CN115097423A - Vehicle-mounted laser radar hardware-in-loop simulation test system - Google Patents
Vehicle-mounted laser radar hardware-in-loop simulation test system Download PDFInfo
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- CN115097423A CN115097423A CN202210779064.0A CN202210779064A CN115097423A CN 115097423 A CN115097423 A CN 115097423A CN 202210779064 A CN202210779064 A CN 202210779064A CN 115097423 A CN115097423 A CN 115097423A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention relates to a hardware-in-loop simulation test system of a vehicle-mounted laser radar, which is used for carrying out in-loop simulation test on the vehicle-mounted laser radar to be tested and comprises a cluster focusing lens, a laser beam splitting lens, a space flight delay simulation module, a detection trigger module, a central control unit, an echo module and an echo collimation module; the space flight delay module, the detection trigger module and the echo module are respectively connected to the central control unit and are controlled by the central control unit. Compared with the prior art, the method has the advantages of good accuracy, high efficiency, strong universality, rich simulation scenes, high flexibility and the like.
Description
Technical Field
The invention relates to the technical field of laser radar simulation tests, in particular to an in-loop simulation test system for vehicle-mounted laser radar hardware.
Background
At present, performance test of the laser radar is mainly carried out by two modes of real target range test and echo simulation test. The real target range test is mainly carried out by arranging a real target range in an indoor static field environment; the callback simulation test is mainly to simulate a remote target simulation test by receiving a light beam by a special laser echo simulator, delaying the light beam and reflecting an echo signal.
Both of the above two test methods have corresponding drawbacks. For the test of a real target range, the test is easily limited by the space size of an indoor field, and the simulation test of various actual application distances cannot be carried out; for echo simulation test, only echoes of a single point or a plurality of points can be simulated, and point cloud simulation required for three-dimensional scene simulation of radar is far from the standard.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide the vehicle-mounted laser radar hardware-in-loop simulation test system which is good in accuracy, high in efficiency, strong in universality, rich in simulation scenes and high in flexibility.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a vehicle-mounted laser radar hardware is at ring simulation test system for carry out at ring simulation test to the vehicle-mounted laser radar that awaits measuring, at ring simulation test system include:
the cluster focusing lens is used for focusing a laser signal cluster emitted by the vehicle-mounted laser radar to the laser beam splitting lens;
the laser beam splitting lens is used for splitting a laser signal emitted by the cluster focusing lens into a main optical path signal and a detection trigger signal, and respectively inputting the main optical path signal and the detection trigger signal into the main optical path matrix delay module and the detection trigger module;
the space flight delay simulation module is used for receiving the main optical path signal, simulating the space flight effect and sending the output signal to the echo module;
the detection trigger module is used for receiving the detection trigger signal, converting the detection trigger signal into an electric signal and starting the electric signal to the central control unit;
the echo module is used for receiving the laser signal output by the space flight delay simulation module and reflecting the signal to the echo collimation module according to a specific pointing angle;
the echo collimation module is used for receiving the laser signal output by the echo collimation module and transmitting the laser signal to the vehicle-mounted laser radar to be detected;
the space flight delay module, the detection trigger module and the echo module are respectively connected to the central control unit and are controlled by the central control unit.
As a preferred technical solution, the spatial flight delay simulation module includes:
the main optical path matrix delay unit is used for receiving a main optical path signal, simulating the optical path space flight effect and sending an output signal of the main optical path matrix delay unit to the main optical path attenuation interference unit;
and the main optical path attenuation interference unit is used for applying simulated scene interference to the laser signal processed by the main optical path matrix delay unit.
As a preferred technical solution, the main optical path matrix delay unit specifically includes:
the delay circuit consists of a plurality of matrix optical fiber delay networks which are connected in series, and each matrix optical fiber delay network realizes the delay effect of different unit levels.
