Lidar test device

Abstract

A test device according to the present invention comprises: a tubular chamber comprising N (N: a natural number greater than or equal to 2) straight sections and N−1 bent sections; an environment-creating module for creating a test environment in the inner passage of the tubular chamber; and N−1 reflectors which are disposed in the bent sections of the tubular chamber, reflect light emitted from a LiDAR disposed at one end of the tubular chamber, and guide the reflected light to a detection target disposed at the other end of the tubular chamber. According to the present invention, space efficiency can be secured while various environmental conditions can be simulated close to reality. That is, the LiDAR test can be easily performed by simulating actual environmental conditions such as rain, snow, fog, and the like.

Description

Lidar test device

[0001] The present invention relates to a lidar test device, and more particularly, to a lidar test device capable of establishing a test environment similar to an actual environment while ensuring test space efficiency.

[0002] LiDAR (Light Detection And Ranging) is a technology that uses laser pulse signals to detect the location, distance, direction of movement, and speed of objects. It is applied in various fields such as aerospace, autonomous vehicles, disaster prevention, atmospheric remote sensing, meteorological measurement, and water depth measurement. In particular, the importance of LiDAR is rapidly increasing in autonomous driving systems, which require accurate recognition and distance measurement of detection targets (e.g., pedestrians, structures, vehicles, etc.). However, if detection is inaccurate due to factors such as the material or reflectivity of the target, or weather conditions, it can lead to serious casualties.

[0003] In consideration of this, autonomous vehicle or LiDAR manufacturers perform a process to test whether LiDAR performance is properly performed under various environmental conditions (e.g., snow, rain, fog, etc.). Figures 1 and 2 schematically illustrate a conventional test environment. First, LiDAR (10) is fixed at a predetermined location and then one or more detection targets are placed in front. At this time, the distance between LiDAR (10) and the detection target can vary from several meters to hundreds of meters depending on the required LiDAR performance. In the drawing, a retro-reflector (20), a box (30), a low-reflective object (40), a tire (50), and a cyclist (60) are placed. Here, the retro-reflector (20) is an object having an optical structure that reflects light in the incident direction, and the box (30) can have a predetermined size (e.g., 10×10×10㎤, 20×20×20㎤) and color (e.g., black). The low-reflective object (40) has a reflectivity below a predetermined value, the tire (50) is a tire of a bicycle, vehicle, etc. for testing whether obstacles on the road are recognized, and the cyclist (60) can be stationary at a predetermined location or moving. Thereafter, the environmental conditions of the test space are changed in various ways to test whether the lidar accurately recognizes the detection target and accurately detects the distance to the detection target. The environmental conditions include conditions such as rainy environment (rain, heavy rain, shower, thunderstorm, etc.), snowy environment (snowfall, heavy snow, hail, etc.), foggy environment (mist, haze, sea fog, etc.), lightning environment, and conditions such as humidity of the road surface and illuminance of the roadside.

[0004] However, conventional testing methods suffer from numerous spatial, technical, and cost disadvantages. For example, conventional testing methods require a vast testing space capable of covering the lidar's detection range. Furthermore, environmental conditions within the testing space are difficult to control, and the costs are high.

[0005] Therefore, research and development of a test device that can closely simulate various environmental conditions while ensuring space efficiency for reliability testing of lidar is necessary.

[0006] [Prior Art Literature]

[0007] [Patent Document]

[0008] (Patent Document 1) Korean Patent Publication No. 10-2586593 (Registration Date: October 4, 2023)

[0009] (Patent Document 2) Korean Patent Publication No. 10-2020-0059755 (Published: May 29, 2020)

[0010] (Patent Document 3) Japanese Patent Publication No. 6206915 (Registration Date: September 15, 2017)

[0011] The present invention has been conceived in consideration of the above-described technical requirements, and the purpose of the present invention is to provide a test device capable of simulating various environmental conditions in a manner that is close to reality while ensuring space efficiency.

[0012] A test device according to the present invention comprises: a tubular chamber including N (N: a natural number greater than or equal to 2) straight sections and N-1 bent sections; an environment creation module for creating a test environment in an internal passage of the tubular chamber; and N-1 reflectors arranged within the bent sections of the tubular chamber to reflect light emitted from a LiDAR arranged at one end of the chamber and guide it to a detection target arranged at the other end of the chamber.

[0013] Any one of the N-1 reflectors may have a predetermined tilting angle so that the light is incident on another reflector placed later along the internal passage or on the detection target.

[0014] The above reflector may be arranged to have an angle of 45° with respect to the longitudinal direction of the straight section.

