CN114578321A

CN114578321A - Multi-line laser radar performance test method and device

Info

Publication number: CN114578321A
Application number: CN202011370148.6A
Authority: CN
Inventors: 刘鹏; 许玲玲; 许建国; 郑思喆
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-06-03
Also published as: WO2022111315A1

Abstract

The application provides a method and a device for testing performance of a multi-line laser radar. The method comprises the following steps: controlling a connecting part to rotate from a state A to a state B, wherein the connecting part is used for fixing a laser radar, when the connecting part is in the state A, a transmission line A of the laser radar corresponds to a target, when the connecting part is in the state B, a transmission line B of the laser radar corresponds to the target, and during the connecting part rotates from the state A to the state B, the relative position between the target and the rotation center of the connecting part is unchanged; an angle between the transmission line beam a and the transmission line beam B is determined according to a first angle. The angle between the two laser beams of the laser radar can be accurately tested. The scheme can be further used for improving the capability of an automatic driving or Advanced Driving Assistance System (ADAS) and can be applied to the Internet of vehicles, such as vehicle external connection V2X, workshop communication long term evolution technology (LTE-V), vehicle-vehicle V2V and the like.

Description

Multi-line laser radar performance test method and device

Technical Field

The application relates to the field of radar performance testing, in particular to a method and a device for testing performance of a multi-line laser radar.

Background

Lidar plays a crucial role in the field of unmanned driving, and is an important perception "organ" of unmanned driving, compared with human eyes. In the key performance index of the multi-line laser radar, the angular resolution reflects the density degree of point clouds under the same projection area. The higher the angular resolution, the greater the density of the point cloud, and the better the perception of the target and the detection of the environment. A field angle of view (FOV) is a size of the lidar detectable range, and the larger the field angle, the larger the lidar detectable range. Both of these properties are typically given by the lidar manufacturer, but there may be instances where the accuracy is inadequate or where there is an error in the accuracy. At present, an effective method for testing the performance of the laser radar is lacked.

Disclosure of Invention

The application provides a method and a device for testing performance of a multi-line radar, which can be used for testing and obtaining an accurate angle between two laser beams of the laser radar.

In a first aspect, a method for multi-line radar performance testing is provided, which may be performed by a testing apparatus or a module (e.g., a chip) configured with (or used in) the testing apparatus.

The method comprises the following steps: controlling a connecting part to rotate from a first state to a second state, wherein the connecting part is used for fixing a laser radar, when the connecting part is in the first state, a transmission beam of the laser radar corresponding to a target is a first transmission beam, when the connecting part is in the second state, the transmission beam of the laser radar corresponding to the target is a second transmission beam, and during the period that the connecting part rotates from the first state to the second state, the relative position between the target and a rotation center of the connecting part is unchanged; an angle between the first transmission beam and the second transmission beam is determined according to a first angle, which is an angle change value generated by the connecting part rotating from the first state to the second state.

According to the scheme, the connecting part is controlled to drive the laser radar to rotate, the angle between two laser radar emitting beams can be determined through the angle generated by the rotating of the connecting part, and the angle between the two laser radar emitting beams can be tested accurately through the method. The angle resolution performance of the multi-line radar can be automatically measured by the testing device.

Optionally, the transmitting beam of the laser radar corresponding to the target includes: the laser radar transmits a beam to measure the target.

With reference to the first aspect, in certain implementations of the first aspect, the first transmission beam and the second transmission beam are two transmission beams of the laser radar on a horizontal plane, and the connecting part rotates around a point on a vertical axis of the connecting part as a rotation center; alternatively, the first and second transmission beams are two transmission beams of the laser radar on a vertical plane, and the connecting member is rotated around a point on a horizontal axis of the connecting member as a rotation center.

According to the scheme, the angular resolution of the laser radar in the horizontal plane can be measured by rotating the connecting component around the vertical axis, and the angular resolution of the laser radar in the vertical plane can also be measured by rotating the connecting component around the horizontal axis. The accurate angular resolution in the vertical direction and the accurate angular resolution in the horizontal direction of the laser radar can be tested. The angle resolution performance of the multi-line radar can be automatically measured by the testing device.

With reference to the first aspect, in certain implementations of the first aspect, the rotating the control link from the first state to the second state includes: and controlling the connecting part to rotate from the first state to the second state after N times of rotation, wherein N is a positive integer.

Optionally, the transmitter corresponding to the second transmission beam transmits at least one frame of signal after each rotation of the laser radar, where the at least one frame of signal corresponds to X points of the second transmission beam, and when the laser radar measures a target through I points of the X points corresponding to the second transmission beam, the laser radar indicates that the laser radar measures the target through the second transmission beam, where I is less than or equal to X, and I, X is a positive integer.

Optionally, I is a preset value, or I/X × 100% is greater than or equal to a preset value C.

Optionally, when the laser radar detects the target through the second transmission line beam, the target can be measured through at most Y points in X points corresponding to the second transmission line beam, and when the laser radar measures the target through I points corresponding to the second transmission line beam, it indicates that the laser radar measures the target through the second transmission line beam, where I/Y × 100% is greater than or equal to the preset value E.

With reference to the first aspect, in certain implementations of the first aspect, each rotation of the connecting component in the N rotations by a second angle in the direction from the first transmission beam to the second transmission beam, where the second angle is a preset value, or the second angle is related to a reference angular resolution, and the reference angular resolution is a reference value of an included angle between the first transmission beam and the second transmission beam.

According to the scheme, the second angle is used as an interval to control the connecting part to rotate, so that the boundary of the second emission beams can be accurately obtained, and the included angle between the emission beams can be accurately measured.

With reference to the first aspect, in certain implementations of the first aspect, the controlling the connecting part to rotate from the first state to the second state through N rotations includes controlling the connecting part to rotate from the first state at intervals of a third angle in a direction from the first transmission beam to the second transmission beam; if the target corresponds to a second transmission beam of the laser radar after the connecting part rotates for the L +1 rotation, the connecting part is controlled to rotate for the third angle along the direction from the second transmission beam to the first transmission beam, wherein L is a positive integer less than N; and controlling the connecting part to rotate at a fourth angle in the direction from the first emitting beam to the second emitting beam until the target corresponds to the second emitting beam of the laser radar, wherein the connecting part is in a second state, the connecting part rotates for N- (L +1) times at the fourth angle, and the fourth angle is smaller than the third angle.

According to the scheme, the connecting part is controlled to be close to the second emitting beam at the third angle to retreat by a third angle after the target is obtained, and then the connecting part is close to the second emitting beam at the interval of the fourth angle smaller than the third angle.

With reference to the first aspect, in certain implementations of the first aspect, the angle of the nth rotation of the N rotations is p of the reference angular resolutionⁿWherein the reference angular resolution is a reference value of an angle between the first emission beam and the second emission beam, N is a positive integer less than or equal to N, 0 < p < 1; or the angle of the K-th rotation in the first K rotations in the N rotations is p of the reference angular resolution^kMultiple, wherein K is a positive integer less than N, K is a positive integer less than or equal to K, the connecting member rotates at a fifth angle as an interval after the K-th rotation of the N rotations, the fifth angle is less than or equal to p of the reference angular resolution^KAnd (4) doubling.

According to the scheme, the angle of each rotation of the connecting part is reduced in a certain proportion, so that the efficiency of testing the angle can be improved, the boundary of the second accurate emitting beam can be obtained, and the included angle between the second accurate emitting beams can be measured.

With reference to the first aspect, in certain implementations of the first aspect, the first transmission beam and the second transmission beam are two adjacent transmission beams of the laser radar on a horizontal plane, and the first angle is used to determine a horizontal angular resolution between the first transmission beam and the second transmission beam; or the first transmission beam and the second transmission beam are two adjacent transmission beams of the laser radar on a vertical plane, and the first angle is used for determining the vertical angle resolution between the first transmission beam and the second transmission beam.

According to the scheme, the accurate angular resolution of the laser radar on the horizontal plane can be measured, and the accurate angular resolution of the laser radar on the vertical plane can also be measured.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: controlling the connecting part to rotate, so that each transmission line beam between the first transmission line beam and the last transmission line beam of the laser radar on the horizontal plane or the vertical plane respectively corresponds to the target; and determining the angle between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

According to the scheme, the accurate angular resolution of the laser radar between each transmission line beam on the horizontal plane can be measured, and the accurate angular resolution of the laser radar between each transmission line beam on the vertical plane can also be measured.

With reference to the first aspect, in certain implementations of the first aspect, the first transmission beam is a first transmission beam of the lidar in a horizontal plane or a vertical plane, and the method further includes: controlling the connecting part to rotate at intervals of a sixth angle along the direction from the second transmission beam to the first transmission beam until the connecting part is in a third state, wherein the third state is relative to the state of the connecting part when the last transmission beam of the laser radar corresponds to the target, and the angle change value generated by the connecting part is greater than a seventh angle, wherein the sixth angle is smaller than the minimum reference angular resolution of two adjacent transmission beams of the laser radar, and the seventh angle is the maximum reference angular resolution between the two adjacent transmission beams of the laser radar; controlling the connecting part to rotate at intervals of a third angle from the third state along the direction from the first transmission beam to the second transmission beam; if the transmitting beam of the laser radar corresponds to the target after the M-th rotation of the connecting part, controlling the connecting part to rotate for the third angle along the direction from the second transmitting beam to the first transmitting beam in the M + 1-th rotation, wherein M is a positive integer; and controlling the connecting part to rotate at intervals of a fourth angle along the direction from the first transmitting beam to the second transmitting beam until the transmitting beam of the laser radar corresponds to the target, wherein the state of the connecting part is the first state, the fourth angle is smaller than the third angle, and the direction from the first transmitting beam to the second transmitting beam is clockwise or anticlockwise.

According to the above scheme, the testing device can be fixed on the connecting component at the laser radar, determines the first transmission beam of the laser radar on the horizontal plane or the vertical plane, and can realize the automatic angle resolution performance of the testing device for measuring the multi-line radar.