As a preferred technical solution, the matrix optical fiber delay network includes a plurality of delay groups connected in parallel, each delay group including an optical switch, a delay switch and a delay line; the delay switch is connected with the delay line in series; the optical switch is connected in parallel with the whole body formed by the delay switch and the delay line; when the optical switch is switched on, the current delay group has no delay effect, and when the delay switch is switched on, the laser signal is delayed through the delay line.
As a preferred technical solution, the main light path attenuation and interference unit is a signal attenuator or a signal attenuation circuit.
As a preferred technical scheme, the echo module is a galvanometer scanner.
As a preferable technical scheme, the echo module comprises a plurality of galvanometer scanners which are controlled by a central control unit in parallel.
As an optimized technical scheme, the central control unit receives analog point cloud data input by a user, analyzes laser reflection parameters and controls the space flight delay module, the detection trigger module and the echo module according to the laser reflection parameters.
As a preferred technical scheme, the laser reflection parameters comprise reflection delay time, signal attenuation degree, current deflection angle of a galvanometer and next pre-deflection angle of the galvanometer; the central control unit controls the main light path matrix delay unit through reflection delay time, controls the main light path attenuation interference unit through signal attenuation degree, and controls the echo module through the current deflection angle of the vibrating mirror and the next pre-deflection angle of the vibrating mirror.
As a preferred technical scheme, the central control unit receives the electric signal sent by the detection triggering module, and is used for calculating the current simulation position and calculating the required laser flight time.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the accuracy is good: compared with the current common shooting range simulation mode, the on-board laser radar hardware in-loop simulation test system can provide an absolutely-consistent test environment for consistency verification of the laser radar; on the other hand, complete machine verification can be realized in a relatively narrow and small stable environment, the test environment space is saved, meanwhile, the deviation of external interference on the test environment can be reduced as far as possible, and the simulation precision is improved.
Secondly, high efficiency: the vehicle-mounted laser radar hardware in-loop simulation test system adopts the parallel control galvanometer scanning unit, can realize the quick response control of the galvanometer system, realizes the high-speed feedback of the laser reflection system, and improves the efficiency of the vehicle-mounted laser radar hardware in-loop simulation test.
Thirdly, the universality is strong: the simulation point cloud data of the vehicle-mounted laser radar hardware in-loop simulation test system uses a universal point cloud file which can be edited and used on a personal computer, and can be used as a universal scene file to continuously expand an external radar scene simulation library and verify various different use scenes, so that the universality of the in-loop simulation system is enhanced.
Fourthly, the simulation scene is rich, and the flexibility is good: the vehicle-mounted laser radar hardware-in-the-loop simulation test system adopts a digital 3D point cloud file directly provided by an upper computer as the simulation input of the simulation system, and can dynamically realize the switching simulation of any space three-dimensional scene.
Drawings
FIG. 1 is a schematic structural diagram of an in-loop simulation test system for vehicle-mounted laser radar hardware in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a main optical path matrix delay unit according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an echo module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a single galvanometer scanner in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a bundled focus lens in an embodiment of the present disclosure.
The reference numbers in the figures indicate:
1. the device comprises a vehicle-mounted laser radar to be detected, 2, a cluster focusing lens, 3, a laser beam splitting lens, 4, a space flight delay simulation module, 5, a detection trigger module, 6, a central control unit, 7, an echo module, 8, an echo collimation module, 401, a main light path matrix delay unit, 402 and a main light path attenuation interference unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the present application. In the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.