[0015] The detection range of the above lidar can be defined as the sum of the distance between the first reflector placed along the internal passage and the lidar, the distance between each pair of reflectors placed adjacent to each other along the internal passage, and the distance between the last reflector placed along the internal passage and the detection target.

[0016] The above tubular chamber may be provided with a cover for shading, moisture-proofing or wind-proofing the inner passage.

[0017] The above environment creation module may include at least one of a sprayer, a humidifier, a fogger, a sprinkler, a snow blower, a fan, a lamp, a cooler, a heater, a pump, and a compressor.

[0018] The inner wall of the tubular chamber may include a low-reflective material having a reflectivity less than a preset level.

[0019] The above tubular chamber may include a drainage control unit for controlling the amount of moisture remaining on the bottom surface of the inner passage.

[0020] The above tubular chamber has a perforated plate spaced a predetermined distance from the ceiling surface of the inner passage, and the environment creation module can be placed between the ceiling surface and the perforated plate.

[0021] The above reflector may be a mirror with a water-repellent coating or a mirror with a water-repellent film layer attached.

[0022] It may further include an environmental sensor that detects the test environment created in the internal passage.

[0023] The above environmental sensor may include at least one of a temperature sensor, a humidity sensor, a pressure sensor, a dust sensor, a light sensor, a wind speed sensor, a wind direction sensor, a rain sensor, a snow sensor, a smoke sensor, and a gas sensor.

[0024] The above environmental creation module or the above environmental sensor may be partially or completely embedded in the inner surface of the tubular chamber.

[0025] It may include a shield made of a low-reflective member having a reflectivity lower than a preset reflectivity and covering the environment creation module or the environment sensor.

[0026] It may further include a guide rail extending along the internal passage; and a mounting portion for mounting the lidar and running along the rail.

[0027] It may further include an actuator that moves the detection target along the internal passage.

[0028] The present invention enables space efficiency while closely simulating various environmental conditions. In other words, lidar testing can be easily performed by simulating real-world environmental conditions such as rain, snow, and fog.

[0029] Figures 1 and 2 are schematic diagrams of a conventional test environment.

[0030] Figure 3 is a schematic diagram showing the chamber structure of a test device according to the present invention.

[0031] Figure 4 is a perspective view of a test device according to the present invention.

[0032] Figure 5 is a schematic diagram for explaining a test method of a test device according to the present invention.

[0033] Figure 6 is an enlarged view of area A shown in Figure 3.

[0034] Figure 7 is an enlarged view of area B shown in Figure 3.

[0035] Figures 8a and 8b illustrate an embodiment of a chamber shielding method of a test device according to the present invention.

[0036] Figures 9a and 9b are a first modified example of a test device according to the present invention.

[0037] Figures 10a and 10b are a second modified example of a test device according to the present invention.

[0038] Figure 11 is a drawing for explaining the inner surface of the chamber of the test device according to the present invention.

[0039] Fig. 12 is a drawing for explaining the chamber drainage structure of the test device according to the present invention.

[0040] Figure 13 is a drawing for explaining the arrangement and structure of the environment creation module of the test device according to the present invention.

[0041] FIG. 14 illustrates various embodiments of a reflector of a test device according to the present invention.

[0042] Figures 15a to 15c are drawings for explaining the arrangement and structure of the environmental sensor of the test device according to the present invention.

[0043] Figure 16 illustrates a lidar movement structure of a test device according to the present invention.

[0044] Figure 17 illustrates a detection target movement structure of a test device according to the present invention.

[0045] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings so that a person having ordinary skill in the art to which the present invention pertains can easily practice the present invention.

[0046] Fig. 3 is a schematic diagram showing the chamber structure of a test device according to the present invention. The chamber (100) of the test device may be a tubular chamber having an internal passage. In other words, the chamber (100) may be a cylindrical, penetrating, or pipe-shaped chamber. In Fig. 3, the cross-section of the chamber (100) is illustrated as being square, but in other embodiments, it may be implemented in various shapes such as a semicircle. The internal passage of the chamber (100) is a space for precisely controlling the internal test environment by blocking it from the external environment, and any shape that does not interfere with the optical path from the lidar is sufficient.

[0047] The chamber (100) includes straight sections (111, 112, 113) and bent sections (110b, 110c). The first bent section (110b) is positioned between the first straight section (111) and the second straight section (112), and the second bent section (110c) is positioned between the second straight section (112) and the third straight section (113). Here, the straight sections (111, 112, 113) and the bent sections (110b, 110c) refer to the area of ​​the chamber (100).