With reference to the first aspect, in certain implementations of the first aspect, the method further includes: controlling the connecting part to rotate so that each emission beam between a third emission beam and a first emission beam of the laser radar on the horizontal plane corresponds to the target respectively, and/or each emission beam between the third emission beam and a last emission beam on the horizontal plane corresponds to the target respectively, wherein the third emission beam is one emission beam between the first emission beam and the last emission beam on the horizontal plane; determining the angular resolution between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part; or, controlling the connecting component to rotate to enable each emission line beam between a fourth emission beam and a first emission beam of the laser radar on the vertical plane to respectively correspond to the target, and/or enabling each emission line beam between a third emission beam and a last emission beam on the vertical plane to respectively correspond to the target, wherein the fourth emission beam is one emission beam between the first emission beam and the last emission beam on the vertical plane; and determining the angular resolution between every two adjacent laser beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

According to the scheme, the angle resolution between every two transmission beams of the laser radar can be measured from any one transmission beam of the laser radar, and the automatic measurement of the angle resolution performance of the multi-line radar by the testing device can be realized.

With reference to the first aspect, in certain implementations of the first aspect, the first and second transmission beams are a first transmission beam and a last transmission beam of the lidar in a horizontal plane, respectively, or a last transmission beam and a first transmission beam in the horizontal plane, and the first angle is used to determine a horizontal field angle of the lidar, or the first and second transmission beams are a first transmission beam and a last transmission beam of the lidar in a vertical plane, respectively, or a last transmission beam and a first transmission beam in the vertical plane, and the first angle is used to determine a vertical field angle of the lidar.

According to the scheme, the automatic measurement of the field angle performance of the multi-line laser radar by the testing device can be realized.

With reference to the first aspect, in certain implementations of the first aspect, the determining an angle between the first emission beam and the second emission beam according to a first angle includes: determining the angle between the first and second emission beams according to a first angle theta, a minimum distance a between the rotation center and the projection of the target on the same horizontal plane, and a distance b between the center of the laser radar and the rotation center

。

According to the scheme, when the laser radar is fixed on the connecting part, if the rotating center of the connecting part has a distance b with the center of the laser radar, the accurate angular resolution between the transmitting beams can be calculated according to the distance b.

With reference to the first aspect, in certain implementations of the first aspect, the angle

Satisfy the requirement of

With reference to the first aspect, in certain implementations of the first aspect, the target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to one of the laser beams of the laser radar is a second value, it indicates that the transmission beam of the laser radar corresponds to the target, and a difference between the second value and the first value is smaller than or equal to a preset value.

With reference to the first aspect, in certain implementations of the first aspect, the reflective strip is disposed on a planar target, the planar target is parallel to a plane formed by a horizontal axis and a vertical axis of the connecting component, the first and second transmission beams are two transmission beams of the laser radar on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component; or, the first and second radiation beams are two radiation beams of the laser radar on a horizontal plane, and the reflective strip is parallel to a vertical axis of the connecting component.

With reference to the first aspect, in certain implementations of the first aspect, the width W of the light-reflecting strip satisfies

Wherein D is the minimum distance from the center of the lidar to the planar target, and α is the reference minimum angular resolution of the lidar.

According to the above scheme, the target width is specified so as to improve the accuracy of measuring the angular resolution of the transmission beam.

In a second aspect, a multi-line radar performance testing apparatus is provided, and the method may be performed by the testing apparatus or a module (e.g., a chip) configured with (or used in) the testing apparatus.

The test device includes: the laser radar device comprises a connecting part, a control part and a processing part, wherein the connecting part is used for fixing the laser radar so that the laser radar rotates along with the connecting part; the control component is used for controlling the connecting component to rotate from a first state to a second state, wherein when the connecting component is in the first state, a transmission beam of the laser radar corresponding to a target is a first transmission beam, when the connecting component is in the second state, the transmission beam of the laser radar corresponding to the target is a second transmission beam, and during the connecting component rotates from the first state to the second state, the relative position between the target and a rotation center of the connecting component is unchanged; the processing component determines an angle between the first emission beam and the second emission beam according to a first angle, wherein the first angle is an angle change value generated by rotating the connecting component from the first state to the second state.

With reference to the second aspect, in some implementations of the second aspect, the first and second transmission beams are two transmission beams on a horizontal plane, and the connecting part rotates around a point on a vertical axis of the connecting part as a rotation center; alternatively, the first and second radiation beams are two radiation beams on a vertical plane, and the connecting member is rotated around one point on a horizontal axis of the connecting member as a rotation center.

With reference to the second aspect, in certain implementations of the second aspect, the control component is specifically configured to control the connecting component to rotate from the first state to the second state after N rotations, where N is a positive integer.

With reference to the second aspect, in certain implementations of the second aspect, the control component is further configured to acquire a second angle, where the second angle is a preset value, or the second angle is related to a reference angular resolution, and the reference angular resolution is a reference value of an included angle between the first emission beam and the second emission beam; the control component is specifically configured to control the connecting component to rotate the second angle each time in the direction from the first transmission beam to the second transmission beam in each of the N rotations.

With reference to the second aspect, in certain implementations of the second aspect, the controlling the connecting member to rotate the second angle each time in the N rotations includes: controlling the connecting part to rotate at intervals of a third angle from the first state along the direction from the first transmission beam to the second transmission beam; if the target corresponds to a second emission beam of the laser radar after the connecting part rotates for the L +1 th time, controlling the connecting part to rotate for the third angle along the direction from the second emission beam to the first emission beam, wherein L is a positive integer less than N; and controlling the connecting part to rotate at a fourth angle in the direction from the first emitting beam to the second emitting beam until the target corresponds to the second emitting beam of the laser radar, wherein the connecting part is in a second state, the connecting part rotates for N- (L +1) times at the fourth angle, and the fourth angle is smaller than the third angle.

With reference to the second aspect, in certain implementations of the second aspect, the control component is further configured to obtain a reference angular resolution value, the reference angular resolution being a reference value of an angle between the first emission beam and the second emission beam; the angle of the N-th rotation of the N rotations is p of the reference angular resolutionⁿMultiple, N is a positive integer less than or equal to N, 0 < p < 1; or the angle of the K-th rotation in the first K rotations in the N rotations is p of the reference angular resolution^kWherein K is a positive integer less than N, K is a positive integer less than or equal to K, the control unit controls the connecting member to rotate at intervals of a fifth angle after the kth rotation of the N rotations, the fifth angle being less than or equal to p of the reference angular resolution^KAnd (4) doubling.

With reference to the second aspect, in certain implementations of the second aspect, the first transmission beam and the second transmission beam are two adjacent transmission beams of the laser radar on a horizontal plane, and the processing component is specifically configured to determine a horizontal angular resolution between the first transmission beam and the second transmission beam according to the first angle; or, the first transmission beam and the second transmission beam are two adjacent transmission beams of the laser radar on a vertical plane, and the processing component is specifically configured to determine a vertical angle resolution between the first transmission beam and the second transmission beam according to the first angle.

With reference to the second aspect, in certain implementations of the second aspect, the control unit is further configured to control the connecting component to rotate, so that each transmission line between the first transmission line beam and the last transmission line beam of the laser radar on the horizontal plane or the vertical plane respectively corresponds to the target; the processing component is also used for determining the angle between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting component.

With reference to the second aspect, in certain implementations of the second aspect, the first transmission beam is a first transmission beam of the lidar on a horizontal plane or a vertical plane, and the control unit is further configured to control the connecting component to rotate at intervals of a sixth angle along a direction from the second transmission beam to the first transmission beam until the connecting component is in a third state, where an angle variation value generated by the connecting component is greater than a seventh angle with respect to a state where the connecting component was in when a last transmission beam of the lidar corresponds to the target, where the sixth angle is smaller than a minimum reference angular resolution of two adjacent transmission beams of the lidar, and the seventh angle is a maximum reference angular resolution between two adjacent transmission beams of the lidar; controlling the connecting part to rotate at intervals of a third angle from the third state along the direction from the first transmission beam to the second transmission beam; if the transmitting beam of the laser radar corresponds to the target after the M-th rotation of the connecting part, controlling the connecting part to rotate for the third angle along the direction from the second transmitting beam to the first transmitting beam in the M + 1-th rotation, wherein M is a positive integer; and controlling the connecting part to rotate at intervals of a fourth angle along the direction from the first transmitting beam to the second transmitting beam until the transmitting beam of the laser radar corresponds to the target, wherein the state of the connecting part is the first state, the fourth angle is smaller than the third angle, and the direction from the first transmitting beam to the second transmitting beam is clockwise or anticlockwise.

With reference to the second aspect, in certain implementations of the second aspect, the control unit is further configured to control the connecting component to rotate so that each transmission beam between a third transmission beam and a first transmission beam of the laser radar on a horizontal plane corresponds to the target, and/or each transmission beam between the third transmission beam and a last transmission beam of the laser radar on the horizontal plane corresponds to the target, respectively, wherein the third transmission beam is one transmission beam between the first transmission beam and the last transmission beam on the horizontal plane; the processing unit is also used for determining the angular resolution between every two adjacent laser beams of the laser radar according to the angle change value generated by the rotation of the connecting part; or, the control unit is further configured to control the connecting component to rotate so that each emission line beam between a fourth emission beam and a first emission beam of the laser radar on the vertical plane corresponds to the target, and/or each emission line beam between a third emission beam and a last emission beam of the laser radar on the vertical plane corresponds to the target, wherein the fourth emission beam is one emission beam between the first emission beam and the last emission beam on the vertical plane; the processing unit is further used for determining the angular resolution between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

With reference to the second aspect, in certain implementations of the second aspect, the first and second transmission beams are a first and a last transmission beam of the lidar in a horizontal plane, respectively, or a last and a first transmission beam of the lidar in a horizontal plane, the first angle is used to determine a horizontal field angle of the lidar, or the first and the second transmission beams are a first and a last transmission beam of the lidar in a vertical plane, respectively, or a last and a first transmission beam of the lidar in a vertical plane, the first angle is used to determine a vertical field angle of the lidar.

With reference to the second aspect, in certain implementations of the second aspect, the processing unit is specifically configured to determine the angle between the first transmission beam and the second transmission beam according to a first angle θ, a minimum distance a between the rotation center and a projection of the target on the same horizontal plane, and a distance b between the center of the lidar and the rotation center

In combination with the second aspect, in certain implementations of the second aspect, the angle

Satisfy the requirements of

With reference to the second aspect, in certain implementations of the second aspect, the target is a reflective strip, the reflection intensity of the reflective strip is a first value, and when the reflection intensity of the point cloud corresponding to one of the laser beams of the lidar is a second value, it indicates that one of the laser beams of the lidar corresponds to the target, and a difference between the second value and the first value is smaller than or equal to a preset value.

