Method and apparatus for measuring ambient light for lidar inspection

Abstract

The present invention provides a LiDAR apparatus inspection method comprising the steps of: preparing an apparatus to be inspected, an object and an optical measurement device; measuring the illuminance of ambient light by using the optical measurement device; and determining a performance index related to the distance to the object by irradiating the object with light from the apparatus to be inspected. In addition, in the LiDAR apparatus inspection method, the optical measurement device can include at least two illuminometers, and each of the at least two illuminometers can be disposed to be spaced the same distance apart from the apparatus to be inspected. In addition, provided is the LiDAR apparatus inspection method in which each of the at least two illuminometers is disposed to be spaced the same distance apart from each other.

Description

Ambient light measurement method and device for LIDAR inspection

[0001] The present invention relates to a method and apparatus for testing the performance of a LiDAR device. More particularly, the present invention relates to a device and method for measuring ambient light to test the performance of a LiDAR device.

[0002] LiDAR devices are continuously evolving alongside the development of electric vehicles and autonomous driving technology. LiDAR devices use light to detect and locate surrounding objects, and generate point clouds based on the data collected using light.

[0003] As LiDAR devices become increasingly used in electric vehicles and autonomous driving technologies, there is a need to measure and test the precise performance of LiDAR devices.

[0004] Because LiDAR devices use light to detect objects, they can be susceptible to noise and performance degradation due to external environmental influences and external light. In autonomous driving and automotive sensing applications, which require precise measurements, precise performance measurement of sensing devices is crucial. However, ambient light and external influences can make performance measurements inconsistent or difficult to accurately measure.

[0005] Therefore, a method is needed to precisely measure the ambient light in an environment where the performance of a LiDAR device is tested.

[0006] The present invention has been conceived in consideration of the above-described purpose, and an object of the present invention is to provide a method and device for examining the performance of a LiDAR device.

[0007] Another object of the present invention is to provide a method and device for measuring and controlling ambient light for testing the performance of a LiDAR device.

[0008] The problem to be solved in the embodiment of the present invention is not limited to this, and it can be said that the purpose or effect that can be understood from the solution or embodiment of the problem described below is also included.

[0009] To solve the presented problem of the present invention, a method for inspecting a LiDAR device may include the steps of preparing an inspection target device, an object, and a light meter; measuring the illuminance of ambient light with the light meter; and determining a performance index for the object by irradiating light from the inspection target device to the object.

[0010] Additionally, the step of measuring the illuminance of ambient light with the light meter may include a step of aligning the direction of the light meter with the direction of the device to be inspected.

[0011] And, the step of measuring the illuminance of the ambient light with the light meter may include the step of repeatedly measuring the illuminance of the ambient light with the light meter multiple times; and the step of determining the average of the illuminance of the repeatedly measured ambient light as the ambient light illuminance value.

[0012] In addition, after the step of measuring the illuminance of the ambient light with the light meter, the step of setting the illuminance of the ambient light to a predetermined range may be further included.

[0013] Additionally, the photometer may include at least one illuminometer, and at least one illuminometer may have a field of view smaller than a field of view of the device under inspection.

[0014] And, the light measuring device includes at least two illuminance meters, and each of the at least two illuminance meters can be placed at the same distance from the device to be inspected.

[0015] Additionally, the light meter may include at least two illuminometers, each of which may be positioned at an equal distance from each other.

[0016] And, the light measuring device includes at least two illuminance meters, and the azimuths between adjacent illuminance meters among the at least two illuminance meters with respect to the device to be inspected as the center may be the same.

[0017] Additionally, at least one of the illuminometers may be placed at the same height as the device to be inspected.

[0018] And, the light meter may be arranged so that a part of the field of view of the light meter includes the ground between the device to be inspected and the object in the range, and a part of the field of view of the light meter does not include the ceiling between the device to be inspected and the object in the range.

[0019] In addition, the photometer may be characterized by having a different field of view from that of the device to be inspected.

