Method and apparatus for inspecting lidar device

Abstract

The present invention provides a method for inspecting a LiDAR device, the method comprising the steps of: preparing a device to be inspected and an object; and determining a performance index related to a distance to the object by irradiating the object with light from the device to be inspected. In addition, the present invention provides a method for inspecting a LiDAR device, in which a minimum dimension of an object is determined according to a resolution of the device to be inspected.

Description

Inspection method and device for LIDAR device

[0001] The present invention relates to a method and apparatus for testing the performance of a device to be tested (e.g., a LiDAR device). More particularly, the present invention relates to a device and method for testing the range performance of a device to be tested (e.g., 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] When it comes to LiDAR device performance metrics, range capability is a key indicator, a crucial indicator of LiDAR performance. Range capability refers to the maximum and minimum distance range of a LiDAR device, and represents the range it can detect and detect.

[0005] To objectively evaluate and improve the range performance of LiDAR devices, a method is needed to measure the range performance of LiDAR in a specific standard environment.

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

[0007] Furthermore, it is an object of the present invention to provide a method and device for testing the range performance of a LiDAR device in an efficient, precise and standardized manner by defining the minimum dimension of an object for testing the range performance of a LiDAR device.

[0008] To solve the presented problem of the present invention, a LiDAR device inspection method may include a step of preparing an inspection target device and an object, and a step of irradiating light from the inspection target device to the object to determine a performance index regarding a distance to the object.

[0009] And, the step of determining a performance indicator regarding the distance to the object may further include the step of determining a maximum object detection distance and a minimum object detection distance of the inspection target device.

[0010] Additionally, the step of determining a performance indicator regarding the distance to the object may include the step of receiving light emitted from the inspection target device and reflected from the object, and the step of calculating an object detection probability (PoD) of the inspection target device.

[0011] And, the step of determining a performance indicator regarding the distance to the object may further include a step of determining an object detection range for the calculated object detection probability (PoD).

[0012] Additionally, the step of preparing the inspection target device and object may further include a step of moving the inspection target device and object.

[0013] And, the object may be characterized by having a flat shape.

[0014] Additionally, the minimum dimension of the object may be determined according to the resolution of the inspection target device.

[0015] And, the minimum dimension of the object has a width and a height, and the resolution of the inspection target device can be angular resolution.

[0016] Also, the minimum dimension of the object has width and height, and the width of the object is width = 2 * Range * tanθH_resol + margin w is expressed as a formula, and the height of the object is height = 2 * Range * tanθ V_resol +margin v is expressed as a formula, and the Range is the distance between the inspection target device and the object, and the θ H_resol is the azimuthal resolution of the object, and θ V_resol is the elevation resolution of the object, and margin w is the horizontal length margin, margin v may be characterized by a vertical length margin.

[0017] And, the performance indicator regarding the distance may include at least one of the object detection maximum distance, object detection minimum distance, object detection range accuracy, and object detection range precision for the object.

[0018] A LiDAR inspection device for solving the presented problem of the present invention may include an inspection target device support unit for supporting an inspection target device, an object support unit for supporting an object, a distance control unit for controlling a distance between the inspection target device support unit and the object support unit, and a processing unit for controlling the inspection target device supported by the inspection target device support unit and determining a performance index regarding a distance of the inspection target device based on an input from the distance control unit and an output from the inspection target device.

[0019] And, the processor unit can determine the maximum object detection distance and the minimum object detection distance of the inspection target device.

[0020] Additionally, the processor unit can calculate the object detection probability (PoD) of the inspection target device.

[0021] And, the processor unit can determine an object detection range for the calculated object detection probability (PoD).

[0022] In addition, the distance control unit can control the distance by moving the inspection target device and object.

[0023] And, the object may be characterized by having a flat shape.

[0024] Additionally, the minimum dimension of the object may be determined according to the resolution of the inspection target device.

[0025] And, the minimum dimension of the object has a width and a height, and the resolution of the inspection target device can be angular resolution.

[0026] Also, the minimum dimension of the object has width and height, and the width of the object is width = 2 * Range * tanθ H_resol + margin w is expressed as a formula, and the height of the object is height = 2 * Range * tanθ V_resol +margin v is expressed as a formula, and the Range is the distance between the inspection target device and the object, and the θ H_resol is the azimuthal resolution of the object, and θ V_resol is the elevation resolution of the object, and margin w is the horizontal length margin, margin v may be characterized by a vertical length margin.