With reference to the second aspect, in certain implementations of the second aspect, the reflective strip is disposed on a planar target, the planar target is parallel to a plane formed by a horizontal axis and a vertical axis of the connecting component, the first and second transmission beams are two transmission beams on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting component; or, the first and second radiation beams are two radiation beams on a horizontal plane, and the reflective strip is parallel to a vertical axis of the connecting component.

With reference to the second aspect, in certain implementations of the second aspect, the width W of the light-reflecting strip satisfies

In a third aspect, a processor is provided, including: input circuit, output circuit and processing circuit. The processing circuit is configured to transmit a control signal through the output circuit and receive a signal through the input circuit, so that the processor performs the method of the first aspect and any one of the possible implementations of the first aspect.

In a specific implementation process, the processor may be one or more chips, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a flip-flop, various logic circuits, and the like. The input signal received by the input circuit may be received and input by, for example and without limitation, a receiver, the signal output by the output circuit may be output to and transmitted by a transmitter, for example and without limitation, and the input circuit and the output circuit may be the same circuit that functions as the input circuit and the output circuit, respectively, at different times. The embodiment of the present application does not limit the specific implementation manner of the processor and various circuits.

In a fourth aspect, a control apparatus is provided that includes a processor and a communication interface. The communication interface is configured to obtain data to be processed, the processor is configured to obtain processed data for the data to be processed, and the communication interface is further configured to output the processed data, so that the control device executes the method in any one of the first aspect and the possible implementation manner of the first aspect.

For example, the control device reads an instruction for controlling the rotation of the connecting part through a processor, the communication interface is used for outputting the instruction to the connecting part, the communication interface is also used for acquiring the state of the connecting part, and the processor is used for determining the included angle between the transmission beams of the laser radar according to the state of the connecting part, but the application is not limited to the above.

Optionally, the control device may further comprise a memory for storing programs or instructions.

Optionally, the number of the processors is one or more, and the number of the memories is one or more.

Alternatively, the memory may be integral to the processor or provided separately from the processor.

In a specific implementation process, the memory may be a non-transitory (non-transitory) memory, such as a Read Only Memory (ROM), which may be integrated on the same chip as the processor, or may be separately disposed on different chips, and the embodiment of the present application does not limit the type of the memory and the arrangement manner of the memory and the processor.

It will be appreciated that the associated data interaction process, e.g., sending a control signal, may be the process of outputting a control signal from the processor, and obtaining lidar parameter information and/or angle information for the connected components may be the process of receiving lidar parameter information by the processor. In particular, control information output by the processor may be output to the transmitter, and input lidar parameter information and/or angle information of the connecting component received by the processor may be from the receiver. The transmitter and receiver may be collectively referred to as a transceiver, among others.

The processing means in the fourth aspect described above may be one or more chips. The processor in the processing device may be implemented by hardware or may be implemented by software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, or the like; when implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in a memory, which may be integrated with the processor, located external to the processor, or stand-alone.

In a fifth aspect, there is provided a computer program product comprising: a computer program (also referred to as code, or instructions), which when executed, causes a computer to perform the method of any of the possible implementations of the first aspect and the first aspect described above.

A sixth aspect provides a computer-readable medium storing a computer program (which may also be referred to as code or instructions) which, when executed on a computer, causes the computer to perform the method of any one of the above-described first aspect and possible implementations of the first aspect.

In a seventh aspect, a testing system is provided, which comprises the testing device and the reflective strip. The test system may further include the aforementioned planar target.

Drawings

FIG. 1 is a schematic block diagram of a test apparatus provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a testing apparatus provided in the present application for testing an angle between two transmission beams on a vertical plane of a laser radar;

fig. 3 is a schematic diagram of a laser radar according to an embodiment of the present disclosure, in which a center S is spaced from a rotation center R of a connecting member;

FIG. 4 is a schematic diagram of the relationship between the angle of the radiation beam and the angle of rotation of the connecting member according to an embodiment of the present application;

FIG. 5 is another schematic block diagram of a test apparatus provided in an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a testing apparatus for testing an angle between two transmission beams on a horizontal plane of a laser radar according to an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart of a multi-lidar performance testing method provided by the present application;

FIG. 8 is a schematic block diagram of a test apparatus provided by an embodiment of the present application;

fig. 9 is a schematic structural diagram of a test apparatus provided in an embodiment of the present application.

Detailed Description

The technical solution in the present application will be described below with reference to the accompanying drawings.

Lidar manufacturers typically give lidar reference performance parameter values such as angular resolution, field angle, etc. But the parameters given by the manufacturers may have the situation that the precision is not enough or the accuracy is wrong. At present, an effective method for testing the performance of the laser radar is lacked. The multi-line laser radar transmission beams are not uniformly distributed, if some multi-line laser radar transmission beams on the vertical plane are not uniformly distributed, each line needs to be tested in the angular resolution testing process, the testing process is repeated, the calculated amount is large, the manual measurement difficulty is high, the time cost is high, and the multi-line laser radar transmission beam testing method is not suitable for research and development testing and production line testing requirements. Therefore, the automatic test has great significance for the research and development iteration and the type selection of the product.

The application provides a method and a device for testing performance of a multi-line laser radar. The laser radar is fixed by the connecting part and is driven to rotate, so that the laser radar can measure a target through the two transmitting beams respectively, and an included angle between the two transmitting beams can be determined according to an angle change value generated by the state change of the corresponding connecting part. The accurate angle resolution and the angle of view of the laser radar can be tested.

Fig. 1 is a schematic structural diagram of a test apparatus provided in an embodiment of the present application.

The test apparatus 100 shown in fig. 1 includes a link member 110 that is rotatable about a vertical axis and rotatable about a horizontal axis, or the link member is rotatable about a point on the vertical axis as a rotation center on a horizontal plane and rotatable about a point on the horizontal axis as a rotation center on a vertical plane, and a control member 120. The lidar may be fixed to and rotatable with the coupling member. The control component is used for controlling the connecting component to rotate. The testing apparatus 100 may further comprise processing means for determining the angle between the transmitted beams of the lidar in dependence on the angle through which the connecting member is turned. Alternatively, the control means may comprise the processing means or the control means and the processing means may be the same. That is, the control unit may perform the function of a processing unit that determines the angle between the laser radar radiation beams according to the angle through which the connecting unit is turned. Alternatively, the processing component may perform the function of the control component, such as controlling the rotation of the connecting component.

The working principle of the testing device provided by the application for testing the performance of the laser radar is introduced below.

The application provides a testing arrangement is used for testing laser radar's performance, specifically, this testing arrangement can be used for testing laser radar's angular resolution and angle of view. When the testing device is used for testing, the laser radar to be tested is fixed through the connecting part, so that the laser radar can rotate along with the connecting part. The test target object (hereinafter, referred to as a target) is placed at a fixed position where the relative position with respect to the rotation center of the connection member is kept constant. When measuring the angular resolution between two transmission beams on the vertical plane of the laser radar, the control part controls the connecting part to rotate around the horizontal axis, so that the laser radar sequentially measures the target through the two transmission beams. When measuring the angular resolution between two beams of radiation in the horizontal plane of the lidar, the control part controls the connecting part to rotate about a vertical axis.

The working principle of the testing device for testing the included angle between the two transmitting beams on the vertical surface of the laser radar is described in detail below.

The connecting part is used for fixing the laser radar; the control component is used for controlling the connecting component to rotate from a first state to a second state, wherein when the connecting component is in the first state, a transmission beam of the laser radar corresponding to a target is a first transmission beam. When the connecting member is in the second state, the laser radar transmission beam corresponding to the target is a second transmission beam. During the rotation of the link member from the first state to the second state, the relative position between the object and the center of rotation of the link member is not changed. The processing component determines an angle between the first emission beam and the second emission beam according to a first angle, wherein the first angle is an angle change value generated by rotating the connecting component from a first state to a second state.

It should be noted that, the plurality of radiation beams of the laser radar on the vertical plane irradiate on the back plate or the target to form a plurality of points spaced on the vertical line, each point corresponds to one radiation beam, or the plurality of radiation beams of the laser radar on the vertical plane irradiate on the back plate or the target to form a plurality of horizontal lines spaced in the vertical direction, one horizontal line corresponds to one radiation beam of the laser radar on the vertical plane, and the horizontal line corresponding to one radiation beam is formed by the point cloud of the radiation beam. The vertical plane of the laser radar is a plane containing the vertical axis of the laser radar.

The horizontal plane of the lidar is the plane perpendicular to the vertical axis of the lidar (i.e., perpendicular to the vertical plane of the lidar). The laser radar is characterized in that a plurality of transmission beams on the horizontal plane irradiate on a back plate or a target to form a plurality of points spaced on a horizontal line, each point corresponds to one transmission beam, or the plurality of transmission beams on the horizontal plane of the laser radar irradiate on the back plate or the target to form a plurality of vertical lines spaced in the horizontal direction, one vertical line corresponds to one transmission beam on the horizontal plane of the laser radar, and the vertical line corresponding to one transmission beam is formed by point cloud of the transmission beam.

Optionally, the first and second transmission beams are two transmission beams of the laser radar on a horizontal plane, and the connecting part rotates around a point on a vertical axis of the connecting part as a rotation center; alternatively, the first and second transmission beams are two transmission beams of the laser radar on a vertical plane, and the connecting member is rotated around a point on a horizontal axis of the connecting member as a rotation center.

