rotation mechanisms may be applied.

[0172] Additionally, at least one parallel translation mechanism (1140) according to one embodiment may function to change the height of the target reflector (1010).

[0173] For example, the at least one parallel translation mechanism (1140) may function to change the height of the target reflector (1110) relative to an axis parallel to the rotational axis of the at least one rotational mechanism, but is not limited thereto, and various parallel translation mechanisms may be applied.

[0174] Additionally, the target reflector structure (1100) according to one embodiment can be applied to the evaluation device described above.

[0175] At this time, the target reflector (1110) may include a pattern on at least a portion thereof for alignment between the target reflector (1110) and the target lidar device.

[0176] According to one embodiment, the at least one tilting mechanism (1120) included in the target reflector structure (1100) may function to align the target reflector (1110) and the collimation lens described above.

[0177] For example, the at least one tilting mechanism (1120) included in the target reflector structure (1100) can change the inclination of the target reflector (1110) so that the normal of the target reflector (1110) and the optical axis of the collimation lens described above are parallel to align the target reflector (1110) and the collimation lens described above.

[0178] Additionally, according to one embodiment, the at least one tilting mechanism (1120) included in the target reflector structure (1100) may function to align between the target reflector (1110) and the target lidar device.

[0179] Additionally, according to one embodiment, the at least one rotation mechanism (1120) included in the target reflector structure (1100) may function to align the target reflector (1110) and the target lidar device.

[0180] At this time, lidar data for a pattern located on the target reflector (1110) obtained from the target lidar device can be used for alignment between the target reflector (1110) and the target lidar device.

[0181] For example, for alignment between the target reflector (1110) and the target lidar device, information about the resolution of lidar data for a pattern located on the target reflector (1110) obtained from the target lidar device, a reference position for the pattern, etc. may be used, and based on this, the at least one tilting mechanism (1120) and the at least one rotation mechanism (1130) may be operated.

[0182] Additionally, according to one embodiment, the at least one parallel movement mechanism (1140) included in the target reflector structure (1100) may function to adjust the distance between the target reflector (1110) and the collimation lens.

[0183] This is because, as described above with reference to FIG. 1, the distance between the collimation lens and the target reflector (1110) may be important in order for the collimation lens to simulate an incident path for a round-trip flight of a predetermined reference distance, and thus, it may be necessary to adjust the target reflector (1110) to be positioned at a preset distance from the collimation lens so that the collimation lens can function to simulate an incident path for a round-trip flight of the predetermined reference distance.

[0184]

[0185] FIG. 3 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0186] Referring to FIG. 3, an evaluation device (1200) for evaluating the maximum measurement distance of a target lidar device (1300) according to one embodiment may include a target reflector (1210), a mount (1220), a collimation lens (1230), and an attenuation filter (1240).

[0187] At this time, the above-described contents can be applied to the target reflector (1210), mount (1220), collimation lens (1230), and attenuation filter (1240), so redundant descriptions will be omitted.

[0188] According to one embodiment, the target lidar device (1300) may be a fixed lidar device having a transmitting module (1310) and a receiving module (1320).

[0189] At this time, the attenuation filter (1240) included in the evaluation device (1200) according to one embodiment may be located on the path of the laser output from the target lidar device (1300) to the target reflector (1210).

[0190] That is, the attenuation filter (1240) included in the evaluation device (1200) according to one embodiment may be positioned at a position corresponding to the transmission module (1310) of the target lidar device (1300).

[0191] This may be to ensure that among the lights entering the target lidar device (1300), the intensity of the laser output from the target lidar device (1300) reflects the attenuation after a round-trip flight of the predetermined reference distance described above, but external light is not attenuated.

[0192] According to one embodiment, the laser output from the target lidar device (1300) can sequentially pass through the attenuation filter (1240) and the collimation lens (1230) to reach the target reflector (1210).

[0193] Additionally, according to one embodiment, the laser output from the target lidar device (1300) and reflected from the target reflector (1210) may be introduced into the target lidar device (1300) through the collimation lens (1230).