Example 1
Fig. 1 is a schematic structural diagram of an in-loop simulation test system for vehicle-mounted laser radar hardware provided in an embodiment of the present application, where the system performs in-loop simulation test on a vehicle-mounted laser radar 1 to be tested, and the system includes:
the bundling focusing lens 2 is used for bundling and focusing laser signals emitted by the vehicle-mounted laser radar to the laser beam splitting lens;
the laser beam splitting lens 3 is used for splitting a laser signal emitted by the cluster focusing lens into a main optical path signal and a detection trigger signal, and respectively inputting the main optical path signal and the detection trigger signal into the main optical path matrix delay module and the detection trigger module;
the space flight delay simulation module 4 is used for receiving the main optical path signal, simulating the space flight effect and sending the output signal to the echo module 7;
the detection trigger module 5 is used for receiving the detection trigger signal, converting the detection trigger signal into an electric signal and sending the electric signal to the central control unit 6;
the echo module 7 is used for receiving the laser signal output by the space flight delay simulation module 4 and reflecting the signal to the echo collimation module 8 according to a specific pointing angle;
the echo collimation module 8 is used for receiving the laser signal output by the echo module 7 and transmitting the laser signal to the vehicle-mounted laser radar 1 to be tested;
the space flight delay module 4, the detection trigger module 5 and the echo module 7 are respectively connected to the central control unit 6 and are controlled by the central control unit 6.
Specifically, the spatial flight delay simulation module 4 includes:
the main optical path matrix delay unit 401 is configured to receive a main optical path signal, simulate an optical path space flight effect, and send an output signal of the main optical path matrix delay unit to the main optical path attenuation interference unit 402;
and a main optical path attenuation interference unit 402, configured to apply simulated scene interference to the laser signal processed by the main optical path matrix delay unit 401.
Optionally, the main optical path attenuation and interference unit 402 in this embodiment is a signal attenuator or a signal attenuation circuit.
Specifically, the echo module 7 is a galvanometer scanner.
Specifically, the central control unit 6 receives analog point cloud data input by a user, analyzes laser reflection parameters, and controls the spatial flight delay module 4, the detection trigger module 5 and the echo module 7 according to the laser reflection parameters. By inputting the simulated point cloud data to the central control unit 6, the switching simulation of any space three-dimensional scene can be dynamically realized. Meanwhile, the universal point cloud file which is edited and used on a personal computer can be used as a universal scene file to continuously expand an external scene simulation library of the radar and verify various different use scenes.
The attenuation interference system used by the invention can simulate the influence of various reflectivity media of a real radar on laser flight in a special scene environment through program control adjustment so as to evaluate the hardware response performance of a laser radar to-be-tested object.
More specifically, the laser reflection parameters include reflection delay time, signal attenuation, current deflection angle of the galvanometer, and next pre-deflection angle of the galvanometer, the central control unit 6 controls the main optical path matrix delay unit 401 through the reflection delay time, controls the main optical path attenuation interference unit 402 through the signal attenuation, and controls the echo module 7 through the current deflection angle of the galvanometer and the next pre-deflection angle of the galvanometer.
Specifically, the central control unit 6 receives the electrical signal sent by the detection triggering module 5, and is used for calculating the current simulation position and calculating the required laser flight time.
Example 2
On the basis of embodiment 1, a main optical path delay matrix unit 401 as shown in fig. 2 is adopted, and the unit is composed of a plurality of matrix optical fiber delay networks connected in series, and each matrix optical fiber delay network realizes the delay effect of different unit stages.
Specifically, the matrix optical fiber delay network comprises a plurality of delay groups connected in parallel, each delay group comprises an optical switch, a delay switch and a delay line, the delay switches and the delay lines are connected in series, and the optical switches, the delay switches and the delay lines are connected in parallel to form a whole. When the optical switch is switched on, the current delay group has no delay effect, and when the delay switch is switched on, the laser signal is delayed through the delay line.
In connection with fig. 2, a single delay group is taken as an example: s100 and S101 are high-speed optical switches, respectively, and if S100 is turned on, the optical path is directly transmitted without any delay, and if S101 is turned on, the optical path passes through a specially-customized delay line. In the 20 delay groups of the first column, S101 to S191 are delay setting switches of the same order. S100 to S500 are delay switches of different unit stages, and different delay effects can be achieved when different switches are combined.