The testing device can control the connecting part to rotate by taking one point on the vertical axis of the connecting part as a rotation center through the control part, or the control part controls the connecting part to rotate around the vertical axis of the connecting part so as to measure the angle resolution between two adjacent transmitting beams on the vertical plane of the laser radar (namely, the first transmitting beam and the second transmitting beam can be two adjacent transmitting beams on the vertical plane), and obtain the more accurate vertical angle resolution of the laser radar. The testing device can also control the connecting part to rotate by taking one point on a horizontal shaft of the connecting part as a rotation center through the control part, or the control part controls the connecting part to rotate around the horizontal shaft of the connecting part so as to measure the angular resolution between two adjacent transmitting beams on the horizontal plane of the laser radar (namely, the first transmitting beam and the second transmitting beam can be two adjacent transmitting beams on the horizontal plane), and the more accurate horizontal angular resolution of the laser radar is obtained. The testing device can also measure the field angle of the laser radar on the vertical plane or on the horizontal plane (namely, the emitting line beam A and the emitting line beam B can be respectively the first emitting line beam and the last emitting line beam on the vertical plane, or the emitting line beam A and the emitting line beam B can be respectively the first emitting line beam and the last emitting line beam on the vertical plane) so as to obtain the more accurate range size which can be detected by the laser radar on the vertical plane or the horizontal plane.

First, the working principle of the testing device provided by the present application for measuring the angle between two transmission beams on the vertical plane of a laser radar will be described in detail with reference to fig. 2 as an example. The working principle of the testing device for measuring the angle between two transmitting beams of the laser radar on the horizontal plane is similar to the working principle of testing the angle between two transmitting beams on the vertical plane, and the working principle of the testing device for measuring the angle between two transmitting beams on the horizontal plane of the laser radar provided by the application is briefly introduced by taking fig. 6 as an example. But the application is not limited thereto.

Fig. 2 is a schematic diagram of the testing apparatus provided in the present application for testing an angle between two transmission beams on a vertical plane of a laser radar.

For example, as shown in fig. 2, when the control part controls the connecting part to rotate around the horizontal axis of the connecting part, specifically, when an angle between a transmission beam a (an example of a first transmission beam) and a transmission beam B (an example of a second transmission beam) of the laser radar is measured, the control part controls the connecting part to rotate from a state a (an example of a first state) to a state B (an example of a second state), wherein the state a is a state corresponding to the target in which the transmission beam of the laser radar is the transmission beam a (or the laser radar measures the target through the transmission beam a), and the state B is a state corresponding to the target in which the transmission beam of the laser radar is the transmission beam B (or the laser radar measures the target through the transmission beam B). The processing component is used for recording an angle change value theta generated by rotating the connecting component from the state A to the state B around a horizontal axis (or an angle theta rotated from the state A to the state B around the horizontal axis), namely a first angle, and determining an included angle between the emitting beam A and the emitting beam B according to the angle theta.

Alternatively, the control component may specifically control the connecting component to be in the state B after N rotations from the state a.

In one embodiment, the control part controls the connecting part to rotate for a second angle from the state A in the direction from the transmitting wire beam A to the transmitting wire beam B, and the connecting part is in the state B after N times of rotation.

For example, when the connecting part is in the state A, the control part controls the connecting part to rotate by a second angle along the direction from the transmitting line A to the transmitting line B, the processing part judges whether the laser radar detects a target or not, and if the target control part does not detect the target, the control part continues to control the connecting part to rotate by the second angle; if the target is measured after one rotation of the connecting member, the current state of the connecting member is state B, the processing member controls the number N of times the connecting member is rotated by the second angle according to the control member, and the processing member may determine that the angle θ rotated by the connecting member from state a to state B is N times the second angle, but the application is not limited thereto.

By way of example and not limitation, the second angle is a preset value, or the second angle is related to a reference angular resolution. Wherein the reference angular resolution may be a reference value of angular resolution between the transmission line beam a and the transmission line beam B of the lidar provided by the lidar manufacturer.

The second angle may be a predetermined angle value smaller than the angular resolution of the lidar, the second angle may be stored in the testing device, the second angle may be readable by the processing component, and the control component retrieves the second angle from the processing component. Alternatively, a reference value of the angular resolution provided by the manufacturer of the laser radar may be acquired by the processing unit, and the reference angular resolution between the transmission beam a and the transmission beam B may be acquired therefrom, with a second angle smaller than the reference angular resolution as an angle of each rotation of the connecting member, and the control unit acquires the second angle from the processing unit.

Alternatively, the processing means may determine the second angle from a preset coefficient q, 0 < q < 1.

For example, the processing unit determines that the second angle is qxδ after acquiring the reference angular resolution δ between the emission beam a and the emission beam B, and in a specific implementation, the second angle may be an approximate value of qxδ, such as an upper integer or a lower integer of the second angle q × δ, an X-bit rounded to a decimal point, and the like, which is not limited in this application.

In another embodiment, the control part first controls the connecting part to rotate at intervals of a third angle from state a in a direction from the transmission beam a to the transmission beam B, wherein the third angle is smaller than a reference angular resolution between the transmission beam a and the transmission beam B. If the connecting part rotates for the L +1 time, the control part controls the connecting part to rotate for a third angle from the ray beam B to the ray beam A. That is, the control part controls the connecting part to rotate (i.e., rotate in the direction opposite to the original direction) by a third angle. And starting the L +2 times of rotation, and controlling the connecting part to rotate to a measured target of a transmitting beam B of the laser radar at intervals of a fourth angle by the control part. At this time, the connection member is in a second state in which the connection member is rotated N- (L +1) times at intervals of a fourth angle, the fourth angle being smaller than the third angle.

In the present embodiment, in order to save power consumption, the control part may first control the connecting part to rotate at a larger angular interval (i.e., a third angle) smaller than the reference angular resolution to detect the approximate position of the transmission beam B (since the transmission beam B has a certain width, it may not be the boundary of the transmission beam B to measure the target). After the approximate position of the transmission beam B is obtained, the control component controls the connecting component to retreat by a third angle, and continues to rotate towards the direction of the transmission beam B at smaller angle intervals, namely, the connecting component approaches the transmission beam B at smaller angle intervals so as to obtain the boundary of the transmission beam B, and the angular resolution between the transmission beam A and the transmission beam B is measured more accurately.

In another embodiment, the control unit controls the connecting member to be rotated by the angle of rotation of state A for each time in relation to the number of rotations, i.e. the angle of the nth rotation is p of the reference angular resolution δⁿAnd multiplying until the laser radar detects the target. Wherein p is more than 0 and less than 1.

For example,

the control part controls the connecting part to rotate for the first time

Stopping rotation if the laser radar detects a targetThe current state of the connecting part is the state B; if the laser radar does not measure the target, the control part controls the connecting part to rotate in the second rotation

Stopping rotation if the laser radar detects a target, continuing to control the connecting part to rotate if the laser radar does not detect the target, and rotating in the nth rotation

The processing component determines state B until the lidar measures a target, but the application is not so limited.

In the present embodiment, the control unit controls the angle of rotation of the connecting member to be gradually decreased, so that the boundary of the transmission beam B can be obtained, and the angular resolution between the transmission beams a and B can be measured more accurately.

In another embodiment, the control unit controls the connecting member to rotate at an angle of each of the preceding K rotations in relation to the number of rotations, such as the angle of the K-th rotation of the preceding K rotations being p of the reference angular resolution δ^kAnd K is less than or equal to K. And if the target is not measured by the laser radar after the laser radar rotates for K times, the control part controls the connecting part to rotate by taking the fifth angle as an interval from the K +1 times of rotation until the laser radar measures the target. Wherein the fifth angle is less than p^K。

In the present embodiment, the control unit first controls the angle of rotation of the connecting unit to be gradually decreased, and after a certain rotational precision, the control unit rotates at a fixed rotational interval angle, so that the boundary of the transmission beam B can be obtained, and the angular resolution between the transmission beams a and B can be measured more accurately.

In the above embodiment, the angle of the nth rotation may be p of the reference angular resolution δⁿApproximation of the multiple, or angle of the kth turn, p of the reference angular resolution delta^kThe approximate value of the multiple may be an upward rounding value, a downward rounding value, a rounding value, or a value approximate to a certain digit after the decimal point, which is not limited in this application.

After the control unit controls the connecting part to rotate from the state A to the state B, the processing part determines the angle theta of the connecting part rotating from the state A to the state B around the horizontal axis. The processing component determines the angular resolution between the transmission beam a and the transmission beam B based on the angle θ. In one embodiment, the angle θ may be used as the angular resolution between the transmission beam A and the transmission beam B.

Optionally, the processing component determines the angular resolution between the transmission beam a and the transmission beam B according to the angle θ, the distance a from the rotation center R of the connecting component to the projection of the target on the same horizontal plane, and the distance B from the lidar center S to the rotation center R of the connecting component

For example, as shown in fig. 3, the distance between the rotation center R of the connecting member and the radar center R is b, and the minimum distance between the rotation center R of the connecting member and the projection of the target on the same horizontal plane is a. As shown in fig. 4, when the link member is rotated from state a to state B (i.e., rotated by the angle θ), the center S of the laser radar is rotated from S1 to S2. Thus, the angular resolution between transmit beams A and B

The following calculation relationship is satisfied,

the processing component may determine the angle between the transmission beam A and the transmission beam B based on the calculated relationship

But the application is not limited thereto. FIG. 5 is another schematic block diagram of a test apparatus provided herein. The processing unit may determine the angular resolution between the transmission beam A and the transmission beam B in the manner described above, with the centre of rotation of the coupling member being the vertical axis

However, the present application is not limited thereto, and in an embodiment, the rotation center of the connecting member may be consistent with the center of the lidar, such that the angle θ that the connecting member rotates from state a to state B is the angular resolution between the transmission beam a and the transmission beam B

This is not limited in this application.

The lidar center may be obtained through measurement or determined according to the specification provided by the lidar manufacturer, but the present application is not limited thereto.

Alternatively, the processing means may be capable of measuring the distance, e.g. the processing means may measure the minimum distance a resulting from the projection of the centre of rotation R of the connecting member onto the target on the same horizontal plane. Alternatively, the test device further comprises a distance measuring means for measuring distance. For example, the minimum distance a of the projection of the rotation center R of the connecting member and the target on the same horizontal plane is measured. The distance measuring component may be a total station, but the application is not limited thereto.

The control part described in this application controls the rotation of the connecting part to the target measured by the laser radar. For example, the connecting member is rotated from state a to state B, and according to one of the above-described embodiments, the control member controls the connecting member to be rotated at an angle in a direction from the transmission beam a to the transmission beam B until the laser radar detects the target through the transmission beam B. Specifically, in an embodiment, the rotation to the point cloud corresponding to the laser radar through the transmission beam B may be that the laser radar first passes through at least I points in the point cloud corresponding to the transmission beam B after one rotation to measure the target. That is, the measurement of the target by the transmission beam B means that the target is measured by at least I points in the point cloud corresponding to the transmission beam B.

