CN116224304A - Test method, device and medium of vehicle-mounted laser radar - Google Patents
Test method, device and medium of vehicle-mounted laser radar Download PDFInfo
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- CN116224304A CN116224304A CN202310517348.7A CN202310517348A CN116224304A CN 116224304 A CN116224304 A CN 116224304A CN 202310517348 A CN202310517348 A CN 202310517348A CN 116224304 A CN116224304 A CN 116224304A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention relates to the technical field of laser radars, and discloses a test method, test equipment and test media of a vehicle-mounted laser radar, wherein the method comprises the following steps: under the condition that the second guide rail is an arc guide rail, the first diffuse reflection plate and the second diffuse reflection plate on the arc guide rail are controlled to move to the corresponding initial positions, the arc guide rail is controlled to move to the corresponding initial positions, the third diffuse reflection plate on the first guide rail is controlled to move to the corresponding initial positions, then the point cloud data of the three diffuse reflection plates are measured through the laser radar to be tested, the first diffuse reflection plate and the second diffuse reflection plate are controlled to move towards the center of the arc guide rail, the movement is stopped when the existence of a trailing point is detected, the trailing point angle is recorded, the third diffuse reflection plate is further controlled to move towards the direction far away from the arc guide rail until the trailing point disappears, the critical distance of the trailing point is recorded, the automatic test of the trailing point of the laser radar is realized, the problems of high labor cost and low test efficiency are solved, and the test precision is greatly improved.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a test method, test equipment and test media for a vehicle-mounted laser radar.
Background
The vehicle-mounted laser radar is a mobile three-dimensional laser scanning system, and is widely applied to vehicle running and city modeling. The vehicle-mounted laser radar needs to perform relevant performance tests to determine performance parameters of the vehicle-mounted laser radar. In the working principle, the laser radar transmits detection signals to the target, and the received signals reflected from the target are compared with the transmission signals, so that the related information of the target can be obtained after proper processing, and the targets such as vehicles, pedestrians and the like are detected, tracked and identified.
The existing vehicle-mounted laser radar has the disadvantages of long detection distance and high precision requirement. For the laser radar test, the test accuracy is affected by the distance and angle deviation, and usually, multiple times of manual calibration and control of the movement of the reflecting plate are required to obtain multiple groups of measurement data. However, such manual measurement methods have low accuracy, high manual cost, and low efficiency of the test.
In view of this, the present invention has been made.
Disclosure of Invention
In order to solve the technical problems, the invention provides a test method, test equipment and test media for a vehicle-mounted laser radar, and aims to solve the problems of low test precision, high cost and low test efficiency in the prior art.
The embodiment of the invention provides a test method of a vehicle-mounted laser radar, which is suitable for a vehicle-mounted laser radar test device, and comprises a first guide rail, a second guide rail which is positioned above the first guide rail and is perpendicular to the first guide rail, and diffuse reflection plates, wherein the method comprises the following steps:
if the second guide rail is an arc guide rail, the first diffuse reflection plate and the second diffuse reflection plate on the arc guide rail are controlled to move to the corresponding initial positions, the arc guide rail on the first guide rail is controlled to move to the corresponding initial positions, and the third diffuse reflection plate on the first guide rail is controlled to move to the corresponding initial positions;
measuring point cloud data of the first diffuse reflection plate, the second diffuse reflection plate and the third diffuse reflection plate through a laser radar to be measured, and controlling the first diffuse reflection plate and the second diffuse reflection plate to move towards the center of the arc-shaped guide rail in the measuring process;
stopping moving the first diffuse reflection plate and the second diffuse reflection plate when determining that a drag point exists between the diffuse reflection plates based on the detected point cloud data, and determining an included angle between the first diffuse reflection plate and the second diffuse reflection plate as a drag point angle;
And controlling the third diffuse reflection plate to move in a direction away from the arc-shaped guide rail until the dragging point disappears, determining the distance between the third diffuse reflection plate and the laser radar to be detected as a dragging point critical distance, and determining the dragging point test information of the laser radar to be detected based on the dragging point angle and the dragging point critical distance.
The embodiment of the invention provides electronic equipment, which comprises:
a processor and a memory;
the processor is configured to execute the steps of the testing method of the vehicle-mounted laser radar according to any embodiment by calling the program or the instructions stored in the memory.
An embodiment of the present invention provides a computer-readable storage medium storing a program or instructions that cause a computer to execute the steps of the method for testing a vehicle-mounted lidar according to any of the embodiments.