Example 3
In distinction to embodiment 1, the echo module 7 in this embodiment employs a main loop echo transmitter electrical system as shown in fig. 3, which includes a plurality of galvanometer scanners controlled in parallel by the central control unit 6.
With reference to fig. 3, the incident main beam is selected from S0 to S9 to complete laser transmission, M0 to M9 are galvanometer scanning units, respectively corresponding to one tenth of the scanning range of a plane, and each individual scanning unit can realize the reflection angle of the laser emitted to both X and Y directions. By adopting a parallel control mode, after receiving a trigger signal every time, the wide switch of the programs from S0 to S9 is used for selecting dynamic adjustment of the reflection angle which needs to be reached in the future, so that the laser reflection angle adjustment with 10 times of speed can be realized, and the defect of dynamic response bottleneck of a single galvanometer device is overcome. And finally, laser reflection simulation of any position of the three-dimensional space at any position is realized.
As shown in fig. 4, for a single galvanometer scanning system, a and b are galvanometers, and the incident beam can be projected to a specified position in the XY plane by rotating the galvanometers a and b.
The calculation method of the x and y coordinates comprises the following steps:
let the distance between the x-axis and y-axis mirrors be e, the distance between the axis of the y-galvanometer and the origin of coordinates of the viewing field plane be d, and when the optical deflection angles of the x-axis and the y-axis are respectively theta x And theta y When the corresponding spot coordinate on the field plane is (x, y), and when x ═ y ═ 0, θ x ＝θ y 0, the deflection angle θ of the galvanometers a and b x And theta y Control voltage V with mirrors a and b x And V y The relationship of (1) is:
θ x ＝k x ×V x
θ y ＝k y ×V y
wherein k is x And k y Respectively, are coefficients.
In summary, by controlling V x And V y I.e. the deflection angles of the galvanometers a and b can be controlled, so the present embodiment uses the central control unit 6 to control the echo module.
Example 4
Based on embodiment 1, as shown in fig. 5, the cluster focusing lens 2 in this embodiment uses a two-dimensional off-axis wedge lens, and realizes the coherent convergence function of 4 beams of laser light by using a mode that 4 two-dimensional off-axis wedge lenses form a "large lens" in a form, where the two-dimensional off-axis wedge lens indicates that the center of the lens has off-axis amount in both x and y directions relative to the optical center of the lens. A2 x 2 focused system scheme using two-dimensional off-axis wedge lenses is shown, where B i The sub-lenses are denoted by i, 1,2,3, and 4 respectively denote the i-th quadrant. The spherical surfaces of the 4 sub-lenses are symmetrically selected in each quadrant of the spherical surface of the lens A to form a two-dimensional off-axis lens array which is arranged in a 2 multiplied by 2 mode to replace the lens A, the target field projection reflector is adjusted to enable the laser optical axes projected to the 4 lenses to be mutually parallel, and the cluster is coherently converged on the target surface after passing through the lens array.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a vehicle-mounted lidar hardware is at ring simulation test system for carry out at ring simulation test to the vehicle-mounted lidar (1) that awaits measuring, its characterized in that, at ring simulation test system include:
the cluster focusing lens (2) is used for focusing a laser signal cluster emitted by the vehicle-mounted laser radar to the laser beam splitting lens;
the laser beam splitting lens (3) is used for splitting a laser signal emitted by the cluster focusing lens into a main optical path signal and a detection trigger signal, and respectively inputting the main optical path signal and the detection trigger signal into the space flight delay simulation module (4) and the detection trigger module (5);
the space flight delay simulation module (4) is used for receiving the main optical path signal, simulating the space flight effect and sending the output signal to the echo module (7);
the detection trigger module (5) is used for receiving the detection trigger signal, converting the detection trigger signal into an electric signal and sending the electric signal to the central control unit (6);
a central control unit (6);
the echo module (7) is used for receiving the laser signal output by the space flight delay simulation module (4) and reflecting the signal to the echo collimation module (8) according to a specific pointing angle;
the echo collimation module (8) is used for receiving the laser signal output by the echo module (7) and transmitting the laser signal to the vehicle-mounted laser radar (1) to be detected;
the space flight delay module (4), the detection trigger module (5) and the echo module (7) are respectively connected to the central control unit (6) and are controlled by the central control unit (6).