For example, I is 1, and the transmitter corresponding to the transmission beam B of the laser radar transmits at least one frame of signal after each rotation, so as to form a horizontal cloud line of points corresponding to the transmission beam B. After one rotation, the fact that the target is measured by at least one point in the horizontal point cloud line corresponding to the transmission line beam B means that the laser radar measures the target through the transmission line beam B after the current rotation, but the application is not limited to this.

For another example, I > 1, the transmitter of the lidar corresponding to the transmission beam B transmits at least one frame of signal after each rotation to form a horizontal point cloud line corresponding to the transmission beam B. After one rotation, if the target is measured by less than I points in the cloud line of the horizontal point corresponding to the transmission beam B, the rotation is continued until the laser radar measures the target by at least I points corresponding to the transmission beam B for the first time, which indicates that the laser radar measures the target by the transmission beam B after the rotation, but the application is not limited thereto.

Optionally, when the laser radar detects the target through the transmission beam B, the target can be measured through at most Y points in the point cloud corresponding to the transmission beam B, and when the laser radar measures the target through I points corresponding to the transmission beam B, it indicates that the laser radar measures the target through the transmission beam B, where I/Y × 100% is greater than or equal to the preset value E.

For example, after the control component controls the connecting component to rotate every time, the laser radar emits 1000 frames of signals, each frame of signal forms 100 points, and the point cloud of the emitting beam B formed by the 1000 frames of signals comprises 10⁵And (4) points. When the laser radar detects the target through the transmission beam B, the target can be measured through 20 points at most in each frame of signal (specifically, the target can be measured through how many points and is related to the width of the target on the horizontal plane, which is not limited in the application), and then the target can be measured through 2 × 10 at most in 1000 frames of signal⁴Measuring the target point, if the preset value E is 90%, after one rotation, if the laser radar measures 2 multiplied by 10 for the first time⁴If more than 90% of the points measure the target, it means that the laser radar measures the target through the transmission beam B, but the application is not limited thereto. The working principle of the testing device provided by the application for measuring the angular resolution between the two transmission beams on the vertical plane of the laser radar is described above. According to the working principle, the testing device can measure the laser radarThe angular resolution between each two adjacent beams of radiation thus enables the angular resolution performance of the lidar to be determined.

In one embodiment, the control component controls the connecting component to rotate, so that the laser radar can sequentially measure the target by starting from the first transmission beam to ending the last transmission beam on the vertical plane.

The first and last transmission beams of the laser radar on the vertical plane may be the first and last transmission beams in the clockwise direction, or the first and last transmission beams in the counterclockwise direction.

The angular resolution between every two adjacent beams in the vertical plane of the lidar between the first beam and the last beam can be measured by the testing apparatus according to the previous embodiment.

Alternatively, the testing device may determine the first transmission beam of the lidar in a vertical plane as follows. The laser radar is fixed on the connecting part, when the testing device starts to measure a first transmission beam of the laser radar on the vertical surface (for example, the transmission beam A is the first transmission beam on the vertical surface, and the transmission beam B is a second transmission beam on the vertical surface), the control part controls the connecting part to rotate at intervals of a sixth angle along the direction from the transmission beam B to the transmission beam A until the laser radar is in a third state, the third state is a state where the connecting part is located when a target is recently measured relative to the laser radar, and the rotating angle of the connecting part is larger than a seventh angle. Optionally, the sixth angle is smaller than the minimum reference angular resolution between two adjacent laser radar beams, and the seventh angle is larger than the maximum reference angular resolution between two adjacent laser radar beams.

For example, after the laser radar is fixed to the connecting part, the control part needs to find the first transmission beam (i.e., the transmission beam a) on the vertical surface, the control part controls the connecting part to rotate at intervals of a sixth angle in the direction from the transmission beam B to the transmission beam a to find the first transmission beam on the vertical surface until the processing part judges that the connecting part rotates to the state where the connecting part located when the target was last measured relative to the laser radar, and the rotating angle of the connecting part is greater than the seventh angle. The seventh angle may be set to a larger angle, such as twice the maximum reference angular resolution of the lidar, but the application is not limited thereto. So that the processing unit can determine that the last measured target of the laser radar was measured by the first beam, but the application is not limited thereto.

The processing component can acquire the reference angular resolution between every two adjacent transmitting line bundles of the laser radar provided by the laser radar manufacturer, the minimum value of the reference angular resolution between every two adjacent transmitting line bundles is the minimum reference angular resolution between the two adjacent transmitting line bundles of the laser radar, and the maximum value of the reference angular resolution between every two adjacent transmitting line bundles is the maximum reference angular resolution between the two adjacent transmitting line bundles of the laser radar.

Optionally, the control part controls the connecting part to rotate at intervals of a third angle in the direction from the transmission line beam a to the transmission line beam B from the third state until the laser radar measures the target after the mth rotation. Alternatively, the third angle may be a preset value, or the third angle is smaller than a reference angular resolution between the emission beam a and the emission beam B, M being a positive integer.

In one embodiment, the processing component may determine that the lidar measured target was measured via the transmission beam a after the mth rotation, i.e., the connecting component is in state a after the mth rotation.

In another embodiment, the control part controls the connecting part to rotate by a third angle in the direction from the transmission beam B to the transmission beam a in the M +1 rotation after the M-th rotation. And then, the control component controls the connecting component to rotate at intervals of a fourth angle, and when the laser radar detects the target, the processing component determines that the connecting component is in the state A at present, namely the laser radar detects the target through the first transmission beam (namely the transmission beam A) on the vertical surface. Wherein the fourth angle is less than the third angle.

After the testing arrangement surveyed the first transmission line on the vertical, can measure the working method of the angular resolution between two adjacent sending ray bundles of laser radar according to in the foregoing testing arrangement, survey the angular resolution between every two adjacent sending ray bundles of laser radar between the first sending ray bundle to the last sending ray bundle on the vertical to survey the angular resolution performance of laser radar on the vertical.

When the test device provided by the application measures the angle of view of the laser radar on a vertical plane, the following two embodiments can be included, but are not limited to.

In one embodiment, after the testing device measures the angular resolution of the lidar between every two transmission beams in the vertical plane, the processing component may sum the angular resolution between every two adjacent transmission beams between the first transmission beam and the last transmission beam to obtain the angle of view of the lidar in the vertical plane.

In another embodiment, the testing device directly measures the angle between the first and the last beam of the laser radar in a vertical plane.

For example, the testing apparatus may determine the first and last transmission beams by measuring the operation mode of the first transmission beam of the laser radar. The processing component records two states of the laser radar when the laser radar measures the target through the first transmission beam and the last transmission beam in the vertical direction, determines an angle of the connecting component rotated from one state to the other state, and determines the angle of the laser radar in the vertical plane according to the angle, but the application is not limited to the angle.

The application provides a testing arrangement when measuring the angular resolution between two angles on the laser radar horizontal plane, control unit control connecting part rotates around the vertical axis, for example, as shown in fig. 6, control unit control connecting part rotates around the vertical axis, laser radar surveys connecting part at state C when the target through sending out bundle of rays C, laser radar surveys connecting part at state D when the target through sending out bundle of rays D, processing unit rotates the angle eta that has rotated to state D by state C according to connecting part, confirm the angular resolution between sending out bundle of rays D and sending out bundle of rays C. The working principle of the testing device for measuring the resolution and the angle of view of the upper corner of the laser radar in the horizontal plane is similar to that of the resolution and the angle of view of the upper corner of the laser radar in the vertical plane, and reference may be made to the description above, and details are not repeated here for the sake of brevity.

In the present application, when measuring the angular resolution between two transmission beams on a vertical plane, the width of the target object (i.e. target) on the vertical plane for testing needs to be such that the lidar can only measure the target by one transmission beam on the vertical plane at the same time. When measuring the angular resolution between two transmission beams on a horizontal plane, the width of the target object for testing on the horizontal plane needs to be such that the lidar can only measure the target through one transmission beam on the horizontal plane at the same time.

Alternatively, the test target object may be a reflective strip having a first value of reflection intensity.

In a real-time mode, after one rotation, the first measured reflection intensity of the laser radar's transmitted beam is 255, indicating that the laser radar measured the target through the transmitted beam.

For example, the laser radar measures the target by the transmission beam B by rotating the connection member from the state a to the state B and measuring the reflection intensity of 255 for the first time by the transmission beam B after one rotation, but the present invention is not limited thereto.

In another embodiment, when the target object for testing is a reflective strip, a measured reflection intensity of a beam of radiation of the lidar is a second value indicating that the lidar targets the target object through the beam of radiation. And the difference value between the first value and the second value is less than or equal to a preset value.

For example, the first value is 255, and the difference between the first value and the second value is defined to be less than or equal to the preset value 40. When the testing device measures the included angle between the transmission beam A and the transmission beam B, the control part controls the connecting part to rotate from the transmission beam A to the transmission beam B every time, the laser radar transmits 1000 frames of signals corresponding to the transmission beam B, each frame of signals forms 100 points, and the point cloud of the transmission beam B formed by the 1000 frames of signals comprises 10 points⁵And (4) points. When the laser radar detects the target through the transmission beam B, the target can be measured through 20 points at most in each frame of signal (specifically, the target can be measured through how many points and is related to the width of the target on the horizontal plane, which is not limited in the application), and then the target can be measured through 2 × 10 at most in 1000 frames of signal⁴Point measurement targets, if 2X 10⁴The reflection intensity measured by more than 90% of the points is 255 +/-40, which means that the laser radar measures the target through the transmission beam B, and after one rotation, if the laser radar passes through 2 multiplied by 10 for the first time⁴If the reflection intensity measured at 90% or more of the points is between 255 ± 40, the lidar measures the target through the transmission beam B, but the application is not limited thereto. Optionally, the reflective strip is placed on a planar target that is parallel to the plane formed by the horizontal and vertical axes of the connecting member. When the testing device measures the angular resolution between two transmission beams on a vertical plane, the reflective strips are parallel to the horizontal axis of the connecting member. Alternatively, when the testing device measures the angular resolution between two transmission beams on the horizontal plane, the reflective strips are parallel to the vertical axis of the connecting member.

