Lidar performance test system

Abstract

A LiDAR performance test system according to the present invention comprises a target that can rotate vertically or horizontally and a LiDAR device disposed to be spaced a predetermined distance apart from the target. The LiDAR device comprises: a transmitter for emitting light toward the surface of the target; and a receiver for receiving the light reflected from the surface of the target, wherein the target is disposed such that the path of light emitted from the transmitter toward the surface of the target and the path of reflected light received from the surface of the target by the receiver do not match or overlap. According to the present invention, the system for testing the performance of LiDAR by considering the surface reflection characteristics of the target is provided, and thus can contribute to improving the accuracy and reliability of LiDAR performance.

Description

Lidar performance test system

[0001] The present invention relates to a lidar performance test system, and more particularly, to a lidar performance test system that takes into account the reflectivity characteristics of a target.

[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, weather measurement, and water depth measurement.

[0003] In particular, the importance of lidar is rapidly increasing in autonomous driving systems, and for this, lidar must be able to accurately recognize and measure distances to detection targets (e.g., pedestrians, structures, and vehicles).

[0004] One factor that compromises the accuracy and reliability of lidar is light reflection from materials with varying reflectivity depending on the angle. For example, when detecting materials with specular or retroreflective properties, the intensity of light reflected by the lidar is very weak outside of certain angles, making it highly likely to be classified as noise. This prevents the lidar from accurately detecting the material, ultimately compromising the accuracy and reliability of lidar sensing.

[0005] However, testing methods and environments for lidar detection of materials with specular and retroreflective properties have not yet been defined. Consequently, it is difficult to predict actual performance when lidar is applied to autonomous driving systems.

[0006] Korean Patent Publication No. 10-2022-0128959 (Title: Test system for LiDAR sensor and method for testing LiDAR sensor) regarding a LiDAR test method also does not take into account the reflective characteristics of the object at all, and thus fails to resolve the above-mentioned problem.

[0007] Therefore, there is a need for research and development of a standardized test system that can accurately measure and evaluate the actual performance of lidar by taking into account its reflective characteristics.

[0008] [Prior Art Literature]

[0009] [Patent Document]

[0010] Korean Patent Publication No. 10-2022-0128959 (published on September 22, 2022)

[0011] The present invention has been conceived in consideration of the above-described problems, and an object of the present invention is to provide a lidar performance test system that takes into account the surface reflection characteristics of a target.

[0012] A lidar performance test system according to the present invention comprises: a target that is rotatable in a horizontal or vertical direction; and a lidar device arranged at a predetermined distance from the target; wherein the lidar device comprises: a transmitter that emits light toward a surface of the target; and a receiver that receives light reflected from the surface of the target; wherein the target is arranged such that a path of light emitted from the transmitter toward the surface of the target and a path of reflected light received by the receiver from the surface of the target are coincident or do not overlap.

[0013] And, the light emitted from the transmitter can have an incident angle of 0 to 90° with respect to the surface of the target.

[0014] Additionally, the surface of the target may include a first layer and a second layer.

[0015] And, the first layer may be a primer layer.

[0016] Additionally, the second layer may be a coloring layer.

[0017] And, the surface of the target may have surface reflection characteristics corresponding to the first layer and the second layer.

[0018] Additionally, the above-mentioned distance may be less than 2 m.

[0019] And, the target may be formed into a rectangular shape having a predetermined surface area.

[0020] Additionally, the target may include one or more identification tags provided at an edge of the surface.

[0021] And, by rotating the target, a performance index for the target can be obtained.

[0022] Additionally, the performance indicator may be at least one of PoD (Probability of Detection) and Intensity.

[0023] In addition, the surface reflection characteristics of the target, the reflectivity, the incident angle of the light, the wavelength of the light, the angle of the target, and the performance indicators obtained in response to the angle can be recorded.

[0024] In addition, the performance indicator for the target can be obtained with the angle between the optical axis of the lidar device and the surface of the target set to 45°.

[0025] And, the target includes a first target having a surface colored with a material having a retroreflective property and a second target having a surface colored with a black gloss, and the first target and the second target may be arranged side by side but have a predetermined distance apart from each other.