[0048] The chamber (100) may be manufactured as an integral part, in which case the straight portions (111, 112, 113) may refer to areas that continue in a straight line, and the bent portions (110b, 110c) may refer to areas that are bent at a predetermined angle. In addition, the chamber (100) may be formed by alternately connecting separately manufactured straight portions (111, 112, 113) and bent portions (110b, 110c). In such an assembled chamber (100), the areas of the straight portions (111, 112, 113) and the bent portions (110b, 110c) may be clearly distinguished.

[0049] As will be described later, the chamber (100) does not necessarily have to have two bends (110b, 110c), and may have one or three or more bends. Accordingly, the chamber (100) can be described as including N (N: a natural number greater than or equal to 2) straight sections and N-1 bends, and in FIG. 3, this corresponds to a chamber where N=3.

[0050] The chamber (100) has a longitudinal internal passage. The internal passage has a direction corresponding to the shape formed by the straight sections (111, 112, 113) and the bent sections (110b, 110c). Referring to Fig. 3, the internal passage of the chamber (100) changes direction and extends at a predetermined angle from the first bent section (110b), and then changes direction and extends at a predetermined angle from the second bent section (110c). Here, the predetermined angle may be 90°, but is not limited thereto.

[0051] The frame defining the internal passage of the chamber (100) may be made of metal such as stainless steel, plastic, etc. In addition, the frame may include a material having an insulating function (e.g., ceramic, fiberboard, polyurethane foam, etc.).

[0052] A lidar is placed at one end (110a) of the chamber (100), and a detection target can be placed at the other end (110d). Light emitted from the lidar reaches the detection target along an internal passage, light reflected from the detection target is received again by the lidar, and testing is performed based on the received signal.

[0053] Fig. 4 is a perspective view of a test device according to the present invention. As illustrated in Fig. 4, the chamber (100) includes one or more reflectors (M1, M2). The reflectors (M1, M2) are arranged at each bend (110b, 110c). That is, the first reflector (M1) is arranged in the internal passage of the first bend (110b), and the second reflector (M2) is arranged in the internal passage of the second bend (110c). Accordingly, if the chamber (100) includes N-1 bends, the number of reflectors will also be N-1.

[0054] The reflectors (M1, M2) reflect the light emitted from the lidar (10) disposed at one end (110a) of the chamber (100) and guide it to the detection target (70) disposed at the other end (110d) of the chamber (100). More specifically, the first reflector (M1) reflects the light emitted from the lidar (10) and directs it to the second reflector (M2), and the second reflector (M2) reflects the light reflected from the first reflector (M1) and directs it to the detection target (70). Thereafter, the light reflected from the detection target (70) is sequentially reflected by the second reflector (M2) and the first reflector (M1) and directs it to the lidar (10).

[0055] In order to form such an optical path, the tilting angles of the first reflector (M1) and the second reflector (M2) are important. That is, the first reflector (M1) must be tilted at a predetermined angle so that light is incident on the second reflector (M2) arranged later along the internal passage, and the second reflector (M2) must be tilted at a predetermined angle so that light is incident on the detection target (70) arranged later along the internal passage. In summary, any one of the N-1 reflectors can have a predetermined tilting angle so that light is incident on the other reflector or detection target arranged later along the internal passage. In one embodiment, the reflectors (M1, M2) can have an angle of 45° with respect to the longitudinal direction of the straight portion (111, 112, 113) of the chamber (100). When the lidar (10) scans the first reflector (M1), the detection target (70) placed at the end of the internal passage is scanned to obtain a point cloud image.

[0056] FIG. 5 is a schematic diagram for explaining a test method of a test device according to the present invention. A first reflector (M1) positioned at a predetermined angle with respect to the path of light emitted from the lidar (10) reflects the light to a second reflector (M2). At this time, the incident angle (θ1) of the light may vary depending on the tilting angle of the first reflector (M1), and accordingly, the reflection angle of the light (generally the same as the incident angle (θ1)) will be determined. Accordingly, the tilting angle of the first reflector (M1) may affect the position and tilting angle of the second reflector (M2). Similarly, the incident angle (θ2) of the light reaching the second reflector (M2) may vary depending on the position and reflection angle of the first reflector (M1), and accordingly, the reflection angle of the light at the second reflector (M2) (generally the same as the incident angle (θ2)) will be determined. Accordingly, the position of the detection target (70) may also change depending on the position and tilting angle of the first reflector (M1) and the second reflector (M2).

[0057] In one embodiment, the angle of the bending portion may be 90°, and the tilting angle of the reflectors (M1, M2) placed inside the bending portion may be 45°, in which case the structure of the test device may be simplified and optimized.

[0058] Here, the detection range of the lidar (10) can be defined as the sum of the distance (d1) between the first reflector (M1) and the lidar (10), the distance (d2) between the first reflector (M1) and the second reflector (M2), and the distance (d3) between the second reflector (M2) and the detection target (70).