[0027] And, the performance indicator regarding the distance may include at least one of the object detection maximum distance, object detection minimum distance, object detection range accuracy, and object detection range precision for the object.

[0028] In order to solve the presented problem of the present invention, a LiDAR device inspection device may include: a device to be inspected; an object positioned within a field of view of the device to be inspected; and a processor that determines a maximum detection distance of the device to be inspected based on a plurality of points acquired by irradiating light from the device to the object.

[0029] Additionally, the plurality of points may be at least two in the vertical or horizontal direction.

[0030] And, the number of the above multiple points can be at least four.

[0031] A LiDAR device inspection device for solving the presented problem of the present invention includes an inspection target device; and an object positioned within a field of view of the inspection target device, wherein the width and height of the object can be determined according to an azimuth resolution or an elevation resolution of the inspection target device.

[0032] The inspection method and device for a LiDAR device according to the present invention can efficiently and precisely measure range performance by defining the minimum dimension of an object based on the performance indicator of LiDAR.

[0033] 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.

[0034] FIG. 2 is a block diagram illustrating the configuration of a LiDAR device according to one embodiment of the present invention.

[0035] FIG. 3 is a drawing for explaining a device for adjusting the distance between a LiDAR device and an object according to one embodiment of the present invention.

[0036] FIG. 4 is a conceptual diagram for explaining the precision and accuracy measured by a LiDAR device inspection method according to one embodiment of the present invention.

[0037] FIG. 5 is a drawing for explaining the minimum size of an object measured by a LiDAR device inspection method according to one embodiment of the present invention.

[0038] Figure 6 is a schematic diagram showing the relationship between the angular resolution of the device under test (DUT) and the minimum dimension of the object.

[0039] FIG. 7 is a flowchart illustrating a LiDAR device inspection method according to one embodiment of the present invention.

[0040] 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.

[0041] 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.

[0042] 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.

[0043]

[0044] 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.

[0045] 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).

[0046] In this specification, the device under test (DUT) may be interchangeably referred to as a LiDAR device.

[0047] 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.

[0048] According to the present invention, the device to be tested may be referred to as a device under test (DUT).

[0049] 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).

[0050] 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.

[0051] [Mathematical Formula 1]

[0052]

[0053] 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.

[0054] 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.

[0055] According to the present invention, the frame captures the entire FOV (horizontal / vertical).

[0056] FIG. 2 is a block diagram illustrating the configuration of a LiDAR device according to one embodiment of the present invention.

[0057] As illustrated in FIG. 2, the inspection target device (10), which is a LiDAR device, may include an inspection target device support unit (14), a rotation adjustment unit (15), a processor unit (16), and a memory unit (17).

[0058] The inspection target device support member (14) according to one embodiment of the present invention can support the inspection target device. Specifically, the inspection target device support member (14) can be coupled with the inspection target device to support the inspection target device, rotate together with the inspection target device by the rotation adjustment member (12), or support shaking or vibration of the inspection target device caused by rotation by the rotation adjustment member (12).

[0059] A rotation adjustment unit (15) of an inspection target device according to one embodiment of the present invention can rotate the inspection target device (10) and the inspection target device support unit (14). Specifically, the rotation adjustment unit (15) can be connected to the inspection target device (10) and the inspection target device support unit (14), and can adjust the direction of the field of view of the inspection target device through rotation.

[0060] The process unit (16) according to one embodiment of the present invention can control the operation of the rotation adjustment unit (15). Specifically, as described above, by rotating the inspection target device, the orientation of the field of view of the inspection target device can be adjusted through rotation. For example, when the orientation of the field of view of the inspection target device is toward the center of the object, the orientation of the field of view of the inspection target device can be adjusted by adjusting the azimuth and elevation angles with respect to the center of the object.

[0061] In addition, the process unit (16) according to one embodiment of the present invention can calculate a point cloud through light emitted through the inspection target device (10) and light reflected and received from the object (20). In addition, the process unit (16) according to one embodiment of the present invention can calculate performance indicators such as probability of detection (PoD), angular resolution, and range capability.

[0062] The memory unit (17) according to one embodiment of the present invention can store information output by the inspection target device connected to the inspection target device (10). In addition, the memory unit (17) can store information that the processor unit (16) generates based on the information output by the inspection target device. In addition, the memory unit (17) can record a program for controlling the operation of the rotation adjustment unit (15) and processing the information output by the inspection target device to cause the processor unit (16) to perform an operation of determining each resolution of the inspection target device.