[0020] Additionally, the performance indicators regarding the distance may include at least one of an object detection maximum distance, an object detection minimum distance, an object detection range accuracy, and an object detection range precision for the object.

[0021] And, the center line of the field of view of the inspection target device or the photodetector may be deflected toward the ground surface with respect to the horizontal plane.

[0022] A LiDAR device ambient light measurement device for solving the presented problem of the present invention may include: an external light source; an object positioned to determine a performance indicator of a device to be inspected; and a light meter positioned apart from the object and configured to measure ambient light emitted by the external light source.

[0023] Additionally, the object can be placed within the field of view of the photometer.

[0024] And, the light meter includes at least one illuminance meter, and at least one illuminance meter can have a field of view smaller than a field of view of the device to be inspected.

[0025] And, the light measuring device includes at least two illuminance meters, and each of the at least two illuminance meters can be placed at the same distance from the device to be inspected.

[0026] Additionally, the light meter may include at least two illuminance meters, and each of the at least two illuminance meters may be positioned at an equal distance from each other.

[0027] And, the light measuring device includes at least two illuminance meters, and the azimuths between adjacent illuminance meters among the at least two illuminance meters with respect to the device to be inspected as the center may be the same.

[0028] Additionally, the photometer includes at least one illuminance meter, and the at least one illuminance meter can be placed at the same height as the device to be inspected.

[0029] And, the light meter may be arranged so that a part of the field of view of the light meter includes the ground between the device to be inspected and the object in the range, and a part of the field of view of the light meter does not include the ceiling between the device to be inspected and the object in the range.

[0030] The inspection method and device for a LiDAR device according to the present invention can measure and adjust ambient light for precisely measuring the performance indicators of LiDAR.

[0031] FIG. 1 is a schematic diagram for explaining the operation of a LiDAR device and / or an inspection target device including a light emitter and a light detector to which the present invention is applied.

[0032] FIG. 2 is a drawing for explaining an environment for inspecting a LiDAR device according to one embodiment of the present invention.

[0033] FIG. 3 is a drawing for explaining illuminance measurement using a light meter in an environment for inspecting a LiDAR device according to one embodiment of the present invention.

[0034] FIG. 4 is a drawing for explaining the arrangement of a LiDAR device and a photometer in an environment for inspecting a LiDAR device according to one embodiment of the present invention.

[0035] FIG. 5 is a top view illustrating the arrangement of a LiDAR device and a light measuring device according to one embodiment of the present invention.

[0036] FIG. 6 is a top view illustrating the arrangement of a LiDAR device and a light measuring device according to one embodiment of the present invention.

[0037] FIG. 7 is a top view illustrating the arrangement of a LiDAR device and a photometer according to one embodiment of the present invention.

[0038] FIG. 8 is a drawing for explaining the configuration of a light meter, which is a light measuring device according to one embodiment of the present invention.

[0039] 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.

[0040] Terms that include ordinal numbers, such as "first" and "second," can be used to describe various components, but the components themselves are not limited by these terms. Terms can be used to distinguish one component from another. For example, it should be understood that a "first" component could be referred to as a "second" component, and vice versa.

[0041] 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.

[0042] FIG. 1 is a schematic diagram for explaining the operation of a LiDAR device and / or an inspection target device including a light emitter and a light detector to which the present invention is applied.

[0043] Referring to FIG. 1, the inspection target device (10), which is a LiDAR device to which the present invention is applied, may include a light emitter (11) for emitting light, a light detector (12) for detecting that the emitted light is reflected back from an object (20), and an optical device (13) provided in an optical path through which the light emitted from the light emitter (11) is received by the light detector (12). Here, the light emitter (11) may be a diode or a laser light source, but is not limited thereto. The inspection target device, which is a LiDAR device, may calculate a range or property of an object (200) by using the reflected light reflected back from the object (20).

[0044] In this specification, the device under test (DUT) may be interchangeably referred to as a LiDAR device.