[0026] Meanwhile, a lidar performance test system according to the present invention is a lidar performance test system for a lidar device including a transmitter that emits light toward a surface of a target and a receiver that receives light reflected from the surface of the target, the lidar device including a target that is fixedly placed at a predetermined distance from the lidar device, and the target includes a surface coated to have a specular reflection characteristic, and the surface may be placed flat in an edge region of the field of view of the lidar device in a direction perpendicular to the optical axis of the lidar device so that the path of light emitted from the transmitter toward the surface of the target and the path of reflected light received by the receiver from the surface of the target do not coincide, or the surface may be placed obliquely in the direction of the optical axis of the lidar device in a center region of the field of view of the lidar device.

[0027] According to the present invention, by performing a lidar performance test while considering the surface reflection characteristics of the target, the accuracy and reliability of the test can be significantly improved.

[0028] Figure 1 is a block diagram showing the configuration of a lidar performance test system according to the present invention.

[0029] FIG. 2 is a block diagram showing the configuration of a lidar performance test system according to another embodiment of the present invention.

[0030] Figure 3 illustrates the front part of the target of the lidar performance test system according to the present invention.

[0031] Figure 4 is a cross-sectional view of a target of a lidar performance test system according to the present invention.

[0032] Figure 5 is a conceptual diagram of a target of a lidar performance test system according to the present invention.

[0033] Figure 6 is a graph showing target performance indicators obtained from a lidar performance test system according to the present invention.

[0034] Figure 7 is a drawing showing the arrangement of a lidar performance test system according to the present invention.

[0035] Figure 8 is a drawing for explaining the environment of the lidar performance test system according to the present invention.

[0036] The detailed description of the present invention, which follows, refers to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention, while different from each other, are not necessarily mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention.

[0037] Furthermore, it should be understood that the position or arrangement of individual components within each disclosed embodiment may be modified without departing from the spirit and scope of the present invention. Therefore, the following detailed description is not intended to be limiting, and the scope of the present invention, if properly described, is defined solely by the appended claims, along with the full scope equivalents thereof. Similar reference numerals in the drawings designate the same or similar functions throughout the various aspects.

[0038] Highly reflective objects, such as stainless steel or polished surfaces, can result in point cloud data consisting of multiple layers or appearing as misaligned points floating above a flat surface or surface. This is because light reflects differently depending on the surface type.

[0039] Generally, light reflection can be categorized into two types: diffuse reflection and specular reflection. Diffuse reflection is associated with rough or matte surfaces, while specular reflection is associated with smooth or shiny surfaces. In the case of diffuse reflection, Time-of-Flight (ToF) LiDAR can reflect a certain percentage of the light back toward the scanner, converting this signal into a measurement value and creating a point cloud.

[0040] However, in the case of specular reflection, most of the light is reflected in the opposite direction of the incident direction due to the specular reflection characteristics, so the possibility of the light returning to the origin is low. In particular, the reflectivity of shiny objects with a gloss due to surface treatment is even lower, and when the data for these objects is converted into a 3D point cloud, it is highly likely to be judged as noise and filtered out. In particular, the glossy exterior of a vehicle has such reflective characteristics, and when black paint is used, the reflectivity is even lower, so the lidar sensor employed in autonomous vehicles may not detect it.

[0041] Therefore, in the case of a vehicle lidar sensor, a preliminary performance measurement for an object having such reflection characteristics is required, and the lidar performance test system according to the present invention performs a preliminary performance measurement for a target that simulates a shiny object. In the present invention, a shiny object is defined as an object having surface reflection characteristics of a specular reflection characteristic (primary characteristic) and a diffuse reflection characteristic (secondary characteristic). In addition, a performance index for a shiny object can be obtained by measuring the reflectivity by angle for the wavelength used by the lidar in advance.

[0042]

[0043] Configuration of the lidar performance test system (100)

[0044] FIG. 1 is a block diagram showing the configuration of a lidar performance test system (100) according to one embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of a lidar performance test system (100') according to another embodiment of the present invention. In the embodiment of FIG. 2, an external computing device (130) is further included in the embodiment of FIG. 1.