The embodiment of the invention has the following technical effects:
under the condition that the second guide rail is an arc guide rail, the first diffuse reflection plate and the second diffuse reflection plate on the arc guide rail are controlled to move to the corresponding initial positions, the arc guide rail on the first guide rail is controlled to move to the corresponding initial positions, the third diffuse reflection plate on the first guide rail is controlled to move to the corresponding initial positions, and then the point cloud data of the three diffuse reflection plates are measured through the laser radar to be measured, in the measuring process, the first diffuse reflection plate and the second diffuse reflection plate are controlled to move towards the center of the arc guide rail, when the dragging point exists, the movement is stopped, the included angle between the first diffuse reflection plate and the second diffuse reflection plate is determined to be the dragging point angle, then the third diffuse reflection plate is controlled to move towards the direction far away from the arc guide rail until the dragging point disappears, the dragging point critical distance between the third diffuse reflection plate and the laser radar to be measured is recorded, the dragging point test information of the laser radar to be measured is obtained according to the dragging point angle and the dragging point critical distance, the automatic test of the dragging point of the laser radar is not required, the manual test of the dragging point is realized, compared with the manual test mode of the mobile reflection plate or the laser radar, the manual test is high in efficiency and the test precision is greatly improved, and the test precision is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a test method of a vehicle-mounted laser radar provided by an embodiment of the invention;
FIG. 2 is a schematic view of a first guide rail according to an embodiment of the present invention;
FIG. 3 is a schematic view of an arc guide rail according to an embodiment of the present invention;
FIG. 4 is a schematic view of an arc guide rail according to an embodiment of the present invention;
fig. 5 is a schematic view of a linear guide rail according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a linear guide rail according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a linear guide rail according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating an exemplary embodiment of an angle resolution test;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the invention, are within the scope of the invention.
The test method of the vehicle-mounted laser radar provided by the embodiment of the invention is mainly applicable to a vehicle-mounted laser radar test device, and the device comprises a first guide rail, a second guide rail which is positioned above the first guide rail and is perpendicular to the first guide rail, and various diffuse reflection plates. The device can also comprise an upper computer, and the test method of the vehicle-mounted laser radar provided by the embodiment of the invention can be executed by the upper computer or can be executed by other electronic equipment independent of the device.
Fig. 1 is a flowchart of a test method of a vehicle-mounted lidar according to an embodiment of the present invention. Referring to fig. 1, the test method of the vehicle-mounted laser radar specifically includes:
and S110, if the second guide rail is an arc guide rail, controlling the first diffuse reflection plate and the second diffuse reflection plate on the arc guide rail to move to the corresponding initial positions, controlling the arc guide rail on the first guide rail to move to the corresponding initial positions, and controlling the third diffuse reflection plate on the first guide rail to move to the corresponding initial positions.
In the embodiment of the invention, the first guide rail and the second guide rail in the vehicle-mounted laser radar testing device can form distance control equipment. The first guide rail can be a long straight guide rail, and the moving range of the diffuse reflection plate on the first guide rail is considered to be larger, so that the first guide rail can select a guide rail of a precise gear rack type to prolong the length of the guide rail according to test requirements and ensure the performance stability of the diffuse reflection plate.
Fig. 2 is a schematic diagram of a first guide rail according to an embodiment of the present invention. As shown in fig. 2, the first guide rail may be connected by a rack and pinion manner, so as to be extended according to requirements.
The first rail further includes a platform bracket for adjusting the height of the first rail in the Z-axis direction, and the first rail can provide movement in the Y-axis direction for equipment (e.g., a diffuse reflecting plate, a second rail, etc.) thereon.
Specifically, one or more industrial computers can be arranged on the first guide rail, each industrial computer is provided with a control interface for communicating with an upper computer, and the upper computer can drive equipment (such as a diffuse reflection plate, a second guide rail and the like) to move on the first guide rail by sending instructions to the industrial computer, so that the position of the equipment is adjusted.
As shown in table 1, the performance parameters of the first rail of the rack and pinion used in the examples of the present invention are shown.
TABLE 1 Performance parameters of the first guide rail
In the embodiment of the invention, a transverse second guide rail, namely a second guide rail perpendicular to the first guide rail, can be arranged above the first guide rail, and the second guide rail can move on the first guide rail. The length of the second rail may be less than the length of the first rail. The second guide rail may be an arc-shaped guide rail or a linear guide rail.
Fig. 3-4 are schematic diagrams illustrating an arc-shaped guide rail according to an embodiment of the present invention. The length of the first guide rail can be 50m, the radius of the arc-shaped guide rail can be 2.5m, and the included angle between the arc-shaped guide rail and the first guide rail can be-45 degrees to +45 degrees. The arc guide rail can be initially placed at a position 2.5m away from the laser radar to be detected when the arc guide rail is installed. Fig. 5 to fig. 7 are schematic diagrams of a linear guide rail according to an embodiment of the present invention. The length of the linear guide may be 5m. The second guide rail arranged above the first guide rail can slide on the first guide rail and adjust the distance to the laser radar to be measured.