In order to obtain more accurate angular resolution and angle of view during measurement, it is necessary to ensure that no other objects with the first reflection intensity exist in the measurement environment. Optionally, the width W of the reflective strip is defined to satisfy

Wherein D is the minimum distance from the center S of the lidar to the planar target, and α is the reference minimum angular resolution of the lidar. The width of the reflective strips is defined to ensure that the lidar is only able to measure the target through one beam of transmission in the horizontal plane at the same time when measuring the angular resolution in the horizontal plane, and/or that the lidar is only able to measure the target through one beam of transmission in the vertical plane at the same time when measuring the angular resolution in the vertical plane.

The application provides a testing arrangement can test the angle resolution and the angle of view that obtain more accurate laser radar. Moreover, the automatic measurement of the performance of the laser radar can be realized, the labor cost and the time cost are reduced, and the laser radar testing device is suitable for research and development tests and production line tests.

Fig. 7 is a schematic flowchart of a multi-lidar performance testing method provided by the present application. The multi-line radar performance testing method can be executed by a testing device or a module (such as a chip) configured on the testing device. The following description will be given taking an example in which the test transpose executes the test method. But the application is not limited thereto.

It should be noted that, for the parts of the testing method provided by the embodiment shown in fig. 7, which are the same as or similar to the working principle of the testing device in the foregoing description, reference may be made to the description in the foregoing, and for brevity, no further description is provided here.

And S710, the test device controls the connecting part to rotate from the state A to the state B.

The test device can control the connecting part to rotate around the vertical shaft and the horizontal shaft, or the test device can control the connecting part to rotate on the horizontal plane by taking one point on the vertical shaft as a rotation center, and the test device can control the connecting part to rotate on the vertical plane by taking one point on the horizontal shaft as a rotation center. The lidar may be fixed to and rotatable with the coupling member.

When the connecting part is in the state A, the transmitting line beam of the laser radar corresponding to the target is the transmitting line beam A, and when the connecting part is in the state B, the transmitting line beam of the laser radar corresponding to the target is the transmitting line beam B. That is, the lidar may measure the target via the transmission beam a when the connecting member is in state a, and may measure the target via the transmission beam B when the connecting member is in state B.

During the rotation of the connecting member from the state a to the state B, the relative position between the target and the rotation center of the connecting member is not changed.

Alternatively, the transmission beam a and the transmission beam B are two transmission beams on a horizontal plane, and the connecting member rotates with a point on a vertical axis of the connecting member as a rotation center.

Alternatively, the transmission line beam a and the transmission line beam B are two transmission line beams on a vertical plane, and the link member rotates with a point on a horizontal axis of the link member as a rotation center.

Optionally, the testing device specifically controls the connecting component to rotate from the state a to the state B after N rotations, where N is a positive integer.

In one embodiment, the connecting member rotates a second angle each time in the direction from the transmission line beam a to the transmission line beam B in the N rotations, wherein the second angle is a preset value, or the second angle is related to a reference angular resolution, and the reference angular resolution is a reference value of an included angle between the transmission line beam a and the transmission line beam B.

Wherein the reference angular resolution may be a reference value of angular resolution between the transmission beams a and B of the lidar provided by the lidar manufacturer.

In another embodiment, the testing device controls the connecting part to rotate at intervals of a third angle from the state a along the direction from the transmitting line a to the transmitting line B, and if the target corresponds to the transmitting line of the lidar after the L-th rotation, the testing device controls the connecting part to rotate at the third angle along the direction from the transmitting line B to the transmitting line a in the L + 1-th rotation, where L is a positive integer less than N; the testing device controls the connecting part to rotate along the direction from the transmitting line beam A to the transmitting line beam B at a fourth angle as an interval until the target corresponds to the transmitting line beam B of the laser radar, the state of the connecting part is a state B, wherein the connecting part rotates for N- (L +1) times at the fourth angle as an interval, and the fourth angle is smaller than the third angle.

In another embodiment, the angle of the nth rotation of the N rotations is p of the reference angular resolutionⁿWherein the reference angular resolution is a reference value of an included angle between the transmission line beam A and the transmission line beam B, N is a positive integer less than or equal to N, and 0 < p < 1.

Optionally, after obtaining the reference angular resolution δ between the transmission beam a and the transmission beam B, the testing apparatus determines that the second angle is qxd, and in a specific implementation, the second angle may be an approximate value of qxd, such as an upward rounding value or a downward rounding value of the second angle qxd, an X-bit rounded to a decimal point, and the like, which is not limited in this application.

In another embodiment, the angle of the K-th rotation of the first K rotations of the N rotations is p of the reference angular resolution^kWherein K is a positive integer less than N, K is a positive integer less than or equal to K, and the connecting member rotates at a fifth angle as an interval after the K-th rotation of the N rotations, the fifth angle being less than or equal to p of the reference angular resolution^K。

Optionally, the target is a reflective strip, the reflection intensity of the reflective strip is a first value, when the reflection intensity of the point cloud corresponding to one of the laser beams of the laser radar is a second value, it indicates that the transmission beam of the laser radar corresponds to the target, and a difference between the second value and the first value is less than or equal to a preset value.

Optionally, the reflective strip is disposed on a planar target, the planar target is parallel to a plane formed by a horizontal axis and a vertical axis of the connecting member, the transmission beams a and B are two transmission beams on a vertical plane, and the reflective strip is parallel to the horizontal axis of the connecting member. Alternatively, the transmission beams a and B are two transmission beams on a horizontal plane, and the reflective strip is parallel to a vertical axis of the connecting member.

Optionally, the width W of the reflective strip satisfies

And D is the minimum distance from the center of the laser radar to the plane target, and alpha is the reference minimum angular resolution of the laser radar.

S720, the testing device determines the angle between the transmission beam A and the transmission beam B according to a first angle, wherein the first angle is an angle change value generated when the rotating component rotates from the state A to the state B.

In one embodiment, the test apparatus determines the first angle to be the angle between the transmit beam A and the transmit beam B.

In another embodiment, the testing device determines the angle between the transmission line beam A and the transmission line beam B according to the first angle theta, the minimum distance a between the projection of the rotation center and the target on the same horizontal plane and the distance B between the center of the laser radar and the rotation center

Alternatively, the angle

Satisfy the requirement of

Alternatively, the center of the lidar may be measured by the testing device, or may be determined by instructions provided by the lidar manufacturer, which may be input to the testing device or read by the testing device.

In one embodiment, the transmission beam a and the transmission beam B are two adjacent transmission beams of the laser radar on a horizontal plane, and the testing device determines the horizontal angular resolution between the transmission beam a and the transmission beam B according to the first angle.

In another embodiment, the transmission line beam A and the transmission line beam B are two adjacent transmission line beams of the laser radar on a vertical plane, and the testing device determines the vertical angular resolution between the transmission line beam A and the transmission line beam B according to the first angle.

In another embodiment, the transmission beam a and the transmission beam B are the first transmission beam and the last transmission beam of the lidar in the horizontal plane, respectively, or the last transmission beam and the first transmission beam in the horizontal plane, the first angle is used for determining the horizontal field angle of the lidar,

in another embodiment, the transmission line beam a and the transmission line beam B are the first transmission beam and the last transmission beam on the vertical plane of the lidar respectively, or the last transmission beam and the first transmission beam on the vertical plane, and the first angle is used for determining the vertical field angle of the lidar.

The embodiment shown in fig. 7 can be applied to the testing device to test the angular resolution of the laser radar between every two adjacent transmission beams in the horizontal plane or in the vertical plane.

In one embodiment, the testing device controls the connecting part to rotate, so that each transmission beam between the first transmission beam and the last transmission beam of the laser radar on a horizontal plane or a vertical plane corresponds to the target, and the testing device determines the angle between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

Alternatively, the test apparatus may determine the first transmission beam of the laser radar through the following four steps S1 to S4.

And S1, the testing device controls the connecting part to rotate at intervals of a sixth angle along the direction from the emitting line beam B to the emitting line beam A until the connecting part is in a third state, the third state is relative to the state of the connecting part when the emitting line beam of the laser radar corresponds to the target at the latest time, and the angle change value generated by the connecting part is greater than a seventh angle, wherein the sixth angle is smaller than the minimum reference angle resolution of two adjacent emitting line beams of the laser radar, and the seventh angle is the maximum reference angle resolution between two adjacent emitting line beams of the laser radar.

S2, the testing device controls the connecting component to rotate along the direction from the emitting line A to the emitting line B at intervals of a third angle from the third state.

S3, if the emitting line beam of the laser radar corresponds to the target after the M-th rotation of the connecting component, the testing device controls the connecting component to rotate the third angle along the direction from the emitting line beam B to the emitting line beam A in the M + 1-th rotation, wherein M is a positive integer.

And S4, the testing device controls the connecting part to rotate along the direction from the transmitting line beam A to the transmitting line beam B at intervals of a fourth angle until the state of the connecting part is the state A when the transmitting line beam of the laser radar corresponds to the target, wherein the fourth angle is smaller than the third angle.

Wherein, the direction from the emitting beam A to the emitting beam B is clockwise direction or anticlockwise direction.

After the testing device determines the first emitting beam of the laser radar according to S701-S704, the testing device controls the connecting part to rotate, so that each emitting beam between the first emitting beam and the last emitting beam of the laser radar on the horizontal plane or the vertical plane corresponds to the target respectively, and the testing device determines the angle between every two adjacent emitting beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

In another embodiment, the testing device controls the connecting component to rotate so that each emission beam between a third emission beam and a first emission beam of the laser radar on the horizontal plane corresponds to the target, and/or each emission beam between a third emission beam and a last emission beam of the laser radar on the horizontal plane corresponds to the target, wherein the third emission beam is one emission beam between the first emission beam and the last emission beam on the horizontal plane. And the testing device determines the angular resolution between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

In another embodiment, the testing device controls the connecting component to rotate, so that each emission line beam between a fourth emission beam and a first emission beam of the laser radar on the vertical plane respectively corresponds to the target, and/or each emission line beam between a third emission beam and a last emission beam of the laser radar on the vertical plane respectively corresponds to the target, wherein the fourth emission beam is one emission beam between the first emission beam and the last emission beam on the vertical plane. And the testing device determines the angular resolution between every two adjacent laser beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

According to the scheme, the testing device can test and obtain more accurate angle resolution and angle of view of the laser radar. Moreover, the automatic measurement of the performance of the laser radar can be realized, the labor cost and the time cost are reduced, and the laser radar testing device is suitable for research and development tests and production line tests.