[0045] First, referring to FIG. 1, a lidar performance test system (100) according to one embodiment of the present invention includes a target (110) and a lidar device (120). In addition, the lidar device (120) includes a transmitter (121) and a receiver (122).

[0046] The lidar device (120) and the target (110) may be placed at a predetermined distance apart. Specifically, the distance between the lidar device (120) and the target (110) may be within 2 m. Accordingly, the performance of the lidar device (120) can be easily and stably measured despite the low reflectivity of the surface of the target (110).

[0047] The target (110) includes a surface having a predetermined surface area. Specifically, the surface of the target (110) may have specular reflection characteristics and / or diffuse reflection characteristics.

[0048] The transmitter (121) can emit light toward the surface of the target (110). The light emitted from the transmitter (121) can be a high-power laser that is reflected by the target (110). Additionally, the light can be a laser signal having a specific wavelength.

[0049] Some or all of the light reflected from the surface of the target (110) can be detected by the receiver (122). That is, the receiver (122) detects the light signal that is emitted from the transmitter (121) and then reflected back by the target object. Specifically, the intensity of the detected signal and / or the arrival time of the signal can be obtained.

[0050] The present invention can obtain the PoD (Probability of Detection) and / or Intensity, which is the probability that light emitted from a transmitter (121) of a lidar device (120) will be reflected and detected by a receiver (122), by using a target (110) having a surface with specular reflection characteristics and / or diffuse reflection characteristics.

[0051] Referring to FIG. 2, a lidar performance test system (100') according to another embodiment of the present invention may further include an external computing device (130) in addition to a target (110) and a lidar device (120).

[0052] The configuration of the lidar device (120) and the target (110) is the same as that of the embodiment of FIG. 1, so a description thereof will be omitted. The external computing device (130) may be a device that records variables of PoD and / or Intensity of the lidar device (120). Specifically, the external computing device (130) records the amount of light emitted from the transmitter (121) of the lidar device (120), the amount of light detected by the receiver (122), the reflectivity of the target (110), the surface reflection characteristics of the target (110), the incident angle of light, the wavelength of light, the angle of the target (110), and the performance index obtained corresponding to each angle. In addition, it is possible to test the lidar performance for a shiny object through the various data and performance indexes.

[0053]

[0054] Composition and function of target (110)

[0055] FIG. 3 illustrates the front side of a target of a lidar performance test system according to the present invention, FIG. 4 is a cross-sectional view of a target of a lidar performance test system according to the present invention, and FIG. 5 is a conceptual diagram of a target of a lidar performance test system according to the present invention.

[0056] The lidar performance test system according to the present invention controls light emitted from a transmitter (121) of a lidar device (120) to have an incident angle greater than 0° and less than 90° with respect to the surface of a target (110). At this time, by controlling the path of the light emitted from the transmitter (121), the incident angle is controlled, and at least one of the performance indicators PoD (Probability of Detection) and Intensity for the target (110) can be obtained at each incident angle.

[0057] In another way, the incident angle can be adjusted while rotating the target (110), and at least one of the performance indicators PoD (Probability of Detection) and Intensity for the target (110) can be obtained at each rotation angle.

[0058] At this time, the rotation of the target (110) can be achieved by various methods. For example, the target (110) is connected to a rotation device (not shown) and can be rotated up and down or left and right by the operation of the rotation device (not shown). At this time, the rotation device (not shown) can be driven based on a controller of the lidar performance test system, an external computing device, or user input. As another example, the target (110) can be coupled to a support (e.g., a tripod) at a predetermined angle unit (e.g., 1°). That is, the angle of the target (110) can be changed by a tester's change in the installation of the target (110) and the support. As another example, the target (110) can be connected to the support, and a coupling part (not shown) designed to enable rotational and fixed angle setting can be provided between the target (110) and the support. The joint may be automatically angled and fixed by a system controller or external computing device, but may also be angled and fixed manually by means of a test execution operation.