[0063] FIG. 3 is a drawing for explaining a device for adjusting the distance between a LiDAR device and an object according to one embodiment of the present invention.

[0064] A LiDAR device inspection device according to one embodiment of the present invention includes a device under test (DUT) support unit (31) for supporting a device under test (DUT) (10), an object support unit (32) for supporting an object (20), a distance adjustment unit (33) for adjusting a distance between the device under test support unit (31) and the object support unit (32), and a processor unit (34) for controlling the device under test (10) supported by the device under test support unit (31) and determining an object detection range of the LiDAR device, which is the device under test (10), based on distance information output from the distance adjustment unit (33) and an output from the device under test (DUT) (10).

[0065] A LiDAR device inspection device according to another embodiment of the present invention may further include an illuminance confirmation unit for checking the illuminance of ambient light or an ambient light control unit for controlling the illuminance of ambient light. A LiDAR device inspection device according to another embodiment of the present invention may further include a humidity and temperature confirmation unit for checking the humidity and temperature or a humidity and temperature control unit for controlling the humidity and temperature.

[0066] According to one embodiment of the present invention, the device under test support member (31) can be configured to be rotatable while supporting the device under test (DUT).

[0067] A distance control unit (33) according to one embodiment of the present invention can control the distance between the device under test (DUT) support unit (31) and the object support unit (32) so that the distance between the device under test (DUT) (10) and the object (20) can be controlled to be different distances in at least m steps between a predetermined maximum distance and a predetermined minimum distance.

[0068] In addition, the inspection target device support unit (31) and the object support unit (32) according to one embodiment of the present invention may be movable so that the distance between them can be adjusted by the distance adjustment unit (33). Specifically, the inspection target device support unit (31) and the object support unit (32) may be configured to be movable in a straight line toward each other. Specifically, the inspection target device support unit (31) and the object support unit (32) may be configured to be individually and independently movable.

[0069] A processor unit according to one embodiment of the present invention may include a processor and a memory. The memory may record a program that causes the processor to perform an operation of recording an output of a device under test (DUT), converting it into a point cloud, and calculating a PoD at a predetermined distance i based on the output from the device under test (DUT) and distance information from a distance control unit (33).

[0070] A program to be executed by a processing unit of a LiDAR device inspection device according to one embodiment of the present invention may perform the steps of causing a distance control unit (33) to separate a distance between a device under test (DUT) and an object by a distance i in each of m steps from i=1 to m between a predetermined maximum distance and a minimum distance, a step of driving the device under test (DUT) from j=1 to n in each step i to acquire n frames, a step of calculating a PoD based on the n frames acquired from the device under test (DUT) in each step i, and a step of determining and outputting an object detection range for the PoD.

[0071] FIG. 4 is a conceptual diagram for explaining the precision and accuracy measured by a LiDAR device inspection method according to one embodiment of the present invention.

[0072] As illustrated in Figure 4, the measurement distribution obtained through repeated measurements of the same object under specific conditions is referred to as measurement precision. In the technical field of the present invention, precision is given by the standard deviation. The standard deviation σ can be mathematically expressed by the following mathematical equation 2.

[0073] [Equation 2]

[0074]

[0075] As illustrated in Fig. 4, the difference between the measured average value and its actual value can be referred to as measurement accuracy. Accuracy δ can be mathematically expressed by the following mathematical equation 3.

[0076] [Equation 3]

[0077]

[0078] The minimum and maximum distances at which a lidar device can detect objects with specific reflectivity and environmental conditions can be termed range capability. Environmental conditions may include light intensity, PoD, noise level, and object orientation.

[0079] The measurement precision for a range result is called range precision.

[0080] The measurement accuracy / truthiness for a range result is called range accuracy / truthiness.

[0081] The property of lidar that reduces interference with the reception of useful laser pulse signals is called anti-interference. Sources of interference in inspections include lidar and ambient light. Interference can create false positives in point clouds.

[0082] The gap that occurs between the two surfaces (front and back) when the laser beam strikes both surfaces simultaneously is called an interstitial point.

[0083] A method for inspecting a lidar device according to one embodiment of the present invention is for measuring the minimum / maximum distance at which a device under test (DUT) can detect an object, i.e., an object detection range. The object may have a predetermined reflectivity.