[0194] At this time, the collimation lens (1230) included in the evaluation device (1200) causes the laser output from the target lidar device (1300) and reflected from the target reflector (1210) to mimic the path of the laser beam incident on the target lidar device (1300) after a round-trip flight for a predetermined reference distance instead of a round-trip flight for the predetermined distance described above, and the attenuation filter (1240) causes the intensity of the laser beam output from the target lidar device (1300) and introduced into the target lidar device (1300) to reflect the attenuation after a round-trip flight for the predetermined reference distance instead of a round-trip flight for the predetermined distance, thereby enabling the evaluation device (1200) to simulate a measurement environment for the predetermined reference distance.

[0195]

[0196] Hereinafter, a method for evaluating the maximum measurement distance of a target lidar device using an evaluation device for evaluating the maximum measurement distance of the target lidar device described above will be described in more detail.

[0197]

[0198] 2. A method for evaluating the maximum measurement distance of a target lidar device using an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0199]

[0200] Figure 4 is a drawing for explaining a method for evaluating the maximum measurement distance of a target lidar device.

[0201] Referring to FIG. 4, an evaluation method (1400) according to one embodiment may include obtaining a reference intensity value (S1410), aligning a target reflector and a target lidar device (S1420), operating the target lidar device (S1430), causing an incident path of a laser output from the target lidar device and reflected from the target reflector to mimic a path after a round-trip flight for a predetermined reference distance instead of a round-trip flight for a predetermined distance (S1440), causing an intensity of a laser output from the target lidar device and reflected from the target reflector and then entering the target lidar device to reflect attenuation after a round-trip flight for a predetermined reference distance instead of a round-trip flight for a predetermined distance (S1450), obtaining a measured intensity value from the target lidar device (S1460), and calculating a maximum measured distance evaluation value of the target lidar device based on the measured intensity value, the reference intensity value, and the predetermined reference distance (S1470).

[0202] At this time, the intensity value may mean a measurement value measured from a lidar device, may be a value corresponding to the intensity of light obtained from the lidar device, and may be expressed as a counting value, etc., but is not limited thereto, and may include concepts understood as intensity values ​​in the field of lidar devices.

[0203] Obtaining a reference intensity value according to one embodiment (S1410) may include simulating an external environment for evaluating a maximum measurement distance of a lidar device, specifying a minimum laser intensity condition that satisfies a reference condition in the simulated external environment, and obtaining an intensity value according to the minimum laser intensity condition as a reference intensity value in an actual evaluation environment.

[0204] At this time, in order to simulate the external environment for evaluating the maximum measurement distance of the lidar device, the external light intensity can be measured outside on a day that satisfies the reference external environmental conditions for evaluating the maximum measurement distance of the lidar device (for example, an environmental condition with an illuminance of 100 klux).

[0205] Additionally, in order to simulate the external environment, artificial lighting can be set to a value corresponding to the measured external light amount.

[0206] Additionally, at this time, measurement of external light quantity and setting of artificial lighting can be performed based on lidar data acquired from the target lidar device, and more specifically, ambient data corresponding to external light quantity among the lidar data can be used.

[0207] Accordingly, artificial lighting can simulate external light conditions for evaluating the maximum measurement range of a lidar device.

[0208] Afterwards, the minimum laser intensity conditions that satisfy the reference conditions in the simulated external environment can be specified.

[0209] That is, it is possible to specify a minimum laser intensity condition that satisfies a reference condition (e.g., a condition where the detection probability is 90% or higher) while artificial lighting simulating external light conditions is turned on.

[0210] More specifically, the target lidar device is operated while artificial lighting simulating external light conditions is turned on to perform detection of an object located at a preset location, and the attenuation degree of the laser output from the target lidar device is changed to specify a minimum laser intensity condition (maximum attenuation condition) that satisfies a reference condition.

[0211] This may be to specify the minimum intensity condition that the laser entering the lidar device must have in order to achieve a detection probability of 90% or higher under external light conditions for evaluating the maximum measurement distance of the lidar device.