[0059] Meanwhile, as illustrated in FIG. 3, the target (110) may include one or more identification tags (110a to 110d) provided at its corners. In the drawing, a total of four identification tags (110a to 110d) are illustrated, but fewer or more identification tags may be provided. However, it is preferable that the identification tags (110a to 110d) be placed at the corners or edges of the target (110). The identification tags (110a to 110d) may be used to recognize a reference position for setting a scan range for the target (110). That is, the lidar device (120) can identify the start and end points through the identification tags (110a to 110d) when scanning the target (110). The identification tags (110a to 110d) may be rectangular as illustrated in the drawing, but are not limited thereto and may be provided in various shapes.

[0060] In another embodiment, the identification tags (110a to 110d) may include information about the reflectivity, surface reflection characteristics, color, area, shape, layer structure, and components or materials of each layer of the target (110). The lidar performance test system according to the present invention can scan the identification tags (110a to 110d) to obtain general specifications of the target (110) currently being tested through the information included in the identification tags (110a to 110d). Various information about the target (110) obtained through the identification tags (110a to 110d) can be recorded together with performance indicators obtained by changing the incident angle with respect to the target (110). For example, the identification tags (110a to 110d) may be implemented as a QR code, a barcode, etc., and the lidar performance test system may include a scanner capable of reading the code.

[0061] The surface reflection characteristics of the target (110) may be determined depending on the structure and material. The target (110) may be formed in a rectangular shape with a predetermined surface area, but is not limited thereto and may also be formed in a circular, triangular, or various other shapes (e.g., vehicle shape, etc.).

[0062] Additionally, as illustrated in FIG. 4, the target (110) may be formed of a double-layer structure of a first layer (112) and a second layer (113).

[0063] At this time, the first layer (112) may be a primer layer. The first layer (112) may have a thickness of approximately several to several hundred micrometers (e.g., 22.5 micrometers), but is not limited thereto. Meanwhile, the first layer (112) may be a body panel (not shown) including a primer. The primer is used for painting a vehicle, and protects the surface of the vehicle and improves the adhesion of the paint. Primers include, but are not limited to, epoxy primers, polyurethane primers, and acrylic primers.

[0064] The second layer (113) may be a basecoat layer or a coloring layer. The second layer (113) may have a thickness of approximately several to several hundred micrometers (e.g., 18 micrometers), but is not limited thereto. The second layer (113) is composed of a coloring material (e.g., paint) and determines the color of the target (110).

[0065] In another embodiment, the target (110) may have a triple-layer structure of a first layer (112), a second layer (113), and a third layer (not shown). The first layer (112) may be a primer layer, the second layer (113) may be a basecoat layer or a coloring layer, and the third layer (not shown) may be a clearcoat layer for transparent coating. The third layer (not shown) may have a thickness of approximately several to several hundred micrometers (e.g., 45 micrometers), but is not limited thereto.

[0066] The surface reflection characteristics of the target (110) can be determined depending on the number of layers and the materials constituting each layer. For example, based on light of 905 nm, the total reflectance (including specular reflection and diffuse reflection) of white glossy paint and black glossy paint is approximately 65% ​​and 3%, respectively. More specifically, in the case of white paints, paints having a solid white color (e.g., HEX #FDFEFF, RGB(253,254,255)) exhibit a characteristic in which the relative LiDAR intensity gradually decreases from 80 to 15 in response to the angle (0 to 90°) of the target (110), paints having a silver metallic color (e.g., HEX #c0c0c0, RGB(192,192,192)) exhibit a characteristic in which the relative LiDAR intensity rapidly decreases from 100 to 0, and paints having a pearl white color (e.g., HEX #F8F6F0, RGB(248,246,240)) exhibit a characteristic in which the relative LiDAR intensity rapidly decreases at a small angle (0 to 30°) of the target (110), and then decreases at a large angle. At an angle (over 30°), it exhibits a characteristic of gradually decreasing. Meanwhile, in the case of black paints, paints with an effect black color exhibit a characteristic of a rapid decrease in relative lidar intensity from 8 to 0 as the angle of the target (110) changes from 0 to 30°, paints with a matte black color (e.g., HEX #28282B, RGB (40,40,43)) exhibit a characteristic of a gradual decrease in relative lidar intensity from 5 to 1 as the angle of the target (110) changes from 0 to 75°, and paints with a solid black color (e.g., HEX #000000, RGB (0,0,0)) exhibit a characteristic of a relative lidar intensity that is barely measurable from 2 to 1 as the angle of the target (110) changes from 0 to 15°.In this way, the surface reflection characteristics can be varied simply by changing the color of the second layer (113), which is the coloring layer.