In the embodiment of the invention, a fine adjustment device can be further arranged on the first guide rail, as shown in fig. 5-7, the fine adjustment device can be positioned between the rightmost second guide rail and the leftmost laser radar to be detected, and the fine adjustment device can be used for fine adjustment of the position of the diffuse reflection plate or the second guide rail on the first guide rail so as to further ensure the accuracy of the position.
In addition, the diffuse reflection plate in the vehicle-mounted laser radar testing device can be used for simulating a target object. The reflectivity of the diffuse reflection plate can be 2-99%, and standard traceability is supported. The device can also comprise a reflectivity calibration device, wherein the reflectivity calibration device is used for calibrating the reflectivity of the diffuse reflection plate, is suitable for calibrating the reflectivity after multiple measurements, and supports standard tracing.
For example, based on the working principle of the vehicle-mounted laser radar, the detection performance is sensitive to the reflectivity of the target object, so that the diffuse reflection plate with uniform reflectivity and capable of being measured and calibrated can be selected as the simulation target object of the vehicle-mounted laser radar. Due to the characteristics of the detection object of the vehicle-mounted laser radar, 0.5m can be assembled
0.5m，1.0m/>
1.0m or 1.5 m->
1.5m, a diffuse reflector with a reflectivity of 10%,50% or 80% capable of covering the reflectivity levels of 850nm, 255 nm and 1550nm infrared laser wavelengths. Since the working distance of the sensor can reach 200m, the size of the target plate needs to be larger than A8 or letter size (0.5 m +.>
0.5m,1m/>
1m and 1.5 m->
1.5 m) and meets the optical reflectivity criteria that support traceability. For greater than 1m 2 The reflectivity error of 905 nanometer laser is controlled to be +/-1.5 percent; for less than 1m 2 The reflectance error of 905 nm laser is controlled to be ±1.25%.
Specifically, under the condition that the second guide rail is an arc guide rail, namely in the scheme that the arc guide rail is arranged on the first guide rail, the first diffuse reflection plate and the second diffuse reflection plate can be arranged on the arc guide rail, and the third diffuse reflection plate can be arranged on the first guide rail.
For example, two diffuse reflection plates on an arc-shaped guide rail can be controlled to move to corresponding initial positions. The initial positions of the two diffuse reflection plates on the arc-shaped guide rail can be two ends of the arc-shaped guide rail. The first and second diffuse reflection plates may be 1m
1m, a diffuse reflection plate with a reflectivity of 90%. It should be noted that, in the embodiment of the present invention, the purpose of providing the arc-shaped guide rail is to: by arranging the arc guide rail, the distances from the diffuse reflection plates to the laser radar to be detected are the same, and compared with a mode of adopting a plurality of parallel tracks, the method does not need to compare the distances from the diffuse reflection plates to the vehicle-mounted laser radar, and improves the diffuse reflectionThe efficiency of the positional adjustment of the plate and the accuracy of the positional adjustment.
Further, the arc-shaped guide rail on the first guide rail can be controlled to move to the corresponding initial position. And after the arc-shaped guide rail is moved, controlling the third diffuse reflection plate on the first guide rail to move to the corresponding initial position. Wherein the third diffuse reflection plate may be 1m 
1m, a diffuse reflection plate with a reflectivity of 90%.
The third diffuse reflection plate is used as a rear plate of the two diffuse reflection plates on the arc-shaped guide rail, namely, the distance between the arc-shaped guide rail and the laser radar to be detected is smaller than the distance between the third diffuse reflection plate and the laser radar to be detected. For example, the initial position of the arc guide rail may be 1.5m from the lidar to be measured, and the initial position of the third diffuse reflection plate may be 3m from the lidar to be measured.
In the embodiment of the invention, the vehicle-mounted laser radar testing device can further comprise a laser radar turntable for controlling the rotation of the laser radar to be tested. The laser radar turntable can be used for realizing the angle adjustment of the Z-axis direction and the X-axis direction of the laser radar to be tested, the absolute angle of the laser radar to be tested can be recorded through a micrometer, and a control interface communicated with an upper computer is arranged.
The laser radar turntable can be an electric servo two-dimensional turntable, and the pitching angle of the Z axis and the rotating angle of the X axis can be adjusted according to requirements in the installation and test process of the laser radar to be tested. Wherein, mark servo motor and RS232 interface, the host computer can realize automated control. The rotary shaft system is formed by adopting a plurality of processes for precision machining, the matching precision is high, the bearing is large, the service life is long, the central aperture of the rotary table has strict matching tolerance limit, and the precision positioning of the laser radar to be detected is conveniently realized. The mechanical limit of +/-170 degrees is supported, the working safety of the turntable is ensured, the high-precision micrometer is marked, the absolute angle can be read, and the vertical adjustment module is arranged, so that the vertical adjustment can be manually performed in the Z-axis direction. As shown in table 2, performance parameters of a lidar turntable are shown.