Fig. 8 is a schematic block diagram of a test apparatus provided in an embodiment of the present application. As shown in fig. 8, the test device 900 may include a connection part 810 and a control part 820.

The test apparatus 800 may correspond to the test apparatus in the above method embodiments, or a chip or the like configured (or used) for the test apparatus. The connection component in the testing apparatus 800 may correspond to the connection component 110 in the testing apparatus 100 shown in fig. 1, and implement the operation principle or the execution step of the connection component 110 in the testing apparatus 100 shown in fig. 1, and the control component 820 may correspond to the control component 120 in the testing apparatus shown in fig. 1, and implement the operation principle or the execution step of the processing component 120 in the testing apparatus shown in fig. 1. Optionally, the testing device 900 may include a processing component 830. The processing component may correspond to the processing component of the testing apparatus 100 in the foregoing, and implement the operation principle or the execution step of the processing component when testing the angle between the two transmission beams of the multi-line laser radar.

Optionally, the control component 820 may include the processing component 830 or the control component 820 and the processing component 830 may be the same component. That is, the control unit 820 may perform the function of the processing unit 830, that is, determine the angle between the laser radar transmission beams according to the angle rotated by the connecting unit 810. Alternatively, the processing unit 830 may implement the functions of the control unit 820, such as controlling the rotation of the connecting unit.

It should be understood that the test apparatus 800 may correspond to the test apparatus in the method 700 according to an embodiment of the present application, and that the test apparatus 800 may include means for performing the method performed by the test apparatus in the method 700 in fig. 7. Also, the units and other operations and/or functions described above in the testing apparatus 800 are respectively for implementing the corresponding flows of the method 700 in fig. 7.

It should be understood that the specific processes of the components for performing the above corresponding steps have been described in detail in the above method embodiments and apparatus embodiments, and are not described herein again for brevity.

As shown, the test apparatus 900 includes a connector 910 and a controller 920. Optionally, the test device 900 may also include a processor 930 and/or memory. The connector 910 may correspond to the connection part in the testing apparatus shown in fig. 1 or fig. 8, and implement the operation principle or the execution step of the connection part. The controller 920 may correspond to a control part in the test apparatus shown in fig. 1 or fig. 8, and implement an operation principle or an execution step of the control part. Optionally, the test device 900 may comprise a processing unit 930. The processing unit 930 may correspond to the processing unit of the testing apparatus described above, and may implement the operation principle or the execution steps of the processing unit when testing the angle between two laser beams of the multi-line lidar.

Alternatively, the controller 920 may implement the function of the processor 930 to determine the angle between the laser radar transmission beams according to the angle rotated by the connector 910. Alternatively, the processor 930 may implement the functions of the controller 920, such as controlling the rotation of the connecting component.

It should be understood that the test apparatus 900 may correspond to the test device in the method 700 according to an embodiment of the present application, and that the test apparatus 900 may include means for performing the method performed by the test device in the method 700 of fig. 7. Also, the devices in the test apparatus 900 and other operations and/or functions described above are each intended to implement a corresponding flow of the method 700 in fig. 7.

It will be appreciated that the test equipment 900 shown in figure 9 is capable of implementing the processes involved in testing equipment in the method embodiment shown in figure 7. The operation and/or function of each module in the test apparatus 900 is respectively for implementing the corresponding flow in the above method embodiment. Reference may be made specifically to the description of the above method embodiments, and a detailed description is appropriately omitted herein to avoid redundancy.

An embodiment of the present application further provides a processor, including: input circuit, output circuit and processing circuit. The processing circuit is configured to transmit a control signal through the output circuit and receive a signal through the input circuit, such that the processor performs the test method shown in fig. 7.

The embodiment of the application also provides a control device, which comprises a processor and a (communication) interface; the communication interface is configured to obtain data to be processed, the processor is configured to obtain processed data for the data to be processed, and the communication interface is further configured to output the processed data to perform the method shown in fig. 7.

It is to be understood that the processing means described above may be one or more chips. For example, the processing device may be a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), a system on chip (SoC), a Central Processing Unit (CPU), a Network Processor (NP), a digital signal processing circuit (DSP), a Microcontroller (MCU), a Programmable Logic Device (PLD), or other integrated chips.

An embodiment of the present application further provides a testing apparatus, including: logic circuitry and a communication interface, wherein the communication interface is configured to obtain data to be processed and/or output a control signal, and the logic circuitry is configured to process the data to be processed or obtain processed data, so as to enable the testing apparatus to perform the method in the embodiment shown in fig. 7.

The present application further provides a computer program product comprising: computer program code which, when executed by one or more processors, causes an apparatus comprising the processors to perform the method in the embodiment shown in fig. 7.

The present application also provides a computer readable storage medium having stored program code which, when executed by one or more processors, causes an apparatus comprising the processors to perform the method in the embodiment shown in fig. 7.

The application also provides a system comprising at least two of the test device, the reflective strip and the planar target. Further optionally, the system may also include a lidar.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In the embodiments of the present application, the embodiments may refer to each other, for example, methods and/or terms between the embodiments of the method may refer to each other, for example, functions and/or terms between the embodiments of the apparatus and the embodiments of the method may refer to each other, without logical contradiction.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A performance test method of a multi-line laser radar is characterized by comprising the following steps:

controlling a connecting part to rotate from a first state to a second state, wherein the connecting part is used for fixing a laser radar, when the connecting part is in the first state, a transmission beam of the laser radar corresponding to a target is a first transmission beam, when the connecting part is in the second state, the transmission beam of the laser radar corresponding to the target is a second transmission beam, and during the period that the connecting part rotates from the first state to the second state, the relative position between the target and a rotation center of the connecting part is unchanged;

an angle between the first transmission beam and the second transmission beam is determined according to a first angle, which is an angle change value generated by the connection part rotating from the first state to the second state.

2. The method of claim 1,

the first and second transmission beams are two transmission beams of the laser radar on a horizontal plane, and the connecting part rotates by taking one point on a vertical axis of the connecting part as a rotation center; alternatively, the first and second liquid crystal display panels may be,

the first and second transmission beams are two transmission beams of the laser radar on a vertical plane, and the connecting part rotates by taking one point on a horizontal axis of the connecting part as a rotation center.

3. The method of claim 1 or 2, wherein rotating the control link from the first state to the second state comprises:

and after the connecting part is controlled to rotate for N times, the connecting part is controlled to rotate from the first state to the second state, wherein N is a positive integer.

4. The method of claim 3, wherein the N rotations of the connecting member are performed for a second angle each time in a direction from the first emission beam to the second emission beam, wherein the second angle is a predetermined value, or wherein the second angle is related to a reference angular resolution, the reference angular resolution being a reference value of an angle between the first emission beam and the second emission beam.

5. The method of claim 3, wherein said controlling said connecting member to rotate from said first state to said second state through N rotations comprises:

controlling the connecting part to rotate at intervals of a third angle from the first state along the direction from the first transmission beam to the second transmission beam;

if the target corresponds to a second transmission beam of the laser radar after the connecting part rotates for the L +1 th time, controlling the connecting part to rotate for the third angle along the direction from the second transmission beam to the first transmission beam, wherein L is a positive integer smaller than N;

and controlling the connecting part to rotate at a fourth angle as an interval in the direction from the first emitting beam to the second emitting beam until the target corresponds to the second emitting beam of the laser radar, wherein the connecting part is in the second state, the connecting part rotates for N- (L +1) times at the fourth angle as the interval, and the fourth angle is smaller than the third angle.

6. The method of claim 3,

the angle of the nth rotation of the N rotations is p of the reference angular resolutionⁿWherein the reference angular resolution is a reference value of an angle between the first and second transmission beams, N is a positive integer less than or equal to N, 0 < p < 1;

alternatively, the first and second electrodes may be,

a K-th rotation of a first K rotations of the N rotationsAngle of p of said reference angular resolution^kWherein K is a positive integer less than N, K is a positive integer less than or equal to K, the connecting member rotates at intervals of a fifth angle after the K-th rotation of the N rotations, the fifth angle being less than or equal to p of the reference angular resolution^KAnd (4) doubling.

7. The method according to any one of claims 1 to 6, wherein the first and second transmission beams are two adjacent transmission beams of the lidar in a horizontal plane, and the first angle is used to determine a horizontal angular resolution between the first and second transmission beams; alternatively, the first and second liquid crystal display panels may be,

the first transmission beam and the second transmission beam are two adjacent transmission beams of the laser radar on a vertical plane, and the first angle is used for determining the vertical angle resolution between the first transmission beam and the second transmission beam.

8. The method according to any one of claims 1 to 7, further comprising:

controlling the connecting part to rotate, so that each transmission beam between the first transmission beam and the last transmission beam of the laser radar on a horizontal plane or a vertical plane respectively corresponds to the target;

and determining the angle between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

9. The method of claim 8, wherein the first transmission beam is a first transmission beam of the lidar in a horizontal plane or a vertical plane, the method further comprising:

controlling the connecting part to rotate at intervals of a sixth angle along the direction from the second transmission beam to the first transmission beam until the connecting part is in a third state, wherein the third state is a state where the connecting part is located when the last transmission beam of the laser radar corresponds to the target, and an angle change value generated by the connecting part is greater than a seventh angle, the sixth angle is smaller than a minimum reference angular resolution of two adjacent transmission beams of the laser radar, and the seventh angle is a maximum reference angular resolution between the two adjacent transmission beams of the laser radar;

controlling the connecting part to rotate at intervals of a third angle from the third state along the direction from the first transmission beam to the second transmission beam;

if the emitting beam of the laser radar corresponds to the target after the M-th rotation of the connecting part, controlling the connecting part to rotate for the third angle along the direction from the second emitting beam to the first emitting beam in the M + 1-th rotation, wherein M is a positive integer;

controlling the connecting part to rotate at an interval of a fourth angle along the direction from the first transmitting beam to the second transmitting beam until the transmitting beam of the laser radar corresponds to the target, wherein the state of the connecting part is the first state, and the fourth angle is smaller than the third angle,

wherein the direction from the first transmission beam to the second transmission beam is clockwise or counterclockwise.