[0067] Additionally, in another embodiment, the target (110) may include a first target having a surface colored with a material having retroreflective properties and a second target having a surface colored with a black gloss. In this case, the first target and the second target may be arranged adjacent to each other and side by side, but may have a predetermined distance between them.

[0068] The lidar performance test system according to the present invention can test the lidar performance based on the surface reflection characteristics of the target (110), the incident angle of light, the wavelength of light, and the performance index corresponding to the angle while moving the target (110) at a predetermined angle, and records the data and the test results. The performance indexes obtained in advance for each target (110) may be used as reference data in the lidar test. At this time, the lidar performance test system according to the present invention may further include a memory for recording the various data above in the embodiment of FIG. 1. In addition, the lidar performance test system according to the present invention may record the various data above in an external computing device in the embodiment of FIG. 2.

[0069] Figure 6 is a graph showing the performance indicators of a target obtained from a lidar performance test system according to the present invention.

[0070] As illustrated in FIG. 6, the performance index of the target (110) can be determined as the PoD (Probability of Detection) and / or Intensity for the rotation angle of the target (110). The performance index obtained while the target (110) rotates can be recorded in the form of a number, graph, image, or LUT (Look-Up Table). The lidar performance test system according to the present invention can easily perform lidar performance evaluation for a shiny object by using performance indexes (numbers, graphs, images, LUTs, etc.) established through preliminary tests on various targets (110).

[0071]

[0072] Deployment of LiDAR performance test systems

[0073] Figure 7 is a drawing showing the arrangement of a lidar performance test system according to the present invention.

[0074] The light emitted from the transmitter of the lidar device (120) may have an incident angle of 0 to 90° with respect to the surface of the target (110). The target (110) is provided to be rotatable in the up-down direction or left-right direction, and the rotation element is as described above.

[0075] Meanwhile, the surface of the target (110) may be designed as a double-layer structure including a first layer as a primer layer and a second layer as a coloring layer. Accordingly, the target (110) has reflective characteristics corresponding to the double-layer structure. In the drawing, the target (110) is depicted as having a rectangular shape, but in other embodiments, it may take on a different shape.

[0076] Referring to Fig. 7, the lidar device (120) and the target (110) may be spaced apart by a predetermined distance (A). The predetermined distance (A) may be 2 m or less, and preferably 1 m or less.

[0077] Meanwhile, a vertical line from the center of the surface of the target (110) and a line connecting the target (110) to the lidar device (120) in a straight line may have a predetermined angle (θ). In this case, the predetermined angle (θ) may be 45°. However, in another embodiment, the predetermined angle (θ) may be 30° to 50°.

[0078] The lidar performance test system according to the present invention obtains a performance index for the surface reflection characteristic of the target (110) while rotating the target (110). In addition, the performance index for the target (110) is obtained when the angle between the optical axis of the lidar device (120) and the surface of the target (110) is set to 45°. A test in which the angle between the optical axis of the lidar device (120) and the surface of the target (110) is set to 45° simulates a state in which the reflectivity is the lowest. The performance index may include at least one of PoD and Intensity. In addition, the surface reflection characteristic and reflectivity of the target (110), the configuration / material of the target (110), the incident angle of light incident on the target (110) from the lidar device (120), the wavelength of the light, and the angle of the target (110) and the performance index obtained corresponding thereto are recorded, which can be used to perform the lidar performance test. Data collected by testing targets with various characteristics improves the accuracy of lidar performance tests for shiny objects.