[0059] Considering that the number of reflectors may be different, the detection range of the lidar (10) may be generalized as the sum of the distance between the first reflector placed along the internal passage of the chamber (100) and the lidar, the distance between each pair of reflectors placed adjacent to each other along the internal passage of the chamber (100), and the distance between the last reflector placed along the internal passage of the chamber (100) and the detection target.

[0060] When performing a lidar test on a detection target 20 m away, a test space with a length of 20 m or more was previously required. However, using the test device according to the present invention, lidar detection information on a detection target 20 m away can be obtained by implementing (d1, d2, d3) as (5 m, 10 m, 5 m). Therefore, test space efficiency can be significantly improved.

[0061] Figure 6 is an enlarged view of area A shown in Figure 3, and Figure 7 is an enlarged view of area B shown in Figure 3.

[0062] Referring to Fig. 6, a lidar (10) is placed on the internal passage of one end (110a) of a chamber (100). In addition, the chamber (100) includes one or more environment creation modules for creating a test environment. The environment creation modules may include at least one of a sprayer, a humidifier, a sprinkler, a fogger, a snowplow, a fan, a lamp, a cooler, a heater, a pump, and a compressor. The sprayer sprays liquid as fog to simulate a high-humidity or foggy environment, and the concentration of the fog can be controlled by adjusting the spray amount and / or spray speed of the sprayer. The humidifier controls humidity and can also create a foggy environment by operating in conjunction with a cooler. The sprinkler sprays water using a nozzle to create a rainy environment, and the snowplow creates artificial snow to create a snowy environment. The humidifier, sprinkler, and snowplow can receive liquid through a liquid supply pipe connected to a water tank (not shown). The fan creates a windy environment or maintains the air pressure inside the chamber at an appropriate level, and the lamp controls the illumination inside the chamber. The cooler and heater regulate the temperature inside the chamber, and the pump and compressor control the air pressure inside the chamber. In addition to the environment creation module mentioned above, various modules can be added. Meanwhile, the control of the environment creation module can be performed based on the measurement results of the environmental sensor described below. That is, the environment sensor measures environmental information inside the chamber, and the environment creation module is controlled based on this, thereby reproducing a road environment similar to an actual one. The environment creation module described above can be controlled by an external or internal controller.

[0063] Referring to Fig. 7, a detection target (70) is placed on the internal passage of the other end (110d) of the chamber (100). The environment creation module may extend from one end (110a) to the other end (110d) along the internal passage of the chamber (100). In another embodiment, the environment creation module may be composed of a plurality of sub-modules and may be placed at predetermined intervals along the internal passage.

[0064] Although only a humidifier (120) and a fan (130) are illustrated as environment-creating modules in FIGS. 6 and 7, various types of environment-creating modules may be installed at appropriate locations along the internal passages of the chamber (100). In the drawings, the humidifier (120) and the fan (130) are illustrated as being positioned on the upper surface of the chamber (100), but in other embodiments, they may be installed on the side or lower surface of the chamber (100). The humidifier (120) may include a pipe that serves as a passage for moisture movement, and moisture may be introduced into the chamber (100) through holes (micro-holes) formed in the pipe.

[0065] Figures 8a and 8b illustrate embodiments of a chamber shielding method of a test device according to the present invention. To simulate an environment similar to an actual road, the environmental conditions (humidity, temperature, illumination, etc.) inside the chamber must be isolated from the outside. That is, if moisture, light, etc., flow in from the outside, precise environmental control becomes difficult, which reduces the reliability of the test. Therefore, one end (110a) and / or the other end (110d) of the chamber (100) may include a cover to shield the internal passage from the external environment.

[0066] FIG. 8a illustrates a cover (114a) hingedly connected to one end (110a) and / or the other end (110d) of a chamber (100). The cover (114a) can be opened and closed by being lifted upward by the hinge connection. However, in other embodiments, the cover (114a) can be opened and closed by being lowered downward by the hinge connection or by being folded left and right. Furthermore, the cover (114a) can be provided in a double-door form and can be opened and closed in a door-to-door manner.

[0067] FIG. 8b shows a chamber (100) in which a slit (S) is formed at one end (110a) and / or the other end (110d), and a plate-shaped cover (114b) can be fitted into the slit (S). The thickness of the plate-shaped cover (114b) is manufactured to match the width of the slit (S), thereby performing functions such as light-blocking, moisture-proofing, and wind-proofing of the internal passage.

[0068] Figures 9a and 9b are a first modified example of a test device according to the present invention.

