CN116643257B - Performance test method and system for laser radar - Google Patents
Performance test method and system for laser radar Download PDFInfo
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- CN116643257B CN116643257B CN202310871985.4A CN202310871985A CN116643257B CN 116643257 B CN116643257 B CN 116643257B CN 202310871985 A CN202310871985 A CN 202310871985A CN 116643257 B CN116643257 B CN 116643257B
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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
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Abstract
The invention relates to the technical field of data processing, and provides a performance test method and system of a laser radar, wherein the method comprises the following steps: acquiring performance to be tested of the laser radar; setting an expected maximum range, an expected resolution and an expected ranging accuracy; obtaining a prediction maximum range, a prediction resolution and a prediction detection precision; setting a laser radar test case; deploying a first test live-action; the method comprises the steps of obtaining a laser radar test result, solving the technical problem that the measurement of each performance of the laser radar lacks of pre-verification, further enabling the performance test to have uncertainty, realizing the simulation detection of the laser radar in a pre-application scene before the measurement of each performance, further optimizing design and adjusting parameters, and selecting a proper test reality, thereby realizing the measurement pre-simulation verification, reducing the uncertainty in the performance test, improving the effectiveness and accuracy of the performance test, and providing the technical effect of supporting the reliability and the precision of the laser radar.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a performance test method and system of a laser radar.
Background
Lidar (Lidar) is a device that uses a laser beam to measure the distance and position of a target object. The distance of the target object is determined by transmitting a short pulse laser beam and measuring its return time, and the laser radar is generally composed of components such as a laser transmitting end, a laser receiving end, and a data processing unit.
Before the laser radar is put into use, performance tests need to be carried out, namely a series of performance tests such as ranging accuracy tests, line-of-sight tests and the like are directly carried out, but relative performance tests lack pre-verification, and the development of pre-verification related measurement lacks technical support, so that uncertainty exists in the performance tests, and the effectiveness and accuracy of the performance tests cannot be guaranteed.
In summary, the measurement of each performance of the lidar in the prior art lacks of pre-verification, so that the performance test has an uncertainty technical problem.
Disclosure of Invention
The application provides a performance test method and system for a laser radar, and aims to solve the technical problem that the performance test is uncertain due to the fact that the measurement of each performance of the laser radar in the prior art lacks of pre-verification.
In view of the above problems, the present application provides a performance test method and system for a lidar.
In a first aspect of the present disclosure, a method for testing performance of a lidar is provided, where the method includes: obtaining the performance to be tested of the laser radar, wherein the performance to be tested of the laser radar comprises a maximum range, a detection resolution and a ranging precision; traversing the maximum range, the detection resolution and the ranging accuracy, and setting an expected maximum range, an expected resolution and an expected ranging accuracy; performing simulation verification on the maximum range, the detection resolution and the ranging accuracy according to a laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy; when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, and a laser radar test case is set, wherein the laser radar test case comprises preset illumination intensity and preset reflectivity; deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging accuracy, the preset illumination intensity and the preset reflectivity; and carrying out coaxial calibration on a laser transmitting end and a laser receiving end of the laser radar according to the collimator, and testing the first test live-action to obtain a laser radar test result.
In another aspect of the disclosure, a performance test system of a lidar is provided, where the system includes: the data acquisition module is used for acquiring the performance to be tested of the laser radar, wherein the performance to be tested of the laser radar comprises a maximum range, a detection resolution and a ranging precision; the expected index setting module is used for traversing the maximum range, the detection resolution and the ranging precision and setting an expected maximum range, an expected resolution and an expected ranging precision; the simulation verification module is used for carrying out simulation verification on the maximum range, the detection resolution and the ranging accuracy according to a laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy; the test case setting module is used for setting a laser radar test case when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, wherein the laser radar test case comprises preset illumination intensity and preset reflectivity; the live-action deployment module is used for deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging precision, the preset illumination intensity and the preset reflectivity; and the coaxial calibration module is used for carrying out coaxial calibration on the laser transmitting end and the laser receiving end of the laser radar according to the collimator, testing the first test live-action and obtaining a laser radar test result.
One or more technical schemes provided by the application have at least the following technical effects or advantages:
the performance to be tested of the laser radar is obtained; traversing the maximum range, the detection resolution and the ranging accuracy, and setting an expected maximum range, an expected resolution and an expected ranging accuracy; performing simulation verification on the maximum range, the detection resolution and the ranging accuracy according to the laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy; when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, and a laser radar test case is set; deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging accuracy, the preset illumination intensity and the preset reflectivity; the laser radar testing method comprises the steps of carrying out coaxial calibration on a laser emitting end and a laser receiving end of the laser radar according to a collimator, testing a first test live view to obtain a laser radar testing result, further optimizing design and adjusting parameters by performing simulated detection on the laser radar in a pre-application scene before measuring various performances, and selecting a proper test live view, so that measurement pre-simulation verification is realized, uncertainty in performance testing is reduced, effectiveness and accuracy of the performance testing are improved, and a supporting technical effect is provided for ensuring reliability and accuracy of the laser radar.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
Fig. 1 is a schematic diagram of a possible flow chart of a performance test method of a lidar according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a possible method for obtaining prediction detection accuracy in a performance test method of a laser radar according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of a method for testing performance of a laser radar according to an embodiment of the present application;
fig. 4 is a schematic diagram of a possible structure of a performance test system of a lidar according to an embodiment of the present application.