[0084] 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.

[0085] According to one embodiment of the present invention, the size of the object may be sufficient to measure the range performance according to the specifications of each resolution of the device under test (DUT).

[0086] The angular resolution of the device under test (DUT) and the minimum dimension of the object according to one embodiment of the present invention can be expressed by the relationship as shown in the following mathematical expressions 4 and 5. In mathematical expressions 4 and 5, range is the distance from the device under test (DUT) to the object to be inspected, width and height are the minimum horizontal length and minimum vertical length of the object to be inspected, respectively, and θ H_resol is the azimuthal resolution of the device under test (DUT), θ V_resol is the elevation resolution, margin of the device under test (DUT). w is the horizontal length margin, margin v is the vertical length margin. The margin can be the length corresponding to the vertical / horizontal marginal (<θH_resol or V_resol) in the Range distance.

[0087] [Equation 4]

[0088]

[0089] [Equation 5]

[0090]

[0091] According to one embodiment of the present invention, by calculating a size sufficient or a minimum size for measuring range performance according to the specifications of the device to be inspected, the efficiency and accuracy of the inspection space can be increased. In other words, by setting different sizes depending on the inspection range, the efficiency of the inspection space can be increased.

[0092] Below, the minimum dimension and size of the object are described in more detail with reference to FIGS. 5 and 6.

[0093] FIG. 5 is a diagram illustrating the minimum size of an object measured by a LiDAR device inspection method according to one embodiment of the present invention. FIG. 6 is a schematic diagram showing the relationship between the angular resolution of a device under test (DUT) and the minimum dimension of an object.

[0094] When testing the performance of a LiDAR device, it's necessary to examine performance metrics at varying distances. In such cases, a stable point data acquisition and spatially efficient object dimension is required.

[0095] Referring to Fig. 5a, an object is depicted whose dimensions are a width that is one multiple of the azimuth resolution and a height that is one multiple of the elevation resolution. If the object dimensions are small, as illustrated in Fig. 5a, only one point may be located within the object, or a point may be located at the boundary between the object and the exterior (or background). In this case, it may be difficult to determine whether a single data point corresponds to the actual location of the object or is noise caused by the influence of the external environment.

[0096] Also, referring to FIG. 5b, an object is illustrated having a width that is greater than one multiple of the azimuth resolution and less than two multiples of the height resolution, and a height that is greater than one multiple of the elevation resolution and less than two multiples of the height resolution. When the object dimension is small, as illustrated in FIG. 5b, one or two points may be located inside the object, or points may be located on the boundary of the exterior (or background) of the object. In this case, it may be difficult to determine whether a single point data is actual measured data or noise caused by the influence of the external environment.

[0097] In addition, if the object dimension is an object with a width that is twice the azimuth resolution and a height that is twice the elevation resolution, there may be cases where the point data is detected at the exact center of the object, resulting in only one point data being detected. In this case, as described above, it may be difficult to determine whether it is actual measured data or noise caused by the external environment. In the worst case scenario, it may be difficult to obtain multiple point data, and in this case, it may be difficult to have reliability for a single point data obtained. In addition, since the maximum measurement distance of LiDAR can be hundreds of meters, if the object dimension is unnecessarily small, it may be difficult to align the point data with the target.

[0098] Referring to Fig. 5c, an object is illustrated having a width greater than twice the azimuth resolution and a height greater than twice the elevation resolution. As shown in Fig. 5c, when the object dimensions are greater than twice the angular resolution in width and height, four or more point data can be reliably acquired. This increases the reliability of the point data by securing four point data arranged horizontally / vertically, and furthermore, the shape of the object can be identified. In addition, two or more point data in the horizontal or vertical direction can be acquired.

[0099] Specifically, when conducting tests to examine LiDAR performance metrics (e.g., range performance) relative to distance, objects located at a given distance may be planar. To recognize planar objects, the objects must be represented two-dimensionally in a point cloud, and this two-dimensional representation requires at least three points. As described above, if the width and height are greater than twice the respective resolutions, four or more points can be detected through light reflected from the object.

[0100] Referring to FIG. 6, a device for inspecting the range performance of a device to be inspected according to one embodiment of the present invention may include a device to be inspected (10) and an object (20). The object may have a width and a height, and the width and height of the object may have dimensions and sizes expressed in terms of the respective resolutions of the device to be inspected (10).