[0069] As illustrated in FIGS. 9a and 9b, the chamber (100) of the test device is a tubular chamber, a cylindrical chamber, a through-hole chamber, or a pipe-shaped chamber having an internal passage, and has a cross-section such as a polygon, a semicircle, or a circle. The chamber (100) of the first modified example includes two straight sections and one bent section. The bent section is positioned between the two straight sections. When the chamber (100) is manufactured as an integral part, the straight section may refer to an area that continues in a straight line, and the bent section may refer to an area that is bent at a predetermined angle. In addition, the straight sections and the bent sections that are manufactured separately may be connected to form the chamber (100). As mentioned above, if the chamber (100) is described as including N (N: a natural number greater than or equal to 2) straight sections and N-1 bent sections, the first modified example will correspond to a chamber where N=2.

[0070] The chamber (100) has a longitudinal internal passage. The internal passage has a direction corresponding to the shape formed by two straight sections and one bent section. Referring to FIGS. 9A and 9B , the internal passage of the chamber (100) extends along the straight sections, changes direction at a predetermined angle at the bent sections, and then extends again along the straight sections. Here, the predetermined angle may be 90°, but is not limited thereto. In the first modified example, since only one reflector (M1) is provided, the predetermined angle can be further reduced. Accordingly, the predetermined angle may be 10° or more and less than 90°.

[0071] A lidar is placed at one end of the chamber (100), and a detection target can be placed at the other end. Light emitted from the lidar reaches the detection target along an internal passage, light reflected from the detection target is received by the lidar again, and a test is performed based on the received signal. The light can be reflected by a reflector (M1) placed in the internal passage of the bending portion.

[0072] The reflector (M1) reflects the light emitted from the lidar (10) disposed at one end of the chamber (100) and guides it to the detection target disposed at the other end of the chamber (100). In order to form such an optical path, the reflector (M1) must be disposed to have a predetermined tilted angle. The reflector (M1) may have an angle of 45° with respect to the longitudinal direction of the straight portion of the chamber (100), but is not limited thereto. At this time, the incident angle (θ1) of the light may vary depending on the tilting angle of the reflector (M1), and accordingly, the reflection angle of the light (generally the same as the incident angle (θ1)) will be determined. In the drawing, the angle of the bent portion is illustrated as being 90° and the tilting angle of the reflector (M1) disposed inside the bent portion is 45°, but is not limited thereto.

[0073] The detection range of the lidar (10) can be defined as the sum of the distance (d1) between the reflector (M1) and the lidar (10) and the distance (d2) between the reflector (M1) and the detection target (70).

[0074] When performing a lidar test on a detection target 20 m away, a test space with a length of 20 m or more was previously required. However, using the test device according to the present invention, lidar detection information on a detection target 20 m away can be obtained simply by creating a 10×10 m2 test space where (d1, d2) is implemented as (10 m, 10 m). Therefore, test space efficiency can be significantly improved.

[0075] Figures 10a and 10b are a second modified example of a test device according to the present invention.

[0076] As illustrated in FIGS. 10a and 10b, the chamber (100) of the second modified example includes five straight sections and four bent sections. The bent sections are positioned between a pair of straight sections. As mentioned above, if the chamber (100) is described as including N (N: a natural number greater than or equal to 2) straight sections and N-1 bent sections, the second modified example would correspond to a chamber where N=5.

[0077] The chamber (100) has a longitudinal internal passage, and may be formed in such a way that it extends along a straight section, changes direction at a predetermined angle at a bend, and then extends along the straight section again. Here, the predetermined angle may be 90°, but is not limited thereto.

[0078] A lidar is placed at one end of the chamber (100), and a detection target can be placed at the other end. Light emitted from the lidar reaches the detection target along an internal passage, light reflected from the detection target is received by the lidar again, and a test is performed based on the received signal. The light can be reflected by each reflector (M1 to M4) placed in the internal passage of the bending portion.

[0079] The reflectors (M1 to M4) reflect the light emitted from the lidar (10) positioned at one end of the chamber (100) and guide it to the detection target positioned at the other end of the chamber (100). In order to form such an optical path, each reflector (M1 to M4) must be positioned to have a predetermined tilting angle. The reflectors (M1 to M4) may have an angle of 45° with respect to the longitudinal direction of the straight portion of the chamber (100), but are not limited thereto.

[0080] The detection range of the lidar (10) may be defined as the sum of the distance between the first reflector placed along the internal passage and the lidar, the distance between each pair of reflectors placed adjacent to each other along the internal passage, and the distance between the last reflector placed along the internal passage and the detection target. The reflector placed first along the internal passage may mean the reflector located closest to the lidar (10) along the internal passage. Referring to FIG. 10b, the detection range of the lidar (10) can be determined by adding the distance (d1) between the reflector (M1) initially placed along the internal passage and the lidar (10), the distance (d2) between the first reflector (M1) and the second reflector (M2), the distance (d3) between the second reflector (M2) and the third reflector (M3), the distance (d4) between the third reflector (M3) and the fourth reflector (M4), and the distance (d5) between the fourth reflector (M4) and the detection target (70).