[0212] Thereafter, the target lidar device can be operated under specific minimum laser intensity conditions while the artificial light simulating the external light conditions is turned off, thereby obtaining an intensity value from the target lidar device, and storing the obtained intensity value as a reference intensity value.

[0213] This may be to specify what the intensity value for a laser having the minimum intensity condition that the laser entering the lidar device must have in order to have a detection probability of 90% or higher under external light conditions for evaluating the maximum measurement distance of the lidar device is in an actual evaluation environment.

[0214]

[0215] Aligning the target reflector and the target lidar device according to one embodiment (S1420) may include aligning the target lidar device and the target reflector by operating a mount included in the evaluation device.

[0216] Additionally, aligning the target reflector and the target lidar device according to one embodiment (S1420) may include aligning the target lidar device and the target reflector by operating at least one tilting mechanism of the target reflector structure included in the evaluation device.

[0217] Additionally, aligning the target reflector and the target lidar device according to one embodiment (S1420) may include aligning the target reflector and the target lidar device based on lidar data obtained from the target lidar device for the target reflector.

[0218] In addition, since the above-described contents regarding alignment between the target reflector and the target lidar device can be applied to aligning the target reflector and the target lidar device according to one embodiment (S1420), redundant descriptions will be omitted.

[0219] Operating the target lidar device according to one embodiment (S1430) may mean operating the target lidar device to output a laser and acquire lidar data for the same. At this time, the lidar data may include a plurality of point data, and the plurality of point data may include a position coordinate value and an intensity value. With respect to the lidar data, concepts for various data understood as lidar data, such as a point cloud, a depth map, and an intensity map, may be applied.

[0220] The path of the laser beam reflected from the target reflector and output from the target lidar device according to one embodiment is simulated to be a path after a round trip for a predetermined reference distance instead of a round trip for a predetermined distance (S1440) by simulating the path after a round trip for a predetermined reference distance can be performed by the collimation lens of the evaluation device described above, and the above-described contents can be applied to this, so that redundant descriptions will be omitted.

[0221] The intensity of the laser output from the target lidar device according to one embodiment, reflected from the target reflector, and then input into the target lidar device reflects the attenuation after a round trip for a predetermined reference distance instead of a round trip for a predetermined distance (S1450) can be performed by the attenuation filter of the evaluation device described above, and since the above-described contents can be applied to this, redundant descriptions will be omitted.

[0222] In obtaining a measurement intensity value from a target lidar device according to one embodiment (S1460), the measurement intensity value may be a measurement intensity value for a laser that simulates a round-trip flight for a predetermined reference distance similarly to a round-trip flight for a predetermined distance in terms of optical path and attenuation degree.

[0223] In calculating the maximum measurement distance evaluation value of the target lidar device based on the measurement intensity value, the reference intensity value, and the predetermined reference distance according to one embodiment (S1470), the maximum measurement distance evaluation value can be calculated by the following relationship.

[0224] [Relationship]

[0225]

[0226] This may mean a relational expression for evaluating the maximum measurement distance relative to the predetermined reference distance based on a comparison of the measured intensity value and the reference intensity value for the laser that simulates a round-trip flight of the predetermined reference distance.

[0227] Additionally, this may be a relationship designed based on the fact that the intensity value measured by the lidar device is inversely proportional to the square of the distance.

[0228] Therefore, if the relationship between the intensity value measured by the lidar device and the flight distance is more accurately determined and a relationship formula is designed based on this, it may be possible to produce a more accurate maximum measurement distance evaluation value.

[0229] For example, the maximum measurement distance evaluation value can be calculated by the following relationship.

[0230] [Relationship]

[0231]

[0232] Here, a may be a constant depending on the relationship between the intensity value measured by the lidar device and the flight distance.

[0233] At this time, a can be obtained experimentally, and can be obtained based on the intensity value according to the distance by changing the distance between the lidar device and the target.

[0234] Additionally, in order to derive a more accurate maximum measurement distance evaluation value, a weighting factor for the intensity obtained from the lidar device may be further considered.

[0235] At this time, the weight can be obtained based on the intensity for an object actually located at a predetermined reference distance and the intensity measured by an evaluation device for simulating the predetermined reference distance, and in this case, the maximum measurement distance evaluation value can be calculated by the following relationship.