[0079] In the experiment, the lidar device (120) and the target (110) were set to 1 m. The target (110) was set up so that the angular dependence of the lidar sensor could be confirmed by rotating left and right or up and down. In this case, in the case of glossy white paint, an average intensity corresponding to 80 was observed when the target (110) was at an angle of 0°, and when rotated by 30°, it was confirmed that the intensity decreased by about 10% to an average intensity corresponding to 70. In the case of glossy black paint, an average intensity corresponding to 2.5 was observed when the target (110) was at an angle of 0°, and when rotated by 30°, an intensity of 0 was observed (not measured). In this way, by changing the structure / material / color, etc. of the target (110), the surface characteristics of the object to be detected by the lidar can be variously simulated, and by extracting performance indicators for objects with various surface characteristics, it becomes possible to easily perform lidar performance tests, especially for shiny objects.

[0080] Meanwhile, a lidar performance test system according to another embodiment of the present invention performs a performance test of a lidar device including a transmitter that emits light toward a surface of a target and a receiver that receives light reflected from the surface of the target.

[0081] The lidar performance test system includes a target fixedly placed at a predetermined distance from the lidar device, and the target may include a surface coated to have specular reflectivity characteristics.

[0082] Meanwhile, the target may be arranged so that the path of light emitted from the transmitter toward the surface of the target and the path of reflected light received by the receiver from the surface of the target do not coincide or overlap. Specifically, the target may be arranged so that the surface is flat in a direction perpendicular to the optical axis of the lidar device in an edge region of the field of view of the lidar device. Alternatively, the target may be arranged so that the surface is slanted in the direction of the optical axis of the lidar device in a center region of the field of view of the lidar device. In other words, the target may be arranged so that the optical axis and an imaginary straight line passing through a point on the surface of the field of view form a predetermined angle. FIG. 8 is a drawing for explaining the environment of the lidar performance test system according to the present invention.

[0083] Figure 8 illustrates a top view of the test space (200), which is a rectangular space measuring 50 m in length and 14 m in width, with a floor-to-ceiling height of 2.7 m. However, the test space is not necessarily limited to a rectangular space, and the length, width, and height of the test space may also be changed.

[0084] The lidar device (120) can be placed at a first position in the test space, and it is advantageous to place the lidar device (120) near a corner in terms of securing the maximum distance. In addition, one or more target charts (110a) having various distances from the lidar device (120) are placed. In FIG. 8, a total of 17 target charts (#1 to #17) are illustrated as being placed, but the number of target charts may vary. Each target chart may have a different reflectivity. For example, target chart #11 placed at a distance of 35 m from the lidar device (120) has a reflectivity of 3%, and target chart #15 placed at a distance of 48 m is set to have a reflectivity of 65%. The distance and reflectivity of the target charts may be set in various ways.

[0085] At this time, one of the plurality of target charts (110a) may be a black glossy target with a reflectivity of 3% as described above, and the target chart may be set to have a reflectivity of 0.3% by placing it at an angle to one side of the lidar device (110).

[0086] Meanwhile, among the multiple target charts (110a), one target chart may be a retroreflective target with maximized reflectivity. In this case, the retroreflective target and a black glossy target with a 3% reflectivity may be placed side by side to simultaneously conduct a performance evaluation for an exceptional reflection pattern.

[0087] Meanwhile, to achieve a test space expansion effect within a limited space, a mirror (210) may be utilized in a lidar performance test. That is, a mirror (210) may be placed at a predetermined position in an area facing the lidar device (120), and a target chart (110c) may be placed at a predetermined position in an area facing the mirror (210). In the absence of a mirror (210), the maximum distance that can be measured within a limited test space is only 48 m, but by placing a mirror (210), the measurement distance can be expanded to a maximum of 96 m.

[0088] In order to recognize a plurality of target charts placed in a test space, a rotating platform may be mounted on the lidar device (120). Then, position information of the target charts can be acquired by changing the attitude using the rotating platform.