[0081] When performing a lidar test on a detection target 20 m away, a test space with a length of 20 m or more was previously required. However, using the test device according to the present invention, it is possible to obtain lidar detection information on a detection target 20 m away simply by creating a 5×5 m2 test space where (d1, d2, d3, d4, d5) are implemented as (5 m, 2.5 m, 5 m, 2.5 m, 5 m). Therefore, test space efficiency can be significantly improved.

[0082] Fig. 11 is a drawing illustrating the inner chamber of a test device according to the present invention. The inner passage of the chamber (100) is a space for simulating a road environment and corresponds to a passage through which light from a lidar travels, and therefore it is preferable that it not affect the path of the light from the lidar.

[0083] Accordingly, the inner wall (102) of the chamber (100) may include a low-reflection material having a reflectivity lower than a preset level. The low-reflection material may be a sponge. In another embodiment, the low-reflection material may include an anti-glare (AR) or low-reflection (LR) material. The low-reflection material may be a film coated with inorganic fine particles and a low-refractive-index compound (e.g., a coating solution containing a fluorine-based compound, etc.) by laminating transparent layers composed of one or more metal oxides. In another embodiment, the low-reflection material may be manufactured by laminating a low-refractive-index layer using inorganic fine particles on a high-refractive-index layer. In another embodiment, the low-reflection material may be manufactured by using two or more types of fine particles, such as MgF2 or SiO2, and varying the mixing ratio according to the thickness to change the refractive index. In another embodiment, the low-reflection material can be manufactured by forming a low-refractive index layer using hollow fine particles (e.g., an inorganic powder made of hollow silica). In another embodiment, a coating layer for a porous layer including a soluble material is formed on a hard coating layer, and then the soluble material is dissolved and extracted using a solvent to form pores to manufacture the porous layer, and a low-reflection material having very low surface reflection can be manufactured by controlling the refractive index according to the porosity. In another embodiment, the low-reflection material can be a film having a predetermined color (e.g., black). Meanwhile, when the low-reflection material is made of a metal, an anodizing coating can be performed.

[0084] Fig. 12 is a drawing for explaining the chamber drainage structure of the test device according to the present invention.

[0085] The environmental creation module, which is placed in the internal passage of the chamber (100) and simulates rain, fog, snow, etc., includes a module for discharging moisture. Therefore, a considerable amount of water may accumulate in the internal passage of the chamber (100), particularly on the internal floor. If water accumulated on a road surface is intentionally simulated, the test can be performed with an appropriate amount of water accumulated on the floor of the chamber (100). However, in other cases, light may be reflected in an undesirable direction by the water accumulated on the floor, which may affect the test. Therefore, a drainage control unit (103a) may be provided to control the amount of moisture remaining on the internal floor of the chamber (100).

[0086] It is preferable that the drainage control unit (103a) be placed on the bottom surface or bottom edge of the chamber (100). The drainage control unit (103a) can be controlled to be opened and closed, and may include a drain for guiding water discharged by opening the drainage control unit (103a).

[0087] Although not shown in the drawing, the controller controlling the test device according to the present invention can control the opening and closing of the drainage control unit (103a) based on the floor moisture amount measured by the environmental sensor.

[0088] Figure 13 is a drawing for explaining the arrangement and structure of the environment creation module of the test device according to the present invention.

[0089] The internal passage of the chamber (100) is equipped with various environmental creation modules to simulate a road environment. At this time, the environmental creation modules arranged in the internal passage may be provided embedded in the inner surface of the chamber (100) so as not to affect the path of the lidar light.

[0090] Meanwhile, as illustrated in Fig. 13, when the environment creation module is placed in an area of ​​the internal passage (e.g., the ceiling surface), the environment creation module can be isolated so that the lidar light is not reflected by the environment creation module. The isolation of the environment creation module can be achieved by a perforated plate (104) spaced a predetermined distance from an area of ​​the internal passage (e.g., the ceiling surface). In other words, the environment creation module can be placed between an area of ​​the internal passage (e.g., the ceiling surface) and the perforated plate (104).

[0091] The perforated plate (104) may include a number of openings (perforations) through which environmental factors (e.g., moisture, wind, etc.) emitted from the environmental creation module may enter the internal passage. The size of the openings (perforations) may be variously set by the user. Meanwhile, the perforated plate (104) may be made of various types of low-reflective materials as mentioned above.