[0236] [Relationship]

[0237]

[0238] In addition, in addition to the above-described relational expressions in calculating the maximum measurement distance evaluation value of the target lidar device based on the measurement intensity value, the reference intensity value, and the predetermined reference distance according to one embodiment (S1470), various relational expressions may be used to calculate the maximum measurement distance evaluation value of the target lidar device based on the measurement intensity value, the reference intensity value, and the predetermined reference distance.

[0239]

[0240] Figure 5 is a drawing for explaining a method for evaluating the maximum measurement distance of a target lidar device.

[0241] The evaluation method according to one embodiment described in FIG. 5 can be understood as an evaluation method using the evaluation device described above, and accordingly, the contents described with respect to the evaluation device described above can be applied, so redundant descriptions will be omitted.

[0242] Referring to FIG. 5, an evaluation method (1500) according to one embodiment mounts a target lidar device in a mounting space of a mount (S1510), moves the mount to move the target lidar device to a first measurement position (S1520), operates the target lidar device to obtain a first evaluation target intensity value (S1530), calculates a first maximum measurement distance evaluation value based on the first evaluation target intensity value, a reference intensity value, and a predetermined reference distance (S1540), rotates the mount to position the target lidar device to a second measurement position (S1550), operates the target lidar device to obtain a second evaluation target intensity value (S1560), calculates a second maximum measurement distance evaluation value based on the second evaluation target intensity value, the reference intensity value, and a predetermined reference distance (S1570), and calculates a maximum measurement distance evaluation value of the target lidar device based on at least the first maximum measurement distance evaluation value and the second maximum measurement distance evaluation value. May include output (S1580).

[0243] In mounting the target lidar device in the mounting space of the mount according to one embodiment (S1510), the above-described contents may be applied to the mount, so redundant descriptions will be omitted.

[0244] In one embodiment, the mount is moved to move the target lidar device to the first measurement position (S1520), wherein the mount can be translated in parallel by at least one parallel translation mechanism or rotated by at least one rotational translation mechanism.

[0245] At this time, the first measurement position may be a position that targets the center position of the field of view of the target lidar device, and may be a position that targets the first detector of the target lidar device, but is not limited thereto.

[0246] Additionally, moving the mount according to one embodiment to move the target lidar device to the first measurement position (S1520) may include moving the target lidar device to the first measurement position based on lidar data acquired from the target lidar device for a pattern included in at least a portion of the target reflector.

[0247] For example, moving the mount according to one embodiment to move the target lidar device to the first measurement position (S1520) may include moving the target lidar device based on whether a pattern included in at least a portion of the target reflector is located in a first area of ​​lidar data acquired from the target lidar device.

[0248] In addition, at this time, when the target lidar device is positioned at the first measurement position, the laser output in the first direction from the target lidar device can sequentially pass through an attenuation filter and a collimation lens to reach the target reflector.

[0249] As for obtaining a first evaluation target intensity value by operating a target lidar device according to one embodiment (S1530), the contents related to obtaining a measurement intensity value described through FIG. 4 (S1430 to S1460) may be applied, so redundant descriptions will be omitted.

[0250] Regarding calculating a first maximum measurement distance evaluation value based on a first evaluation target intensity value, a reference intensity value, and a predetermined reference distance according to one embodiment (S1540), the contents related to calculating a maximum measurement distance evaluation value described through FIG. 4 (S1470) may be applied, and therefore, redundant descriptions will be omitted.

[0251] In one embodiment, the mount is rotated to position the target lidar device at a second measurement position (S1550). The second measurement position may be a position where the outer position of the field of view of the target lidar device is evaluated, and may be a position where the second detector of the target lidar device is evaluated, but is not limited thereto.

[0252] Additionally, at this time, the second measurement position may be a position rotated relative to the rotation axis of the mount from the first measurement position.

[0253] Additionally, positioning the target lidar device at the second measurement position by rotating the mount according to one embodiment (S1550) may include moving the target lidar device to the second measurement position based on lidar data obtained from the target lidar device for a pattern included in at least a portion of the target reflector.