[0101] Specifically, the object (20) of the device for examining the range performance of the inspection target device according to one embodiment of the present invention may have a width and height according to the above mathematical expressions 4 and 5.

[0102] Additionally, according to one embodiment of the present invention, the object (20) may have a planar shape. Specifically, it may have a planar shape having a circle, square, rectangle, human shape, etc.

[0103] Additionally, according to one embodiment of the present invention, the object (20) may have a three-dimensional shape. Specifically, it may have a three-dimensional shape having a side view of a vehicle, a front view of a vehicle, a pedestrian view, etc.

[0104] Additionally, according to one embodiment of the present invention, the object (20) may be composed of at least one material having optical properties. For example, the material having optical properties may include a material having retroreflective properties, aluminum, silicon, reflective tape, glass, a mirror, polycarbonate, ceramic, etc.

[0105] FIG. 7 is a flowchart illustrating a LiDAR device inspection method according to one embodiment of the present invention.

[0106] Hereinafter, with reference to FIG. 7, a LiDAR device inspection method according to an embodiment of the present invention will be described in detail. The LiDAR device inspection method according to an embodiment of the present invention can determine an object detection range of a device under test (DUT).

[0107] The LiDAR device inspection method according to one embodiment of the present invention is preferably performed under the following conditions. The reflectivity of the object may be 10%. The object may have a plane perpendicular to the light radiating from the device under test (DUT).

[0108] First, an object and a device under test (DUT) are prepared (S301). The object may have a flat surface with a reflectivity of 10%. The DUT is preferably rotatable to measure different azimuths. The distance between the object and the DUT may be prepared to be changeable. According to an inspection method according to another embodiment of the present invention, software for recording the output of the DUT and converting it into a point cloud, a device for recording data measured from a PC or the DUT and executing the software, and a device or tool for measuring the actual distance between the DUT and the object may be prepared.

[0109] According to another embodiment of the present invention, the method may further include a step of checking the illuminance of ambient light, or preparing ambient light having a predetermined illuminance. According to another embodiment of the present invention, the method may further include a step of checking that the ambient humidity and temperature are within a certain range, or adjusting them so that they are within a certain range.

[0110] Next, light is irradiated from the device under test (DUT) to the object to determine the maximum and minimum object detection distances for the object, i.e., the object detection range.

[0111] According to one embodiment of the present invention, the step of determining an object detection range may include the following steps.

[0112] First, the device under test (DUT) (or object) is placed at different distances in m steps between a predetermined maximum distance and a predetermined minimum distance to the object (or device under test (DUT)) (S303). That is, the device under test (DUT) and the object are placed at a distance i that is predetermined in step i in m steps from i = 1 to m (S303).

[0113] In step i among m steps, n frames are recorded at distance i (n is a multiple of 2 or more) (S305). That is, in each step i, the process of capturing the entire FOV (horizontal / vertical) from j=1 to n at distance i is repeated to acquire n frames and record them in the recording device.

[0114] Next, the object detection probability (PoD) at distance i in step i among m steps is calculated (S307). The PoD at distance i in the ith step among m steps is calculated based on n frames. According to one embodiment of the present invention, the PoD at distance i in each ith step among m steps is calculated by the above-described mathematical expression 1. That is, for each of m steps, the probability of a valid point among n frames at distance i in the ith step is calculated. That is, the PoD is calculated as the ratio of the number of valid points to n. According to one embodiment of the present invention, the PoD of n frames in the ith step can be accumulated to calculate the accumulated PoD.

[0115] The object detection range for PoD is determined (S309). For each PoD calculated above, the distance i calculated for the PoD can be the object detection range for the given PoD. According to one embodiment of the present invention, for the distance distance i in the ith step, it is determined whether the distance distance i is within the range or not based on the PoD accumulated for n frames.

[0116] 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.

[0117] [Explanation of symbols]

[0118] Number of devices tested: 10

[0119] Light emitters: 11

[0120] Photodetectors: 12

[0121] Optical devices: 13

[0122] Support for the device under test: 14

[0123] Rotation adjustment: 15

[0124] Processor: 16

[0125] Memory: 17

[0126] Object: 20

Claims

1. In the LiDAR device inspection method, Step of preparing the device and object to be inspected; A step of irradiating light from the inspection target device to the object to determine a performance indicator regarding the distance to the object, Method for inspecting a lidar device.