[0092] Although not shown in the drawing, the inner surface of the chamber (100) may include a slit for sliding engagement of the perforated plate (104) to facilitate removal and installation of the perforated plate (104). In another embodiment, the inner surface of the chamber (100) includes a protrusion for mounting the perforated plate (104), and the protrusion supports both sides of the perforated plate (104) downward to fix the perforated plate (104) at a predetermined height of the internal passage.

[0093] Figure 14 illustrates various embodiments of a reflector of a test device according to the present invention. The reflector may be a mirror. In this case, the environmental creation module, which is positioned within the internal passage of the chamber (100) and simulates rain, fog, snow, etc., includes a module for discharging moisture. Therefore, moisture may form on the surface of the reflector positioned within the internal passage of the chamber (100), which may refract light from the lidar in an undesirable direction.

[0094] In consideration of this, the reflector may have a double-layer structure in which a mirror (M) and a water-repellent film layer (F) are combined. The water-repellent film layer (F) may be implemented with any film having a water-repellent function. For example, the water-repellent film layer (F) may be formed of a layer including silica fine particles and a layer including a fluorosilicone compound. As another example, the water-repellent film layer (F) may be a film manufactured using a manganese oxide polystyrene (MnO2 / PS) nanocomposite, a zinc oxide polystyrene (ZnO / PS) nanocomposite, precipitated calcium carbonate, a carbon nanotube structure, a silica nano-paint, etc.

[0095] In another embodiment, the reflector may be a mirror (M) having a water-repellent coating (C). The water-repellent coating (C) may be formed using a fluorine-based compound with excellent water-repellent properties. For example, the water-repellent coating (C) may be formed using a polymer in which a fluorine resin is coated on silica. In another example, the water-repellent coating (C) may be a super-hydrophobic coating using a silicone-acrylic block copolymer.

[0096] In another embodiment, the reflector may be provided with a protective coating to prevent corrosion. Specifically, the reflector may be protected against corrosion by a dielectric thin film coating.

[0097] Figures 15a to 15c are drawings for explaining the arrangement and structure of the environmental sensor of the test device according to the present invention.

[0098] The internal passage of the chamber (100) can have its environment composition changed by the environment composition module, and in order to precisely change the environment composition, environmental information of the internal passage must be acquired in real time. Accordingly, one or more environmental sensors (140) may be provided within the chamber (100) to detect the test environment created in the internal passage.

[0099] The environmental sensor (140) may be at least one of a temperature sensor, a humidity sensor, a pressure sensor, a dust sensor, a light sensor, a wind speed sensor, a wind direction sensor, a rain sensor, a snow sensor, a smoke sensor, and a gas sensor.

[0100] At this time, similar to the environment creation module, the environmental sensor (140) may also act as a factor that reflects the path of the lidar light. Specifically, as illustrated in FIG. 15a, the light emitted from the lidar (10) may change direction as it travels through the internal passage and collides with the environmental sensor (140) positioned on one side and is refracted, which may affect the test results. Therefore, as illustrated in FIG. 15b, the environmental sensor (140) may be provided so that part or all of it is embedded in the inner surface of the chamber (100). The surface on which the environmental sensor (140) is positioned may vary depending on the measurement target of the environmental sensor (140). For example, an environmental sensor for detecting temperature, humidity, air volume, etc. may be positioned on the upper surface, left surface, or right surface of the internal passage, and an environmental sensor for measuring the moisture content of the floor may be positioned on the lower surface of the internal passage. The environmental sensor may be formed as a single module extending along the internal passage, or may be divided into multiple sub-modules and arranged at appropriate intervals depending on the length of the internal passage or the number of bends.

[0101] In another embodiment, as illustrated in FIG. 15c, a shield (141) may be provided that covers the environmental sensor (140) and is made of a low-reflective member having a reflectivity lower than a preset reflectivity. The preset reflectivity may be appropriately set by the user, and is sufficiently set to a level that reduces the reflection of the lidar light. The reflectivity of the shield (141) may be determined by the material, color, etc.

[0102] Likewise, in order to minimize the influence of the environment composing module on the light path, a shield may be further provided to cover the environment composing module. The shield covering the environment composing module may also be made of a low-reflective material having a reflectivity lower than a preset level. In addition, the shield may be arranged in a manner that protrudes into the internal space of the chamber. The blocking member may be formed integrally with the chamber and protrudes, but may also be implemented in a manner that a separate blocking member is coupled / attached to the chamber. In order to minimize the influence of the environment composing module on the light path, the environment composing member may be arranged in a manner that is embedded in the interior of the chamber.

[0103] Fig. 16 illustrates a lidar movement structure of a test device according to the present invention, and Fig. 17 illustrates a detection target movement structure of a test device according to the present invention.