2. The hardware-in-loop simulation test system for vehicle-mounted lidar according to claim 1, wherein the spatial flight delay simulation module (4) comprises:
the main optical path matrix delay unit (401) is used for receiving a main optical path signal, simulating an optical path space flight effect and sending an output signal of the main optical path matrix delay unit to the main optical path attenuation interference unit (402);
and the main optical path attenuation interference unit (402) is used for applying simulated scene interference to the laser signal processed by the main optical path matrix delay unit (401).
3. The system for in-loop simulation test of vehicle-mounted laser radar hardware according to claim 2, wherein the main optical path matrix delay unit (401) is specifically:
the delay circuit consists of a plurality of matrix optical fiber delay networks which are connected in series, and each matrix optical fiber delay network realizes the delay effect of different unit levels.
4. The hardware-in-loop simulation test system for the vehicle-mounted laser radar as claimed in claim 3, wherein the matrix optical fiber delay network comprises a plurality of delay groups connected in parallel, and each delay group comprises an optical switch, a delay switch and a delay line; the delay switch is connected with the delay line in series; the optical switch is connected in parallel with the whole body formed by the delay switch and the delay line; when the optical switch is switched on, the current delay group has no delay effect, and when the delay switch is switched on, the laser signal is delayed through the delay line.
5. The hardware-in-loop simulation test system of the vehicle-mounted lidar according to claim 2, wherein the main optical path attenuation interference unit (402) is a signal attenuator or a signal attenuation circuit.
6. The hardware-in-loop simulation test system of the vehicle-mounted laser radar as claimed in claim 2, wherein the echo module (7) is a galvanometer scanner.
7. The hardware-in-loop simulation test system of the vehicle-mounted laser radar as claimed in claim 2, wherein the echo module (7) comprises a plurality of galvanometer scanners controlled in parallel by the central control unit (6).
8. The hardware-in-loop simulation test system of the vehicle-mounted laser radar as claimed in claim 2, wherein the central control unit (6) receives analog point cloud data input by a user, analyzes laser reflection parameters, and controls the spatial flight delay module (4), the detection trigger module (5) and the echo module (7) according to the laser reflection parameters.
9. The hardware-in-loop simulation test system of the vehicle-mounted laser radar as claimed in claim 8, wherein the laser reflection parameters comprise reflection delay time, signal attenuation degree, current deflection angle of the galvanometer and next pre-deflection angle of the galvanometer; the central control unit (6) controls the main light path matrix delay unit (401) through reflection delay time, controls the main light path attenuation interference unit (402) through signal attenuation degree, and controls the echo module (7) through the current deflection angle of the vibrating mirror and the next pre-deflection angle of the vibrating mirror.
10. The vehicle-mounted lidar hardware-in-loop simulation test system according to claim 1, wherein the central control unit (6) receives the electrical signal sent by the detection trigger module (5) for calculating a current simulation position and calculating a required laser flight time.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116106839A (en) * | 2023-03-22 | 2023-05-12 | 武汉中关村硬创空间科技有限公司 | Vehicle-mounted radar reliability detection method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116106839A (en) * | 2023-03-22 | 2023-05-12 | 武汉中关村硬创空间科技有限公司 | Vehicle-mounted radar reliability detection method, device, equipment and storage medium |
| CN116106839B (en) * | 2023-03-22 | 2023-08-22 | 武汉中关村硬创空间科技有限公司 | Vehicle-mounted radar reliability detection method, device, equipment and storage medium |
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