2. In paragraph 1, The step of determining the performance indicator regarding the distance to the above object is: Further comprising a step of determining the maximum object detection distance or the minimum object detection distance of the inspection target device. Method for inspecting LiDAR devices.

3. In paragraph 1, The step of determining the performance indicator regarding the distance to the above object is: A step of receiving light emitted from the inspection target device and reflected from the object; and Comprising a step of calculating the object detection probability (PoD) of the above inspection target device, Method for inspecting LiDAR devices.

4. In paragraph 3, The step of determining the performance indicator regarding the distance to the above object is: Further comprising a step of determining an object detection range for the above-produced object detection probability (PoD). Method for inspecting LiDAR devices.

5. In paragraph 1, After the step of preparing the above inspection target device and object, Further comprising a step of moving the inspection target device and object, Method for inspecting LiDAR devices.

6. In paragraph 1, The shape of the above object is characterized by being flat. Method for inspecting LiDAR devices.

7. In paragraph 1, The minimum dimension of the above object is characterized in that it is determined according to the resolution of the inspection target device. Method for inspecting LiDAR devices.

8. In paragraph 7, The minimum dimensions of the above object are width and height, and the resolution of the device to be inspected is angular resolution. Method for inspecting LiDAR devices.

9. In paragraph 1, The minimum dimensions of the above object have width and height, The width of the above object is width = 2 * Range * tanθ H_resol + margin w is expressed as a formula, and the height of the object is height = 2 * Range * tanθ V_resol +margin v is expressed in the form of, The above Range is the distance between the inspection target device and the object, and the above θ H_resol is the azimuthal resolution of the object, and θ V_resol is the elevation resolution of the object, and margin w is the horizontal length margin, margin v is characterized by a vertical length margin, Method for inspecting LiDAR devices.

10. In paragraph 1, The performance indicators for the above distance 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.

11. In the LiDAR inspection device, A test target device support for supporting the test target device; Object support for supporting an object; A distance adjusting unit for adjusting the distance between the support unit of the inspection target device and the support unit of the object; and A process unit for controlling the inspection target device supported on the inspection target device support unit and determining a performance index regarding the distance of the inspection target device based on an input from the distance control unit and an output from the inspection target device, LiDAR device inspection device.

12. In paragraph 11, The above processor unit, Determining the maximum object detection distance and minimum object detection distance of the above inspection target device, LiDAR device inspection device.

13. In paragraph 11, The above processor unit, Calculating the object detection probability (PoD) of the above inspection target device, LiDAR device inspection device.

14. In paragraph 13, The above processor unit, Determining the object detection range for the above-produced object detection probability (PoD), LiDAR device inspection device.

15. In paragraph 11, The above distance adjustment unit, By moving the above inspection target device and object, the distance is adjusted. LiDAR device inspection device.

16. In paragraph 11, The shape of the above object is characterized by being flat. LiDAR device inspection device.

17. In paragraph 11, The minimum dimension of the above object is characterized in that it is determined according to the resolution of the inspection target device. LiDAR device inspection device.

18. In paragraph 17, The minimum dimensions of the above object are width and height, and the resolution of the device to be inspected is angular resolution. LiDAR device inspection device.

19. In paragraph 11, The minimum dimensions of the above object have width and height, The width of the above object is width = 2 * Range * tanθ H_resol + margin w is expressed as a formula, and the height of the object is height = 2 * Range * tanθ V_resol +margin v is expressed in the form of, The above Range is the distance between the inspection target device and the object, and the above θ H_resol is the azimuthal resolution of the object, and θ V_resol is the elevation resolution of the object, and margin w is the horizontal length margin, margin v is characterized by a vertical length margin, LiDAR device inspection device.

20. In paragraph 11, The performance indicators for the above distance 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, LiDAR device inspection device.

21. In the LiDAR device inspection device, Device to be inspected; An object positioned within the field of view of the above inspection target device; and A processor that determines the maximum detection distance of the inspection target device based on a plurality of points obtained by irradiating light from the inspection target device to the object. LiDAR device inspection device.

22. In paragraph 21, The above multiple points are at least two in the vertical or horizontal direction, LiDAR device inspection device.

23. In paragraph 21, The above multiple points are at least 4, LiDAR device inspection device.

24. In the LiDAR device inspection device, Device to be inspected; and Including an object positioned within the field of view of the above inspection target device, The width and height of the above object are determined according to the azimuth resolution or elevation resolution of the device to be inspected. LiDAR device inspection device.

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