[0254] For example, positioning the target lidar device at a second measurement position by rotating the mount according to one embodiment (S1550) may include moving the target lidar device based on whether a pattern included in at least a portion of the target reflector is located in a second area of ​​lidar data acquired from the target lidar device.

[0255] In addition, at this time, when the target lidar device is positioned at the second measurement position, the laser output in the second direction from the target lidar device can sequentially pass through an attenuation filter and a collimation lens to reach the target reflector.

[0256] At this time, the second direction from the target lidar device may be different from the first direction, and the angle between the first direction and the attenuation filter when the target lidar device is located at the first measurement position may be more similar to the angle between the second direction and the attenuation filter when the target lidar device is located at the second measurement position than the angle between the first direction and the attenuation filter when the target lidar device is located at the second measurement position.

[0257] Additionally, at this time, when the target lidar device is positioned at the second measurement position, the laser output in the first direction may not pass through the attenuation filter.

[0258] As for obtaining a second evaluation target intensity value by operating a target lidar device according to one embodiment (S1560), the contents related to obtaining a measurement intensity value described through FIG. 4 (S1430 to S1460) may be applied, so redundant descriptions will be omitted.

[0259] Regarding calculating a second maximum measurement distance evaluation value based on a second evaluation target intensity value, a reference intensity value, and a predetermined reference distance according to one embodiment (S1570), the contents related to calculating a maximum measurement distance evaluation value described through FIG. 4 (S1470) may be applied, and therefore, redundant descriptions will be omitted.

[0260] In calculating the maximum measurement distance evaluation value of the target lidar device based on at least the first maximum measurement distance evaluation value and the second maximum measurement distance evaluation value according to one embodiment (S1580), the maximum measurement distance evaluation value of the target lidar device may be calculated as an average value of at least the first maximum measurement distance evaluation value and the second maximum measurement distance evaluation value, but is not limited thereto, and may be calculated by various relational expressions based on at least the first maximum measurement distance evaluation value and the second maximum measurement distance evaluation value.

[0261]

[0262] 3. An evaluation device for evaluating the maximum measurement distance of a target lidar device according to another embodiment.

[0263] FIG. 6 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0264] Referring to FIG. 6, an evaluation device (1600) for evaluating the maximum measurement distance of a target lidar device (1700) according to one embodiment may include a target reflector (1610), a mount (1620), a collimation lens (1630), and an attenuation filter (1640).

[0265] At this time, the above-described contents can be applied to the target reflector (1610), mount (1620), collimation lens (1630), and attenuation filter (1640), so redundant descriptions will be omitted.

[0266] The evaluation device (1600) according to one embodiment may further include a shield (1650).

[0267] At this time, the above-mentioned shield (1650) can function to prevent incident light from passing through.

[0268] This may be a configuration to prevent a case where a laser output from a transmission module (1710) of the target lidar device (1700) is reflected by the attenuation filter (1640) or the collimation lens (1630) and enters the receiving module (1720) of the target lidar device (1700).

[0269] That is, the shield (1650) can prevent the laser output from the target lidar device from entering the target lidar device before being reflected from the target reflector (1610).

[0270] In addition, at this time, the shield (1650) may be provided in a plate shape, and the plate shape may be understood as a concept including a flat surface and a curved surface.

[0271] In addition, at this time, the shield (1650) has at least a first side, a second side, a third side, and a fourth side, and at this time, the first side and the second side face each other, the third side and the fourth side face each other, and the third side and the fourth side can connect the first side and the second side.

[0272] Additionally, at this time, the cover (1650) may be positioned between the mount (1620) and the collimation lens (1630).

[0273] Additionally, at this time, the shield (1650) can be positioned to divide the area between the mount (1620) and the collimation lens (1630).

[0274] Additionally, at this time, the shield (1650) may be positioned parallel to the optical axis of the collimation lens (1630).

[0275] Additionally, at this time, the distance between the first side and the second side of the shield (1650) may correspond to the distance between the mount (1620) and the collimation lens (1630).