Table 2 performance parameters of a lidar turret
In a specific embodiment, the vehicle-mounted laser radar testing device further includes a laser radar turntable, and before the first diffuse reflection plate and the second diffuse reflection plate on the second guide rail are controlled to move to the corresponding initial positions, the vehicle-mounted laser radar testing device further includes:
controlling a laser component at the rotation axis of the laser radar turntable to emit a laser beam, and controlling the laser radar to be detected to emit the laser beam, which is arranged on the laser radar turntable; and adjusting the position of the laser radar to be detected based on the two laser beams so that the laser beam emitted by the laser radar to be detected coincides with the laser beam emitted by the laser component at the rotating axis.
The laser radar turntable comprises a laser radar rotating table, a laser beam detector and a laser beam detector, wherein a laser component, such as a laser pen, is arranged at the rotating axis of the laser radar rotating table, and the laser component can emit a laser beam which coincides with the rotating axis. Before the drag point test is carried out, the laser radar to be tested can be mounted on the laser radar turntable, so that the laser component and the laser beam emitted by the laser radar to be tested are controlled, the position adjusting component can be arranged at the bottom of the laser radar turntable, and the position of the laser radar to be tested can be finely adjusted through the position adjusting component, so that the laser radar to be tested and the laser beam emitted by the laser component coincide.
Through the mode, the laser radar to be tested can emit the laser beam which coincides with the rotation axis of the laser radar turntable, so that the coaxial rotation of the laser radar to be tested and the laser radar turntable is ensured, the rotation angle and/or the pitch angle of the laser radar to be tested can be adjusted through the laser radar turntable in the subsequent process of the drag point test, and drag point test information under different rotation angles and/or pitch angles is obtained.
Optionally, the vehicle-mounted laser radar testing device further includes a ranging device, and after controlling the third diffuse reflection plate on the first guide rail to move to the corresponding initial position, the vehicle-mounted laser radar testing device further includes: determining the real distance between the third diffuse reflection plate and the laser radar to be detected through a distance measuring device; and if the real distance does not meet the preset distance corresponding to the third diffuse reflection plate, adjusting the position of the third diffuse reflection plate until the real distance meets the preset distance.
The distance measuring equipment can be a long-distance high-precision laser distance measuring instrument; the ranging apparatus may be installed at a base of the diffuse reflection plate. By way of example, a laser range finder with a range accuracy of 1mm can be used, the longest range of which can be up to 300 m.
Specifically, after the position of the third diffuse reflection plate on the first guide rail is adjusted, the real distance between the third diffuse reflection plate and the laser radar to be detected can be obtained through the distance measuring equipment in the base of the third diffuse reflection plate, whether the real distance is equal to the preset distance is judged, if not, the fact that the third diffuse reflection plate is not accurately adjusted to the corresponding initial position at present can be determined, and then the position of the third diffuse reflection plate can be adjusted based on the difference value between the real distance and the preset distance until the real distance meets the preset distance.
Through the mode, the position calibration of the diffuse reflection plate can be realized, the accuracy of position adjustment of the diffuse reflection plate is guaranteed, and in the subsequent measurement process of the critical angle of the dragging point, the accurate distance can be obtained through the distance measuring equipment, errors caused by directly reading data according to the distance on the guide rail are avoided, and the accuracy of the dragging point test information is guaranteed.
S120, measuring point cloud data of the first diffuse reflection plate, the second diffuse reflection plate and the third diffuse reflection plate through the laser radar to be measured, and controlling the first diffuse reflection plate and the second diffuse reflection plate to move towards the center of the arc-shaped guide rail in the measuring process.
Specifically, after the diffuse reflection plates are adjusted to the corresponding initial positions, point cloud data of the diffuse reflection plates can be collected through the laser radar to be detected, and in the process of data collection, the first diffuse reflection plate and the second diffuse reflection plate can be controlled to slowly move from two sections of the arc-shaped guide rail to the center.
Specifically, in the moving process of the first diffuse reflection plate and the second diffuse reflection plate, whether a dragging point exists or not is detected according to point cloud data acquired by the laser radar to be detected in real time. Wherein, the drag point may be: when a plurality of diffuse reflection plates with certain front and back space distances exist, one part of laser beams of the laser radar to be detected are beaten on the first diffuse reflection plate or the second diffuse reflection plate, and the other part of laser beams are beaten on the third diffuse reflection plate, at the moment, the laser radar to be detected receives superposition of two reflected lights with certain time difference, and therefore the laser radar can misjudge that an object to be detected is between the two diffuse reflection plates, and therefore a dragging point phenomenon is shown on point cloud data.