[0104] As illustrated in Fig. 16, the bottom surface of the chamber (100) may be provided with a guide rail (150) extending along the internal passage, and the lidar (10) is mounted on a mounting member (151) that runs along the guide rail (150) so as to be able to move within the internal passage.

[0105] By means of the guide rail (150) and the mounting portion (151), it is possible to perform a test on a lidar (10) mounted on an autonomous vehicle or the like and in motion.

[0106] As illustrated in Fig. 17, one or more detection targets (30, 50) arranged at the other end of the chamber (100) can also be controlled to move along the internal passage. To this end, similarly to the guide rails (150) and the mounting portions (151) arranged at one end of the chamber (100), one or more guide rails (160) and one or more mounting portions (161) can also be arranged at the other end of the chamber (100). Each of the one or more mounting portions (161) can independently slide along the respective guide rails (160) by mounting the detection targets (30, 60). Through this, a test can be performed on the moving detection targets. Meanwhile, the guide rails (160) and the mounting portions (161) that move the detection targets can also be implemented as actuators that perform linear motion.

[0107] The mobile structure illustrated in Figures 16 and 17 facilitates testing of moving autonomous vehicles and moving objects (pedestrians, cyclists, automobiles, etc.) within a chamber environment that simulates real-world conditions. Furthermore, utilizing a chamber with reflectors maximizes spatial efficiency.

[0108] Although the above description focuses on examples, these are merely examples and do not limit the present invention. Those skilled in the art will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present invention. For example, each component specifically shown in the examples can be modified and implemented. In addition, differences related to such modifications and applications should be construed as being included within the scope of the present invention defined in the appended claims.

[0109] [Explanation of symbols]

[0110] 10: Lidar

[0111] 100: Chamber

[0112] M1 to M4: Reflectors

Claims

1. A tubular chamber comprising N (N: a natural number greater than or equal to 2) straight sections and N-1 bent sections; An environment creation module that creates a test environment in the internal passage of the above tubular chamber; and A test device comprising N-1 reflectors arranged within a bend of the tubular chamber, which reflect light emitted from a LiDAR arranged at one end of the tubular chamber and guide it to a detection target arranged at the other end of the tubular chamber.

2. In paragraph 1, A test device in which one of the N-1 reflectors has a predetermined tilting angle so that the light is incident on another reflector placed later along the internal passage or on the detection target.

3. In paragraph 2, A test device in which the above reflector is positioned at an angle of 45° with respect to the longitudinal direction of the straight section.

4. In paragraph 1, A test device in which the detection range of the above lidar is defined as the sum of the distance between the first reflector placed along the internal passage and the lidar, the distance between each pair of reflectors placed adjacent to each other along the internal passage, and the distance between the last reflector placed along the internal passage and the detection target.

5. In paragraph 1, A test device including a cover for light-proofing, moisture-proofing or wind-proofing of the inner passage, wherein the tubular chamber is above.

6. In paragraph 1, The above environment creation module is a test device including at least one of a sprayer, a humidifier, a fogger, a sprinkler, a snow blower, a fan, a lamp, a cooler, a heater, a pump, and a compressor.

7. In paragraph 1, A test device in which the inner wall of the tubular chamber includes a low-reflective material having a reflectivity lower than a preset level.

8. In paragraph 1, The above tubular chamber is a test device including a drainage control unit for controlling the amount of moisture remaining on the bottom surface of the inner passage.

9. In paragraph 1, A test device in which the above tubular chamber has a perforated plate spaced a predetermined distance from the ceiling surface of the inner passage, and the environment creation module is placed between the ceiling surface and the perforated plate.

10. In paragraph 1, The above reflector is a test device that is a mirror with a water-repellent coating or a mirror with a water-repellent film layer attached.

11. In paragraph 1, A test device further comprising an environmental sensor for detecting a test environment created in the internal passage.

12. In paragraph 11, The above environmental sensor is a test device including at least one of a temperature sensor, a humidity sensor, a pressure sensor, a dust sensor, a light sensor, a wind speed sensor, a wind direction sensor, a rain sensor, a snow sensor, a smoke sensor, and a gas sensor.

13. In paragraph 12, A test device in which the above environmental creation module or the above environmental sensor is partially or completely embedded in the inner surface of the tubular chamber.

14. In paragraph 12, A test device comprising a shield comprising a low-reflective member having a reflectivity lower than a preset reflectivity and covering the environmental creation module or the environmental sensor.

15. In paragraph 1, a guide rail extending along the inner passage; and A test device further comprising a mounting unit that runs along the rail while mounting the lidar.

16. In paragraph 1, A test device further comprising an actuator for moving the detection target along the internal passage.

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