[0276] Additionally, at this time, the distance between the first side and the second side of the shield (1650) may be less than half the distance between the mount (1620) and the collimation lens.

[0277] Additionally, at this time, the distance between the first side and the second side of the shield (1650) may be greater than the distance between the mount (1620) and the attenuation filter (1640).

[0278] Additionally, at this time, the first side of the cover (1650) may be parallel to the rotation axis of the above-described mount.

[0279] Additionally, at this time, the first side of the cover (1650) can be positioned at a position corresponding to the rotation axis of the above-described mount.

[0280] Additionally, at this time, the cover (1650) may be provided with a light-absorbing material.

[0281]

[0282] 4. An evaluation device for evaluating the maximum measurement distance of a target lidar device according to another embodiment.

[0283] If the above-described attenuation filter is provided as a variable filter whose attenuation rate can be varied, it can be adjusted to have a desired degree of attenuation rate in order to implement a desired attenuation rate.

[0284] However, if the above-described attenuation filter is provided as a fixed filter having a predetermined attenuation rate, the desired attenuation rate and the predetermined attenuation rate may be different from each other, and therefore a configuration may be required to more accurately simulate the degree of attenuation of the laser at the predetermined reference distance described above.

[0285] FIG. 7 is a drawing for explaining an evaluation device for evaluating the maximum measurement distance of a target lidar device according to one embodiment.

[0286] Referring to FIG. 7, an evaluation device (1800) for evaluating the maximum measurement distance of a target lidar device (1900) according to one embodiment may include a target reflector (1810), a mount (1820), a collimation lens (1830), and an attenuation filter (1840).

[0287] At this time, the above-described contents can be applied to the target reflector (1810), mount (1820), collimation lens (1830), and attenuation filter (1840), so redundant descriptions will be omitted.

[0288] According to one embodiment, the attenuation filter (1840) and the target reflector (1810) may function to reflect the attenuation of the intensity of the laser beam output from the target lidar device (1900), reflected from the target reflector (1810), and then entering the target lidar device (1900) after a round trip flight for the predetermined reference distance.

[0289] This can be based on the fact that the intensity of the laser that is output from the target lidar device (1900), passes through the attenuation filter (1840), is reflected from the target reflector (1810), and then enters the target lidar device (1900) is attenuated according to the attenuation rate of the attenuation filter (1840), and can be attenuated according to the reflectivity of the target reflector (1810).

[0290] Accordingly, according to one embodiment, the attenuation factor of the attenuation filter (1840) and the reflectivity of the target reflector (1810) may be selected so that the intensity of the laser output from the target lidar device (1900), reflected from the target reflector (1810), and then introduced into the target lidar device (1900) reflects the attenuation after a round trip flight for the predetermined reference distance.

[0291] This can be selected experimentally using a specific lidar device sample.

[0292] For example, the attenuation rate of the attenuation filter (1840) and the reflectance of the target reflector (1810) can be experimentally selected through the following steps.

[0293] a) Position the actual target at a predetermined reference distance and obtain the sample intensity value for the target using a specific lidar device sample.

[0294] b) Obtain the target attenuation rate based on a predetermined reference distance.

[0295] c) Select an attenuation filter having a predetermined attenuation rate based on the target attenuation rate (at this time, the target attenuation rate and the predetermined attenuation rate are different from each other).

[0296] d) Mounting the specific lidar device sample on the mount (1820) of the evaluation device (1800).

[0297] e) After setting the reflectivity of the target reflector (1810) to the first reflectivity, the specific lidar device sample is operated to obtain a measurement intensity value.

[0298] f) Adjust the reflectivity of the target reflector (1810) based on the measured intensity value and the sample intensity value.

[0299] g) After setting the reflectivity of the target reflector (1810) to the second reflectivity, the specific lidar device sample is operated to obtain a measurement intensity value.

[0300] h) Repeat operations f) to g) until the difference between the measured intensity value and the sample intensity value becomes less than or equal to a preset difference.

[0301] At this time, setting the reflectivity of the target reflector (1810) may include positioning a sheet having a specific reflectivity on the reflective surface side of the target reflector (1810).