And S130, stopping moving the first diffuse reflection plate and the second diffuse reflection plate when determining that a dragging point exists between the diffuse reflection plates based on the detected point cloud data, and determining an included angle between the first diffuse reflection plate and the second diffuse reflection plate as a dragging point angle.
Specifically, when the presence of a drag point in the point cloud data is detected, the movement of the first diffuse reflection plate and the second diffuse reflection plate can be stopped, and the included angle between the first diffuse reflection plate and the second diffuse reflection plate at the moment is recorded to obtain the drag point angle. The towing point angle can be understood as an object detection angle of the laser radar to be detected when the towing point appears.
And S140, controlling the third diffuse reflection plate to move in a direction away from the arc-shaped guide rail until the dragging point disappears, determining the distance between the third diffuse reflection plate and the laser radar to be detected as a dragging point critical distance, and determining the dragging point test information of the laser radar to be detected based on the dragging point angle and the dragging point critical distance.
Further, the third diffuse reflection plate can be controlled to move in the direction away from the arc-shaped guide rail continuously, namely, the third diffuse reflection plate is controlled to move in the direction away from the laser radar to be detected, in the moving process of the third diffuse reflection plate, whether the dragging point in the point cloud data disappears or not is judged, if the dragging point disappears, the distance between the third diffuse reflection plate and the laser radar to be detected at the moment is recorded, and the critical distance of the dragging point is obtained.
In an alternative embodiment, determining the distance between the third diffuse reflection plate and the laser radar to be measured as the towing point critical distance includes: and measuring the real distance between the third diffuse reflection plate and the laser radar to be measured based on the distance measuring equipment to obtain the critical distance of the towing point.
That is, the real distance between the third diffuse reflection plate and the laser radar to be detected can be obtained directly according to the distance measuring equipment in the base of the third diffuse reflection plate, and the real distance is used as the critical distance of the towing point. By the method, a more accurate critical distance of the dragging point can be obtained, and reliability of dragging point test information is guaranteed.
Further, the drag point test information may be determined based on the drag point angle and the drag point critical distance. The drag point test information may include a drag point angle and a drag point critical distance, and may further include a distance between the first diffuse reflection plate and the second diffuse reflection plate, a distance between the first diffuse reflection plate and the laser radar to be tested, and the like.
The purpose of obtaining the drag point test information is that: the tailing phenomenon of the lidar can cause difficulties in navigation, ranging, path planning, and the like. The drag point test information can be used in the subsequent navigation, ranging or path planning process, when a plurality of front and rear targets appear, if the distance between the rear target and the laser radar to be tested is smaller than the drag point critical distance, and the included angle between the front target and the laser radar to be tested is smaller than the drag point angle, then the drag point may exist in the detected point cloud data.
Optionally, after determining the towing point test information of the laser radar to be tested based on the towing point angle and the towing point critical distance, the method further includes: and sending the drag point test information to a training system so that the training system trains a perception algorithm for identifying the drag points in the sample data and eliminating the drag points before carrying out perception prediction on the sample data.
That is, the drag point test information may be sent to the training system, and further, the training system may construct sample data containing the drag point test information, and train the sensing algorithm through the sample data, so that the sensing algorithm may identify the drag point in the sample data that is smaller than the drag point angle and smaller than the drag point critical distance, and reject the drag point before performing the sensing prediction, so as to avoid the influence of the drag point on the sensing prediction result. The sensing algorithm may be an algorithm for performing sensing prediction on the collected point cloud data, such as a target detection algorithm, a track prediction algorithm, an obstacle recognition algorithm, and the like.
By the mode, the drag point test information of the laser radar to be tested can be used for training a follow-up sensing algorithm, so that the sensing algorithm is helped to identify the drag point in the point cloud data detected at the angle smaller than the drag point critical distance and smaller than the drag point critical distance, and the prediction precision of the sensing algorithm is improved.
In the prior art, a plurality of workers are usually required to respectively move different reflecting plates for testing the towing point of the laser radar, however, the rear reflecting plate may not move on a straight line or the moving distances of the two front reflecting plates are different, and the process is complicated, so that a plurality of workers are required to realize the test, and the cost is high. Compared with the mode of moving the reflecting plate by a plurality of workers in the prior art, the method provided by the embodiment of the invention greatly improves the testing efficiency, and simultaneously can ensure the accuracy of movement and improve the testing precision.