[0045] In the present invention, a point cloud may refer to a collection of data points in 3D space. The collection of data points generated by a LiDAR device to which the present invention is applied may also be referred to as a point cloud. Since the distances between data points constituting a point cloud are generally non-uniform, it is desirable to specifically encode all three coordinates (Cartesian or spherical coordinates) for each point.

[0046] Meanwhile, cloud points may refer to data points produced by a LiDAR device.

[0047] According to the present invention, the device to be tested may be referred to as a device under test (DUT).

[0048] In the present invention, a result where the measured value is positive is an accurate measurement value, i.e., both the measured value and the result are positive, and is called a true positive (TP). A result where the measured value is positive is an incorrect measurement value, i.e., the measured value is positive but the result is negative, and is called a false positive (FP).

[0049] In the present invention, the probability of a valid point in a single measurement and / or accumulated multiple measurements for a single object is called the probability of detection (PoD) or true positive rate. The detection probability may depend on background noise, the reflectivity of the object, the tolerance of the range, and other properties. The PoD can be calculated by the following mathematical expression 1, where true (TP) represents the scan points that are hit overall on the object detected at a distance (actual) ±Δ. The detection probability is calculated as the ratio of the number of valid points to the number of theoretical points.

[0050] [Mathematical Formula 1]

[0051]

[0052] According to the present invention, in the point cloud of a LiDAR device, the angle formed by the connection between two adjacent detection points and the three-dimensional coordinate origin of the point cloud in terms of azimuth angle and elevation angle may be referred to as angular resolution. The angular resolution of the LiDAR device may be divided into azimuth resolution and elevation resolution. Angular resolution may be utilized as a performance indicator for the LiDAR device to distinguish one point from another.

[0053] According to the present invention, in a point cloud of a LiDAR device, the angle between two outermost valid points where the PoD exceeds 50% (e.g., Lambertian object reflectance of 50%) is referred to as a field of view (FOV) range. The FOV range includes a horizontal FOV range and a vertical FOV range.

[0054] According to the present invention, the frame captures the entire FOV (horizontal / vertical).

[0055] A method for inspecting a lidar device according to an embodiment of the present invention is based on ambient light and object reflectivity. The ambient light may be an illuminance value measured in kilolux (klux). The object reflectivity may be 10%. Alternatively, the ambient light may be irradiance ( ) may be an illuminance value measured in units of . It may be the sum of the illuminance values ​​of the wavelength band of the device to be inspected.

[0056] A light measuring device according to one embodiment of the present invention may include a illuminance meter, and the illuminance meter may measure illuminance in lux units. Here, illuminance refers to the amount of light illuminated by a light source per area, and the illuminance may be determined as the ratio of the illuminated area to the luminous flux.

[0057] A light meter according to one embodiment of the present invention may be a device that detects light in the visible light wavelength band.

[0058] The ambient light and external light source according to one embodiment of the present invention may be outdoor light or indoor light.

[0059] FIG. 2 is a drawing for explaining an environment for inspecting a LiDAR device according to one embodiment of the present invention.

[0060] Referring to FIG. 2, an inspection target device (10), which is a LiDAR device according to an embodiment of the present invention, may be installed and prepared, and an object (20) may be prepared. In addition, an external light source (30) may be present or placed in an environment for inspecting the LiDAR device. In addition, indoor light may be installed in an indoor measurement environment for measuring the LiDAR device. The shape of the object (20) may be a flat plate or a three-dimensional shape. The indoor light may include fluorescent lights, LED lights, halogen lamps, natural light simulators, laser pointers, UV lights, and infrared lights.

[0061] Referring to FIG. 2, an environment for testing a LiDAR device according to one embodiment of the present invention can detect reflected light reflected by an object (20) from light emitted from the inspection target device (10) to examine performance indicators of the inspection target device (10), which is a LiDAR device. The performance indicators can include at least one of distance accuracy, distance precision, range performance, resolution, and angular resolution.

[0062] FIG. 3 is a drawing for explaining illuminance measurement using a light meter in an environment for inspecting a LiDAR device according to one embodiment of the present invention.