[0089] Hereinafter, the arrangement of each configuration for achieving the effect of expanding the test space by using the mirror (210) will be described. The lidar device (120) can be arranged at a first position in the area facing the mirror (210), and the target chart (110c) can be arranged at a second position different from the first position in the area facing the mirror (210). At this time, it is preferable that the angle formed by the optical path between the lidar device (120) and the mirror (210), and the optical path formed by the mirror (210) and the target chart (110c) is 90° or less. In order to secure maximum space efficiency, it is preferable that the lidar device (120) and the mirror (210) be as far apart as possible, and due to spatial constraints, the target chart (110c) cannot be further away than the mirror (210). At this time, the target chart (110c) may be a simple chart having a predetermined reflectivity, or may be a chart having a light source and a light sensor. Meanwhile, the mirror (210) and the target chart (110c) can be placed in an area that does not obstruct the optical path between each target chart (270a) of the lidar device (120).

[0090] The features, structures, effects, etc. described in the embodiments above are included in one embodiment of the present invention and are not necessarily limited to just one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment can be combined or modified in other embodiments by those skilled in the art to which the embodiments pertain. Therefore, the contents related to such combinations and modifications should be construed as being included within the scope of the present invention.

[0091] In addition, although the above description focuses on embodiments, these are merely examples and do not limit the present invention. Those skilled in the art to which the present invention pertains will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present embodiment. For example, each component specifically shown in the embodiments can be modified and implemented. In addition, differences related to such modifications and applications should be interpreted as being included within the scope of the present invention defined in the appended claims.

[0092] [Explanation of symbols]

[0093] 110: Target

[0094] 111: Target surface

[0095] 112: 1st floor

[0096] 113: 2nd floor

[0097] 120: Lidar device

Claims

1. A target that is capable of rotating horizontally or vertically; and A lidar device is disposed at a predetermined distance from the target; The above lidar device, a transmitter emitting light toward the surface of the target; and A receiver for receiving light reflected from the surface of the target; A lidar performance test system in which the target is positioned so that the path of light emitted from the transmitter toward the surface of the target and the path of reflected light received by the receiver from the surface of the target are coincident or do not overlap.

2. In paragraph 1, The light emitted from the transmitter has an incident angle of 0 to 90° with respect to the surface of the target, and the lidar performance test system 3. In paragraph 1, A lidar performance test system, wherein the surface of the target comprises a first layer and a second layer.

4. In paragraph 3, A lidar performance test system, wherein the first layer is a primer layer.

5. In paragraph 3, The second layer above is a color layer, a lidar performance test system.

6. In paragraph 3, A lidar performance test system, wherein the surface of the target has surface reflection characteristics corresponding to the first layer and the second layer.

7. In paragraph 1, A lidar performance test system, wherein the above-mentioned distance is 2 m or less.

8. In paragraph 1, A lidar performance test system, wherein the target is formed in a rectangular shape with a predetermined surface area.

9. In paragraph 1, A lidar performance test system, wherein the target comprises one or more identification tags provided at an edge of the surface.

10. In paragraph 1, A lidar performance test system that obtains performance indicators for the target while rotating the target.

11. In paragraph 10, A lidar performance test system, wherein the above performance indicator is at least one of PoD (Probability of Detection) and Intensity.

12. In paragraph 10, A lidar performance test system that records the surface reflection characteristics of the target, reflectivity, the incident angle of the light, the wavelength of the light, the angle of the target, and performance indicators obtained in response to the angle.

13. In paragraph 10, A lidar performance test system that obtains performance indicators for the target while setting the angle between the optical axis of the lidar device and the surface of the target to 45°.

14. In paragraph 1, The above target includes a first target having a material having a retroreflective property on the surface and a second target having a black glossy surface. A lidar performance test system, wherein the first target and the second target are arranged side by side but have a predetermined separation distance.

15. A lidar performance test system for a lidar device including a transmitter that emits light toward the surface of a target and a receiver that receives light reflected from the surface of the target, A target is fixedly placed at a predetermined distance from the above lidar device; The above target is, Contains a surface coated with specular reflective properties, A lidar performance test system, wherein a surface is arranged flat in a direction perpendicular to the optical axis of the lidar device in an edge region of the field of view of the lidar device, or a surface is arranged obliquely in the direction of the optical axis of the lidar device in a center region of the field of view of the lidar device, so that the path of light emitted from the transmitter toward the surface of the target and the path of reflected light received by the receiver from the surface of the target do not match.

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