In the scheme that the second guide rail is a linear guide rail, the critical resolution included angle of the laser radar to be tested can be tested. In a specific implementation manner, the method provided by the embodiment of the invention can further include the following steps:
s101, if the second guide rail is a linear guide rail, controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate on the linear guide rail to move to the corresponding initial positions, and controlling the linear guide rail on the first guide rail to move to the corresponding initial positions;
s102, measuring point cloud data of a fourth diffuse reflection plate and a fifth diffuse reflection plate through a laser radar to be measured, and controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate to move towards the center of the linear guide rail in the measuring process;
S103, stopping moving the fourth diffuse reflection plate and the fifth diffuse reflection plate when the two diffuse reflection plates are failed to be distinguished according to the detected point cloud data, and determining an included angle between the fourth diffuse reflection plate and the laser radar to be detected as a first included angle;
s104, controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate to move in a direction away from the center of the linear guide rail until the two diffuse reflection plates are successfully distinguished according to the detected point cloud data, and determining an included angle between the fourth diffuse reflection plate and the laser radar to be detected as a second included angle;
s105, determining the average value of the first included angle and the second included angle as the critical resolution included angle of the laser radar to be detected.
Wherein, the fourth diffuse reflection plate and the fifth diffuse reflection plate can be arranged on the linear guide rail. The initial positions corresponding to the fourth diffuse reflection plate and the fifth diffuse reflection plate can be two ends of the linear guide rail. The initial position of the linear guide rail can be 10m away from the laser radar to be detected.
Specifically, the fourth diffuse reflection plate and the fifth diffuse reflection plate can start to move from the initial position to the center of the linear guide rail, cloud data can be detected by the laser radar to be detected in real time in the process, whether the fourth diffuse reflection plate and the fifth diffuse reflection plate can be distinguished in the cloud data is determined, if the two diffuse reflection plates are distinguished, the fourth diffuse reflection plate and the fifth diffuse reflection plate are stopped from moving at the moment, the included angle between the fourth diffuse reflection plate and the laser radar to be detected is recorded, and the first included angle is obtained.
Further, the fourth diffuse reflection plate and the fifth diffuse reflection plate are controlled to move in the direction away from the center of the linear guide rail, in the process, the laser radar to be detected continuously detects point cloud data in real time, whether the fourth diffuse reflection plate and the fifth diffuse reflection plate can be distinguished in the point cloud data is determined, and if the distinguishing of the two diffuse reflection plates is successful, the included angle between the fourth diffuse reflection plate and the laser radar to be detected is recorded at the moment, so that a second included angle is obtained.
Further, the average value of the two included angles is used as the critical resolution included angle. Exemplary, as shown in fig. 8, fig. 8 is a schematic diagram illustrating a test of angular resolution according to an embodiment of the present invention. The target reflecting plate A (namely, the fourth diffuse reflecting plate) and the target reflecting plate B (namely, the fifth diffuse reflecting plate) can move along the X-axis direction, the included angle is recorded under the condition that the first time of moving is indistinguishable, the included angle is recorded again under the condition that the plate can be distinguished after moving, the critical distinguishing included angle is obtained, the distance D1 between the diffuse reflecting plate and the radar to be measured, the distance D2 between the two diffuse reflecting plates and the like can be recorded while the critical distinguishing included angle is obtained.
By the method, the angle resolution test of the laser radar to be tested can be realized, the critical resolution included angle obtained by the test can be used for subsequent navigation, ranging or path planning, and if the included angle between the target object and the laser radar to be tested is smaller than the critical resolution included angle, a plurality of objects possibly described in the point cloud data detected by the laser radar to be tested are not single objects.
Optionally, after determining the average value of the first included angle and the second included angle as the critical resolution included angle of the laser radar to be measured, the method further includes: the critical resolving angles are sent to a training system to enable the training system to train a perception algorithm for identifying each target object in sample data detected below the critical resolving angles.
That is, the critical resolving angle may be sent to the training system to inform the training system that there may be multiple objects in the data detected below the critical resolving angle, and further, the training system may train the sensing algorithm such that the sensing algorithm accurately identifies each target object in the sample data detected below the critical resolving angle.
By the method, the critical resolution included angle of the laser radar to be detected can be used for training a subsequent perception algorithm, so that the perception algorithm is helped to identify each target object in the point cloud data detected under the condition that the critical resolution included angle is smaller than the critical resolution included angle, and the prediction accuracy of the perception algorithm is improved.
Wherein, for the above step S102, in an alternative embodiment, after controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate to move toward the center of the linear guide rail, the method further includes: determining the reference frame number of the two diffuse reflection plates identified based on the point cloud data in a set period, and if the reference frame number is lower than a preset threshold value, determining that the two diffuse reflection plates are failed to be distinguished according to the detected point cloud data;
Accordingly, after controlling the fourth and fifth diffusion reflection plates to move in a direction away from the center of the linear guide rail, it further includes: and determining the reference frame number of the two diffuse reflection plates identified based on the point cloud data in a set period, and if the reference frame number is not lower than a preset threshold value, determining that the two diffuse reflection plates are successfully distinguished according to the detected point cloud data.