[0063] Referring to FIG. 3, illuminance measurement using a light meter according to one embodiment of the present invention can be performed by placing a light meter (40) at the location of the inspection target device (10) of FIG. 2. Specifically, the light meter (40) can align the measurement direction so as to match the direction in which the inspection target device (10) is directed at the location where the inspection target device (10) is placed. In addition, the light meter (40) can have a field of view (FOV) range that matches the field of view (FOV) range of the inspection target device (10) of the light meter (40), since the inspection target device (10) can be affected by reflected light from the floor and ceiling. In addition, the field of view (FOV) range of the light meter (40) can be a range that includes the floor and does not include the ceiling.

[0064] More specifically, a part of the field of view (FOV) range of the light meter (40) according to one embodiment of the present invention may include the ground between the inspection target device (10) and the object (20), and a part of the field of view (FOV) range may not include the ceiling between the inspection target device (10) and the object (20). In addition, the light meter (40) may be positioned so that a part of the field of view (FOV) range includes the ground and does not include the ceiling.

[0065] In addition, the inspection target device (10) and the photometer (40) according to one embodiment of the present invention may be arranged so that the center line of the field of view (FOV) range is deflected toward the ground surface with respect to the horizontal plane. For example, when the elevation angle field of view (FOV) of the inspection target device (10) and the photometer (40) is 30 degrees, the center line of the field of view range may be deflected toward the ground surface with respect to the horizontal plane, and the elevation angle of the field of view range above the horizontal plane may be 5 degrees, and the elevation angle of the field of view range below the horizontal plane may be 25 degrees.

[0066] According to one embodiment of the present invention, the light meter (40) is a device for measuring ambient light in an environment in which a LiDAR device is tested, and may include an illuminometer, a spectrometer, a lumen meter, a lux meter, a radiometer, a photometer, a colorimeter, an infrared meter, and a UV light meter.

[0067] FIG. 4 is a diagram illustrating the arrangement of a LiDAR device and a photometer in an environment for inspecting a LiDAR device according to one embodiment of the present invention. FIG. 5 is a top view illustrating the arrangement of a LiDAR device and a photometer according to one embodiment of the present invention. FIG. 6 is a top view illustrating the arrangement of a LiDAR device and a photometer according to one embodiment of the present invention.

[0068] Referring to FIG. 4, an environment for testing a LiDAR device according to one embodiment of the present invention may include a device to be inspected (10), an object (20), an external light source (30), a first light meter (41) arranged to face the same direction as the direction of the device to be inspected (10), and a second light meter (42) arranged to face the same direction as the direction of the device to be inspected (10).

[0069] The first photometer (41) and the second photometer (42) can be aligned to have the same orientation as the inspection target device (10) and can be positioned to have the same height as the height of the inspection target device (10). Specifically, the inspection target device (10) can include a light receiver or a light detector, and the first and second photometers (41, 42) can be positioned at the same height as the height at which the light receiver or the light detector of the inspection target device (10) is positioned.

[0070] In addition, the first photometer (41) and the second photometer (42) according to one embodiment of the present invention may have different field of view ranges. Specifically, the field of view range of the first photometer (41) may be smaller than the field of view range of the inspection target device (10), and the field of view range of the second photometer (42) may be larger than the field of view range of the inspection target device (10). As described above, when the field of view range of the first photometer (41) is smaller than the field of view range of the inspection target device (10), since the distance from the first photometer (41) to the object (20) is longer than the distance from the inspection target device (10) to the object (20), the size and dimension of the object (20) included in the field of view of the inspection target device (10) may be similar or identical to the size and dimension of the object (20) included in the field of view of the first photometer (41). Likewise, when the field of view of the second light meter (42) is larger than the field of view of the inspection target device (10), the distance from the second light meter (42) to the object (20) is closer than the distance from the inspection target device (10) to the object (20), so the size and dimension of the object (20) included in the field of view of the inspection target device (10) and the size and dimension of the object included in the field of view of the second light meter (42) may be similar or identical.