[0302] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0303] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0304] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

[0305]

[0306] As described above, the relevant matters have been described in the best mode for carrying out the invention.

Claims

1. As an evaluation device for evaluating the maximum measurement distance of the target lidar device, target reflector; A mount that provides a mounting space for mounting the above target lidar device, - At this time, the arrangement between the target reflector and the mount allows the laser output from the target lidar device to be reflected by the target reflector and enter the target lidar device when the target lidar device is mounted on the mount and outputs a laser. The above mount and the target reflector are spaced apart by a predetermined distance, allowing the laser output from the target lidar device to fly back and forth over the predetermined distance; An attenuation filter positioned between the mount and the target reflector and attenuating the intensity of incident light; A collimation lens is disposed between the mount and the target reflector and changes the flight path of incident light; The distance between the collimation lens and the target reflector is determined based on the focal length of the collimation lens and the predetermined reference distance, The collimation lens causes the path of the laser beam output from the target lidar device and flying back and forth over the predetermined distance to be incident on the target lidar device, thereby mimicking the path after the back and forth flight over the predetermined reference distance instead of the back and forth flight over the predetermined distance. The attenuation rate of the above attenuation filter is selected based on the predetermined reference distance, The attenuation filter causes the intensity of the laser output from the target lidar device and then entering the target lidar device after round-tripping the predetermined distance to reflect the attenuation after round-tripping for the predetermined reference distance instead of round-tripping for the predetermined distance. Evaluation device.

2. In paragraph 1, The above attenuation filter is positioned between the mount and the collimation lens. Evaluation device.

3. In paragraph 1, The above attenuation filter is provided as an ND (Neutral Density) filter. Evaluation device.

4. In paragraph 1, The attenuation rate of the above attenuation filter satisfies the following relationship: [Relationship] Attenuation (%) = 100-((predetermined distance)^2 / (predetermined reference distance)^2)*100 Evaluation device.

5. In paragraph 1, The collimation lens changes the divergence of the laser output from the target lidar device and the flight path to the target reflector, and changes the divergence of the laser reflected from the target reflector and entering the target lidar device and the flight path entering the target lidar device. Evaluation device.

6. In paragraph 1, The above attenuation filter is arranged so that the normal of the attenuation filter and the optical axis of the collimation lens are parallel. Evaluation device.

7. In paragraph 1, The above evaluation device, Further comprising a tilting mechanism for changing the inclination of the target reflector. Evaluation device.

8. In paragraph 7, The angle between the normal of the target reflector and the optical axis of the collimation lens is changed by the operation of the tilting mechanism. Evaluation device.

9. In paragraph 1, The mount includes a body for fixing the target lidar device, a rotation mechanism for rotating the body about a rotation axis, and at least one parallel translation mechanism for translating about at least one axis. Evaluation device.

10. In paragraph 9, At least one axis includes an axis perpendicular to the rotation axis. Evaluation device.

11. In paragraph 1, The above evaluation device Further comprising a shield positioned between the mount and the collimation lens. Evaluation device.

12. In paragraph 11, The above shield is located between an area corresponding to a transmission module of the target lidar device and an area corresponding to a reception module of the target lidar device when the target lidar device is positioned on the mount. Evaluation device.

13. In paragraph 11, The above mount includes a body for fixing the target lidar device and a rotation mechanism for rotating the body around a rotation axis, The above shield is arranged to be parallel to the optical axis of the collimation lens and parallel to the rotation axis. Evaluation device.

14. In paragraph 11, The above cover is, It includes a first side and a second side parallel to the rotation axis of the rotation mechanism of the above mount, Including a third side and a fourth side parallel to the optical axis of the collimation lens, The first and second sides above face each other, The third and fourth sides above face each other The third side and the fourth side connect the first side and the second side. Evaluation device.

15. In paragraph 14, The distance between the first side and the second side corresponds to the distance between the mount and the collimation lens. Evaluation device.

16. In paragraph 14, The distance between the first side and the second side is longer than the distance between the mount and the attenuation filter. Evaluation device.

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