That is, whether or not it is failed to distinguish the two diffuse reflection plates according to the detected point cloud data may be determined by the number of reference frames in which the two diffuse reflection plates can be identified from the point cloud data in the set period. For example, if the number of reference frames for identifying two diffuse reflection plates is less than 90% in the adjacent 100 periods, it may be determined that distinguishing the two diffuse reflection plates fails.
Accordingly, whether or not it is successful to distinguish the two diffuse reflection plates according to the detected point cloud data may be determined by the number of reference frames in which the two diffuse reflection plates can be identified from the point cloud data within a set period. For example, if the number of reference frames for identifying two diffuse reflection plates is not less than 90% in the adjacent 100 periods, it may be determined that the discrimination of the two diffuse reflection plates is successful.
Through the embodiment, the situation of misidentification caused by judging by adopting the detection data of a single frame can be avoided, and the accuracy of the angle resolution test is further improved.
In the drag point test and the angle resolution test, the horizontal height of the laser radar turntable can be set according to the actual vehicle driving scene, for example, the vehicle-mounted laser radar can be simulated to be normally installed at a head lamp, and the horizontal height of the laser radar turntable is set to be 0.5m.
The device provided by the embodiment of the invention can also be used for performing performance tests of other vehicle-mounted laser radars, such as detection distance, flatness accuracy, reflectivity accuracy and the like. Because of the actual application scene of the vehicle-mounted laser radar, the vehicle opposite interference can cause a certain influence on the radar performance, the complex loading environment can cause the problems of ghost images, drag points and the like, the vehicle-mounted radar performance is influenced, and the radar identification result is interfered. Therefore, the device can be used for testing performance parameters such as ghost images, anti-interference, angle consistency and the like by combining with an actual vehicle driving scene.
The invention has the following technical effects: under the condition that the second guide rail is an arc guide rail, the first diffuse reflection plate and the second diffuse reflection plate on the arc guide rail are controlled to move to the corresponding initial positions, the arc guide rail on the first guide rail is controlled to move to the corresponding initial positions, the third diffuse reflection plate on the first guide rail is controlled to move to the corresponding initial positions, and then the point cloud data of the three diffuse reflection plates are measured through the laser radar to be measured, in the measuring process, the first diffuse reflection plate and the second diffuse reflection plate are controlled to move towards the center of the arc guide rail, when the dragging point exists, the movement is stopped, the included angle between the first diffuse reflection plate and the second diffuse reflection plate is determined to be the dragging point angle, then the third diffuse reflection plate is controlled to move towards the direction far away from the arc guide rail until the dragging point disappears, the dragging point critical distance between the third diffuse reflection plate and the laser radar to be measured is recorded, the dragging point test information of the laser radar to be measured is obtained according to the dragging point angle and the dragging point critical distance, the automatic test of the dragging point of the laser radar is not required, the manual test of the dragging point is realized, compared with the manual test mode of the mobile reflection plate or the laser radar, the manual test is high in efficiency and the test precision is greatly improved, and the test precision is solved.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 9, the electronic device 400 includes one or more processors 401 and memory 402.
The processor 401 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities and may control other components in the electronic device 400 to perform desired functions.
In one example, the electronic device 400 may further include: an input device 403 and an output device 404, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown). The input device 403 may include, for example, a keyboard, a mouse, and the like. The output device 404 may output various information to the outside, including early warning prompt information, braking force, etc. The output device 404 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 400 that are relevant to the present invention are shown in fig. 9 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, electronic device 400 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps of the method for testing a vehicle-mounted lidar provided by any of the embodiments of the invention.
The computer program product may write program code for performing operations of embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform the steps of the method for testing a vehicle-mounted lidar provided by any of the embodiments of the present invention.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in this specification, the terms "a," "an," "the," and/or "the" are not intended to be limiting, but rather are to be construed as covering the singular and the plural, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements.
It should also be noted that the positional or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for testing a vehicle-mounted lidar, the method being suitable for a vehicle-mounted lidar testing device, the vehicle-mounted lidar testing device comprising a first rail, a second rail positioned above the first rail and perpendicular to the first rail, and diffuse reflection plates, the method comprising:
if the second guide rail is an arc guide rail, the first diffuse reflection plate and the second diffuse reflection plate on the arc guide rail are controlled to move to the corresponding initial positions, the arc guide rail on the first guide rail is controlled to move to the corresponding initial positions, and the third diffuse reflection plate on the first guide rail is controlled to move to the corresponding initial positions;
Measuring point cloud data of the first diffuse reflection plate, the second diffuse reflection plate and the third diffuse reflection plate through a laser radar to be measured, and controlling the first diffuse reflection plate and the second diffuse reflection plate to move towards the center of the arc-shaped guide rail in the measuring process;
stopping moving the first diffuse reflection plate and the second diffuse reflection plate when determining that a drag point exists between the diffuse reflection plates based on the detected point cloud data, and determining an included angle between the first diffuse reflection plate and the second diffuse reflection plate as a drag point angle;
and controlling the third diffuse reflection plate to move in a direction away from the arc-shaped guide rail until the dragging point disappears, determining the distance between the third diffuse reflection plate and the laser radar to be detected as a dragging point critical distance, and determining the dragging point test information of the laser radar to be detected based on the dragging point angle and the dragging point critical distance.