[0071] In addition, each of the first photometer (41) and the second photometer (42) can be placed at the same distance from the inspection target device (10), and the first photometer (41) and the second photometer (42) can be placed at the same distance from each other.

[0072] Referring to FIG. 5a, the first photometer (41) and the second photometer (42) can be placed on the left and right of the inspection target device (10). In addition, the first photometer (41) and the second photometer (42) can be placed so as to face the object (20), similar to how the inspection target device (10) is placed so as to face the object (20).

[0073] In addition, the field of view of the first photometer (41) and the second photometer (42) arranged on the left and right of the inspection target device (10) according to one embodiment of the present invention may be narrower than the field of view of the inspection target device (10).

[0074] Referring to FIG. 5b, the first photometer (41) and the second photometer (42) can be placed before and after the inspection target device (10). The first photometer (41) and the second photometer (42) can be placed to point toward the object (20) as described above.

[0075] Referring to FIG. 6, the photometer (40) may be configured in plurality. Specifically, the plurality of photometers (40) may be arranged to be spaced apart from the inspection target device (10) by the same distance, and each of the plurality of photometers (40) may be arranged to be spaced apart from each other by the same distance. In addition, each of the plurality of photometers (40) may be arranged at the same height as the inspection target device (10). In addition, the plurality of photometers (40) may be arranged to be directed toward the object (20), similar to the inspection target device (10) being arranged to be directed toward the object (20).

[0076] In addition, in the case where the measurement area and the field of view of the plurality of light meters (40) according to one embodiment of the present invention overlap in the direction toward the object (20), some of the light meters whose field of view overlaps among the measurement areas may not be placed or may be removed.

[0077] In addition, a plurality of photometers (40) according to one embodiment of the present invention may be arranged based on the field of view of the inspection target device (10). Specifically, when the field of view of each of the plurality of photometers (40) is smaller than the field of view of the inspection target device (10), they may be arranged so as to be biased so as to include the field of view of the inspection target device (10).

[0078] FIG. 7 is a top view illustrating the arrangement of a LiDAR device and a photometer according to one embodiment of the present invention.

[0079] Referring to FIG. 7, a LiDAR inspection device according to one embodiment of the present invention may include a photometer and a device to be inspected (100). The photometer may include a plurality of photometers. For example, the photometer may include a first photometer (210), a second photometer (220), a third photometer (230), and a fourth photometer (240). Each of the first to fourth photometers (210, 220, 230, 240) may be arranged to be spaced apart from the device to be inspected (100) by the same distance, and each of the first to fourth photometers (210, 220, 230, 240) may be arranged to be spaced apart from each other by the same distance.

[0080] According to one embodiment of the present invention, a LiDAR device inspection device and method can avoid placing or remove objects when measuring ambient light using a light meter. By avoiding placing or removing objects, errors in illuminance measurement due to reflected light from objects can be minimized.

[0081] In a LiDAR device inspection method according to one embodiment of the present invention, when measuring, the measurer may perform the measurement while positioned below or at a distance further than the height of the light meter in order to minimize the influence on the ambient light measurement of the light meter.

[0082] In order to increase the accuracy of ambient light measurements by a light meter, a LiDAR device inspection method according to one embodiment of the present invention may measure ambient light repeatedly multiple times. Specifically, the ambient light illuminance may be measured repeatedly at least twice, and the measured illuminance may be averaged to determine the ambient light illuminance value.

[0083] In addition, a method for inspecting a LiDAR device according to an embodiment of the present invention measures the illuminance of ambient light using a light meter, and if the illuminance of the ambient light is not within a predetermined range (preferably 75 klux to 100 klux), the ambient light of the surrounding environment can be set to a predetermined range in order to inspect the LiDAR device. To adjust the ambient light to a predetermined range, an ambient light control unit can be used.

[0084] In a LiDAR device inspection method according to one embodiment of the present invention, the field of view of the photometer may be smaller than the field of view of the inspection target device (100). Specifically, since the field of view of the photometer is smaller than the field of view of the inspection target device (100), a plurality of photometers may be used to cover the field of view of the inspection target device (100).