10. The method according to any one of claims 1 to 7, further comprising:

controlling the connecting component to rotate so that each transmission beam between a third transmission beam and a first transmission beam of the laser radar on a horizontal plane corresponds to the target respectively, and/or each transmission beam between the third transmission beam and a last transmission beam of the laser radar on the horizontal plane corresponds to the target respectively, wherein the third transmission beam is one transmission beam between the first transmission beam and the last transmission beam of the laser radar on the horizontal plane;

determining the angular resolution between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part;

alternatively, the first and second electrodes may be,

controlling the connecting component to rotate so that each transmission beam between a fourth transmission beam and a first transmission beam of the laser radar on the vertical plane corresponds to the target respectively, and/or each transmission beam between a third transmission beam and a last transmission beam of the laser radar on the vertical plane corresponds to the target respectively, wherein the fourth transmission beam is one transmission beam between the first transmission beam and the last transmission beam of the laser radar on the vertical plane;

and determining the angular resolution between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting part.

11. The method according to any one of claims 1 to 6, wherein the first and second transmission beams are a first and a last transmission beam, respectively, in a horizontal plane of the lidar, or a last and a first transmission beam in a horizontal plane, the first angle being used to determine a horizontal field of view of the lidar,

alternatively, the first and second electrodes may be,

the first and second emission beams are a first emission beam and a last emission beam of the laser radar on a vertical plane, or the last emission beam and the first emission beam on the vertical plane, respectively, and the first angle is used for determining a vertical field angle of the laser radar.

12. The method of any of claims 1 to 11, wherein said determining an angle between the first and second emission beams from a first angle comprises:

according to a first angle theta, a minimum distance a between the rotation center and the projection of the target on the same horizontal plane and the distance from the laser radar center to the rotationDistance of center of motion b, determining angle between the first and second transmission beams

13. The method of claim 12, wherein the angle is

Satisfy the requirement of

14. The method according to any one of claims 1 to 13, wherein the target is a reflective strip, the reflection intensity of the reflective strip is a first value, the reflection intensity of the point cloud corresponding to one of the laser beams of the laser radar is a second value indicating that the laser beam corresponds to the target, and the difference between the second value and the first value is smaller than or equal to a preset value.

15. The method of claim 14, wherein the light-reflecting strips are disposed on a planar target that is parallel to a plane formed by horizontal and vertical axes of the connecting member,

the first and second transmission beams are two transmission beams of the laser radar on a vertical plane, and the reflecting strip is parallel to a horizontal axis of the connecting component; alternatively, the first and second electrodes may be,

the first and second transmission beams are two transmission beams of the laser radar on the horizontal plane, and the reflection strip is parallel to the vertical axis of the connecting component.

16. The method of claim 15, wherein the width W of the retroreflective strips is such that

Wherein D is the minimum distance from the center of the laser radar to the planar target, and alpha is the reference minimum angular resolution of the laser radar.

17. The performance testing device of the multi-line laser radar is characterized by comprising a connecting part, a control part and a processing part,

the connecting part is used for fixing the laser radar;

the control component is used for controlling the connecting component to rotate from a first state to a second state, wherein when the connecting component is in the first state, a transmission beam of the laser radar corresponding to a target is a first transmission beam, when the connecting component is in the second state, the transmission beam of the laser radar corresponding to the target is a second transmission beam, and during the connecting component rotates from the first state to the second state, the relative position between the target and the rotation center of the connecting component is unchanged;

the processing component is used for determining an angle between the first transmission beam and the second transmission beam according to a first angle, wherein the first angle is an angle change value generated by the connecting component rotating from the first state to the second state.

18. The apparatus of claim 17,

19. The apparatus of claim 17 or 18,

the control component is specifically configured to control the connecting component to rotate from the first state to the second state after N rotations, where N is a positive integer.

20. The apparatus of claim 19,

the control component is further configured to acquire a second angle, where the second angle is a preset value, or the second angle is related to a reference angular resolution, and the reference angular resolution is a reference value of an included angle between the first emission beam and the second emission beam;

the control component is specifically configured to control the connecting component to rotate the second angle each time in the direction from the first transmission beam to the second transmission beam in each of the N rotations.

21. The apparatus of claim 20, wherein said controlling said connecting member to rotate said second angle each of said N rotations comprises:

and controlling the connecting part to rotate at a fourth angle in the direction from the first emitting beam to the second emitting beam until the target corresponds to the emitting beam of the laser radar, wherein the connecting part is in a second state, the connecting part rotates for N- (L +1) times at the fourth angle, and the fourth angle is smaller than the third angle.

22. The apparatus of claim 19,

the control component is further configured to obtain a reference angular resolution value, where the reference angular resolution value is a reference value of an included angle between the first emission beam and the second emission beam;

the angle of the nth rotation in the N rotations is p of the reference angular resolutionⁿMultiple, N is a positive integer less than or equal to N, 0 < p < 1;

alternatively, the first and second liquid crystal display panels may be,

the angle of the K-th rotation in the first K rotations of the N rotations is p of the reference angular resolution^kWherein K is a positive integer less than N, K is a positive integer less than or equal to K, the control unit controls the connecting member to rotate at a fifth angle as an interval after the K-th rotation of the N rotations, the fifth angle being less than or equal to p of the reference angular resolution^KAnd (4) doubling.

23. The apparatus according to any of the claims 17 to 22, wherein the first and second transmission beams are two adjacent transmission beams of the lidar in a horizontal plane, and the processing means is specifically configured to determine a horizontal angular resolution between the first and second transmission beams depending on the first angle; alternatively, the first and second electrodes may be,

the processing component is specifically configured to determine a vertical angle resolution between the first transmission beam and the second transmission beam according to the first angle.

24. The apparatus of any one of claims 17 to 23,

the control unit is further used for controlling the connecting component to rotate, so that each transmission beam between the first transmission beam and the last transmission beam of the laser radar on the horizontal plane or the vertical plane corresponds to the target respectively;

the processing part is further used for determining the angle between every two adjacent laser beams of the laser radar according to the angle change value generated by rotation of the connecting part.

25. The apparatus of claim 24, wherein the first transmission beam is a first transmission beam of the lidar in a horizontal plane or a vertical plane, and wherein the control unit is further configured to,

controlling the connecting part to rotate at intervals of a sixth angle along the direction from the second transmission beam to the first transmission beam until the connecting part is in a third state, wherein the third state is relative to the state of the connecting part when the last transmission beam of the laser radar corresponds to the target, and an angle change value generated by the connecting part is greater than a seventh angle, wherein the sixth angle is smaller than the minimum reference angle resolution of two adjacent transmission beams of the laser radar, and the seventh angle is the maximum reference angle resolution between the two adjacent transmission beams of the laser radar;

if the transmitting beam of the laser radar corresponds to the target after the connecting part rotates for the Mth time, in the M +1 rotation, the connecting part is controlled to rotate for the third angle along the direction from the second transmitting beam to the first transmitting beam, wherein M is a positive integer;

26. The apparatus of any one of claims 17 to 23,

the control unit is further used for controlling the connecting component to rotate so that each transmission beam between a third transmission beam and a first transmission beam on a horizontal plane of the laser radar corresponds to the target, and/or each transmission beam between the third transmission beam and a last transmission beam on the horizontal plane corresponds to the target respectively, wherein the third transmission beam is one transmission beam between the first transmission beam and the last transmission beam on the horizontal plane of the laser radar;

the processing unit is further used for determining the angular resolution between every two adjacent laser beams of the laser radar according to the angle change value generated by the rotation of the connecting part;

alternatively, the first and second electrodes may be,

the control unit is further used for controlling the connecting component to rotate so that each transmission beam between a fourth transmission beam and a first transmission beam of the laser radar on the vertical plane corresponds to the target respectively, and/or each transmission beam between a third transmission beam and a last transmission beam of the laser radar on the vertical plane corresponds to the target respectively, wherein the fourth transmission beam is one transmission beam between the first transmission beam and the last transmission beam of the laser radar on the vertical plane;

the processing unit is further used for determining the angular resolution between every two adjacent transmission beams of the laser radar according to the angle change value generated by the rotation of the connecting component.

27. The apparatus according to any one of claims 17 to 22, wherein the first and second transmission beams are a first and a last transmission beam of the lidar in a horizontal plane, respectively, or a last and a first transmission beam in a horizontal plane, the first angle being used to determine a horizontal field of view of the lidar,

alternatively, the first and second electrodes may be,

28. The apparatus of any one of claims 17 to 27,

the processing unit is specifically configured to determine an angle between the first transmission beam and the second transmission beam according to a first angle θ, a minimum distance a between the rotation center and a projection of the target on the same horizontal plane, and a distance b between the center of the lidar and the rotation center

29. The apparatus of claim 28, wherein the angle is

Satisfy the requirement of

30. The apparatus of any one of claims 17 to 29, wherein the target is a reflective strip, the reflection intensity of the reflective strip is a first value, and the reflection intensity of the point cloud corresponding to one of the laser radar beams is a second value, which indicates that the one of the laser radar beams corresponds to the target, and the difference between the second value and the first value is smaller than or equal to a preset value.

31. The device of claim 30 wherein the light-reflecting strips are disposed on a planar target that is parallel to a plane formed by horizontal and vertical axes of the connecting member,

32. The device of claim 31, wherein the width W of the reflective strips is such that

33. A control device comprising a processor and a communication interface;

the communication interface is used for acquiring data to be processed, the processor is used for obtaining processed data from the data to be processed, and the communication interface is further used for outputting the processed data so as to enable the control device to execute the method of any one of claims 1 to 16.

34. A computer-readable storage medium, characterized in that it stores a computer program which, when executed, implements the method according to any one of claims 1 to 16.

35. A chip comprising an input circuit, an output circuit and a processing circuit;

the processing circuit is configured to receive a signal via the input circuit and transmit a signal via the output circuit, such that the processor performs the method of any of claims 1-16.