2. The method according to claim 1, wherein the method further comprises:
if the second guide rail is a linear guide rail, controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate on the linear guide rail to move to the corresponding initial positions, and controlling the linear guide rail on the first guide rail to move to the corresponding initial positions;
Measuring point cloud data of the fourth diffuse reflection plate and the fifth diffuse reflection plate through a laser radar to be measured, and controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate to move towards the center of the linear guide rail in the measuring process;
stopping moving the fourth diffuse reflection plate and the fifth diffuse reflection plate when the two diffuse reflection plates are failed to be distinguished according to the detected point cloud data, and determining an included angle between the fourth diffuse reflection plate and the laser radar to be detected as a first included angle;
controlling the fourth diffuse reflection plate and the fifth diffuse reflection plate to move in a direction away from the center of the linear guide rail until the two diffuse reflection plates are successfully distinguished according to the detected point cloud data, and determining an included angle between the fourth diffuse reflection plate and the laser radar to be detected as a second included angle;
and determining the average value of the first included angle and the second included angle as the critical resolution included angle of the laser radar to be detected.
3. The method according to claim 2, further comprising, after said controlling the fourth and fifth diffuse reflection plates to move toward the center of the linear guide, the steps of:
determining the reference frame number of the two diffuse reflection plates identified based on the point cloud data in a set period, and if the reference frame number is lower than a preset threshold value, determining that the two diffuse reflection plates are failed to be distinguished according to the detected point cloud data;
Correspondingly, after the fourth diffuse reflection plate and the fifth diffuse reflection plate are controlled to move in the direction away from the center of the linear guide rail, the method further comprises:
and determining the reference frame number of the two diffuse reflection plates identified based on the point cloud data in a set period, and if the reference frame number is not lower than a preset threshold value, determining that the two diffuse reflection plates are successfully distinguished according to the detected point cloud data.
4. The method of claim 1, wherein the vehicle-mounted lidar testing device further comprises a lidar turret, and further comprising, prior to said controlling the first and second diffuse-reflecting plates on the second rail to move to the corresponding initial positions:
controlling a laser component at the rotation axis of the laser radar turntable to emit a laser beam, and controlling the laser radar to be detected to emit the laser beam, which is arranged on the laser radar turntable;
and adjusting the position of the laser radar to be detected based on the two laser beams so that the laser beam emitted by the laser radar to be detected coincides with the laser beam emitted by the laser component at the rotation axis.
5. The method of claim 1, wherein the in-vehicle lidar testing device further comprises a ranging apparatus, after the controlling the third diffuse reflection plate on the first rail to move to the corresponding initial position, further comprising:
Determining the real distance between the third diffuse reflection plate and the laser radar to be detected through the distance measuring equipment;
and if the real distance does not meet the preset distance corresponding to the third diffuse reflection plate, adjusting the position of the third diffuse reflection plate until the real distance meets the preset distance corresponding to the third diffuse reflection plate.
6. The method of claim 5, wherein determining the distance between the third diffuse reflection plate and the lidar under test as the towing point critical distance comprises:
and measuring the real distance between the third diffuse reflection plate and the laser radar to be measured based on the distance measuring equipment to obtain the critical distance of the towing point.
7. The method of claim 1, further comprising, after said determining the towing point test information for the lidar under test based on the towing point angle and the towing point critical distance:
and sending the drag point test information to a training system so that the training system trains a perception algorithm for identifying the drag points in the sample data and rejecting the drag points before carrying out perception prediction on the sample data.
8. The method of claim 2, further comprising, after determining the average of the first angle and the second angle as the critical resolution angle of the lidar under test:
And sending the critical resolution included angle to a training system so that the training system trains a perception algorithm for identifying each target object in sample data detected below the critical resolution included angle.
9. An electronic device, the electronic device comprising:
a processor and a memory;
the processor is configured to execute the steps of the test method of the vehicle-mounted lidar according to any of claims 1 to 8 by calling a program or instructions stored in the memory.
10. A computer-readable storage medium storing a program or instructions that cause a computer to execute the steps of the test method of the in-vehicle lidar according to any of claims 1 to 8.
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