[0085] In addition, the LiDAR device inspection method according to one embodiment of the present invention may have a field of view of the light meter that is different from the field of view of the inspection target device (100). Depending on the characteristics of the reflected light reflected and incident on the LiDAR device and the noise characteristics of the LiDAR, a light meter that is wider or narrower than the field of view of the inspection target device (100) may be used.

[0086] FIG. 8 is a drawing for explaining the configuration of a light meter, which is a light measuring device according to one embodiment of the present invention.

[0087] A light meter (300) according to one embodiment of the present invention may include a diffuser plate (310), a light guide (320), a light receiving element (340), and a filter (350).

[0088] The shape of the diffuser plate (310) according to one embodiment of the present invention may be a hemisphere. The diffuser plate (310) can uniformly disperse light entering at various angles and transmit the same to the light receiving element. Specifically, the shape of the diffuser plate (310) is a hemisphere, and light entering the diffuser plate at an angle greater than or equal to 0 with respect to the vertical axis of the illuminance meter can be applied to a cos function so that the light can be uniformly incident.

[0089] According to one embodiment of the present invention, the light guide (320) can prevent unnecessary light, noise, and reflected light incident from the outside from reaching the light receiving element (340). In a measurement environment where reflected light exists, the light guide (320) can physically block light and can be made of an opaque material. The light guide (320) can limit the maximum range of the field of view of the illuminometer (300).

[0090] Additionally, according to one embodiment of the present invention, the light guide (320) may further include a reflector. The reflector may reflect incident light so that the light incident toward the diffuser (310) can be better collected.

[0091] According to one embodiment of the present invention, the filter (350) can improve measurement accuracy by allowing only light of a specific wavelength to pass through or blocking light of various wavelengths. To test the performance of a LiDAR device, it can be used to measure the ambient light of an environment for measuring the performance of the LiDAR device by allowing only light of the same wavelength as the wavelength of light used in the LiDAR device to pass through.

[0092] According to one embodiment of the present invention, a light-receiving element (340) can detect incident light and convert it into an electrical signal. To detect and convert light into an electrical signal, the light can be converted into voltage or current through the photoelectric effect, and the converted voltage or current can be used to measure illuminance through intensity measurement. The light-receiving element (340) can be configured as a photodiode to convert light into electricity.

[0093] According to one embodiment of the present invention, a method for inspecting a LiDAR device may include the steps of preparing an inspection target device, an object, and a light meter, the step of measuring the illuminance of ambient light using the light meter, and the step of irradiating light from the inspection target device to the object to determine a performance index regarding the distance to the object. Specifically, the step of preparing the inspection target device, the object, and the light meter may include placing the inspection target device, the object, and the light meter at a location for measurement.

[0094] Additionally, the step of measuring the illuminance of ambient light using a light meter according to one embodiment of the present invention may include a step of aligning the orientation of the light meter with the orientation of the device to be inspected. Specifically, by aligning the orientation of the device to be inspected with the orientation of the light meter, the LiDAR device can perform performance measurements that take into account the influences (e.g., interference and noise) it receives from ambient light.

[0095] Although the detailed description of the invention described above has been described with reference to preferred embodiments of the invention, it should be understood that those skilled in the art can make various modifications and changes to the invention without departing from the spirit and scope of the invention as set forth in the claims.

[0096] [Explanation of symbols]

[0097] Number of devices tested: 10

[0098] Light emitters: 11

[0099] Photodetectors: 12

[0100] Optical devices: 13

[0101] Object: 20

[0102] Indoor light: 30

[0103] Light Meter: 40

[0104] Device under test (DUT): 100

[0105] First photometer: 210

[0106] Second photometer: 220

[0107] Third photometer: 230

[0108] 4th photometer: 240

[0109] Light meter: 300

Claims

1. In the LiDAR device inspection method, Step of preparing the inspection target device, object and photometer; A step of measuring the illuminance of ambient light using the above light meter; A step of irradiating light from the inspection target device to the object to determine a performance indicator for the object, Method for inspecting LiDAR devices.

2. In paragraph 1, The step of measuring the illuminance of ambient light with the above light meter is: A step of aligning the orientation of the photometer with the orientation of the device to be inspected, Method for inspecting LiDAR devices.

3. In paragraph 1, The step of measuring the illuminance of ambient light with the above light meter is: A step of repeatedly measuring the illuminance of the ambient light multiple times with the light meter; and A step of determining the average of the illuminance of the repeatedly measured ambient light as the ambient light illuminance value is included. Method for inspecting LiDAR devices.

4. In paragraph 1, After the step of measuring the ambient light intensity using the above light meter, Further comprising a step of setting the illuminance of the ambient light to a predetermined range. Method for inspecting LiDAR devices.

5. In paragraph 1, The above light meter comprises at least one illuminometer, At least one of the above illuminometers has a field of view smaller than the field of view of the device to be inspected, Method for inspecting LiDAR devices.

6. In paragraph 1, The above light meter comprises at least two illuminometers, Each of the at least two illuminometers is placed at the same distance from the device to be inspected. Method for inspecting LiDAR devices.

7. In paragraph 1, The above light meter comprises at least two illuminometers, Each of the at least two light meters is placed at an equal distance from each other, Method for inspecting LiDAR devices.

8. In paragraph 1, The above light meter comprises at least two illuminometers, The azimuths centered on the device to be inspected between adjacent illuminometers among the above at least two illuminometers are all the same. Method for inspecting LiDAR devices.

9. In paragraph 1, The above light meter comprises at least one illuminometer, wherein at least one of the above illuminometers is placed at the same height as the device to be inspected; Method for inspecting LiDAR devices.

10. In paragraph 1, The photometer is arranged so that a part of the field of view of the photometer includes the ground between the device to be inspected and the object in the range, and a part of the field of view of the photometer does not include the ceiling between the device to be inspected and the object in the range. Method for inspecting LiDAR devices.

11. In paragraph 1, The above photometer is characterized in that it has a different field of view from the device to be inspected. Method for inspecting LiDAR devices.

12. In paragraph 1, The above performance indicators are, At least one of object detection maximum distance, object detection minimum distance, object detection range accuracy and object detection range precision for the above object, Method for inspecting LiDAR devices.

13. In paragraph 1, The center line of the field of view of the above inspection target device or the photodetector is biased toward the ground surface with respect to the horizontal plane. Method for inspecting LiDAR devices.

14. In the LiDAR device ambient light measurement device, external light source; Objects placed to determine performance indicators of the device under test; and A light meter is disposed at a distance from the object and includes a light meter for measuring ambient light from the external light source. LiDAR device ambient light measurement device.

15. In paragraph 14, The above object is placed within the field of view of the photometer. LiDAR device ambient light measurement device.

16. In paragraph 14, The above light meter comprises at least one illuminometer, At least one of the above illuminometers has a field of view smaller than the field of view of the device to be inspected, LiDAR device ambient light measurement device.

17. In paragraph 14, The above light meter comprises at least two illuminometers, Each of the at least two illuminometers is placed at the same distance from the device to be inspected. LiDAR device ambient light measurement device.

18. In paragraph 14, The above light meter comprises at least two illuminometers, Each of the at least two light meters is placed at an equal distance from each other, LiDAR device ambient light measurement device.

19. In paragraph 14, The above light meter comprises at least two illuminometers, The azimuths centered on the device to be inspected between adjacent illuminometers among the above at least two illuminometers are all the same. LiDAR device ambient light measurement device.

20. In paragraph 14, The above light meter comprises at least one illuminometer, wherein at least one of the above illuminometers is placed at the same height as the device to be inspected; LiDAR device ambient light measurement device.

21. In paragraph 14, The photometer is arranged so that a part of the field of view of the photometer includes the ground between the device to be inspected and the object in the range, and a part of the field of view of the photometer does not include the ceiling between the device to be inspected and the object in the range. LiDAR device ambient light measurement device.

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