Reference numerals illustrate: the system comprises a data acquisition module 100, a desired index setting module 200, a simulation verification module 300, a test case setting module 400, a live-action deployment module 500 and a coaxial calibration module 600.
Detailed Description
The embodiment of the application provides a performance test method and system for a laser radar, which solve the technical problem that the measurement of each performance of the laser radar lacks of pre-verification, further cause uncertainty in performance test, realize the simulated detection of the laser radar in a pre-application scene before the measurement of each performance, further optimize design and adjust parameters, select proper test reality, thereby realizing the measurement pre-simulated verification, reducing the uncertainty in performance test, improving the effectiveness and accuracy of the performance test, and providing support for ensuring the reliability and the accuracy of the laser radar.
Having described the basic principles of the present application, various non-limiting embodiments of the present application will now be described in detail with reference to the accompanying drawings.
Example 1
As shown in fig. 1, an embodiment of the present application provides a performance test method of a lidar, where the method includes:
s10: obtaining the performance to be tested of the laser radar, wherein the performance to be tested of the laser radar comprises a maximum range, a detection resolution and a ranging precision;
s20: traversing the maximum range, the detection resolution and the ranging accuracy, and setting an expected maximum range, an expected resolution and an expected ranging accuracy;
s30: performing simulation verification on the maximum range, the detection resolution and the ranging accuracy according to a laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy;
specifically, it is known that in the prior art, the test of the lidar directly performs the measurement of each performance, and lacks the pre-verification, so in the embodiment of the application, the pre-verification is the simulated detection performed by the lidar in the pre-application scene under the ideal state, if the simulated detection is not passed, the performance test is directly regarded as unqualified, and if the simulated detection is passed, the live-action test can be performed, thereby achieving the purpose of the simulated detection performed by the lidar in the pre-application scene before the measurement of each performance is performed;
Ranging accuracy testing is known: estimating the distance measurement accuracy of the laser radar by measuring the error between the distance value output by the laser radar and the actual distance value at different distances; and (3) vision distance test: measuring the sight distance of the laser radar under different illumination conditions to determine the reliability of the laser radar under different environments; detection resolution test: selecting a proper test scene, wherein the scene comprises target objects with different sizes, starting a laser radar to scan, recording the detection result of each target object, comparing the size and the position of the target object with output data of the laser radar, and calculating the minimum size target which can be detected by the laser radar, such as: the measurement precision is 2cm, namely the laser radar can identify any object with the size not less than 2cm in a detectable range;
the laser radar performance to be tested comprises a maximum range, a detection resolution and a ranging precision, wherein the maximum range is the maximum detectable range of the laser radar, the detection resolution is the minimum size target which can be resolved by the laser radar, the ranging precision is the deviation of multiple ranging of the laser radar, and the laser radar performance to be tested is obtained through technical specifications, user manuals and other data provided by laser radar equipment manufacturers;
Traversing the maximum range, the detection resolution and the ranging accuracy, and custom setting the expected maximum range, the expected resolution and the expected ranging accuracy by a person skilled in the art in contrast to a test live-action; based on the laser radar pre-application scene, performing simulation verification on the maximum range, the detection resolution and the distance measurement precision by using a numerical simulation mode with reference to actual test data to obtain a predicted maximum range, a predicted resolution and a predicted detection precision, performing simulation verification on an expected maximum range, an expected resolution and an expected distance measurement precision to obtain a predicted maximum range, a predicted resolution and a predicted detection precision, and helping to determine whether the laser radar is suitable for a specific application scene.
Step S30 includes the steps of:
s31: the laser radar pre-application scene comprises atmospheric environment information, wherein the atmospheric environment information comprises temperature characteristic information, humidity characteristic information and particulate matter characteristic information;
s32: setting simulated illumination intensity and simulated reflectivity, wherein the simulated illumination intensity is smaller than or equal to an illumination intensity threshold value, and the simulated reflectivity is larger than or equal to a reflectivity threshold value;
s33: according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, combining the simulated illumination intensity and the simulated reflectivity to construct a laser attenuation analysis channel, and carrying out attenuation analysis on rated power of a laser radar to obtain the predicted maximum range;
S34: and carrying out data mining according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information by combining the simulated illumination intensity and the simulated reflectivity to obtain the prediction resolution and the prediction detection precision.
Step S33 includes the steps of:
s331: taking the simulated illumination intensity and the simulated reflectivity as constraint information, and collecting temperature characteristic record data, humidity characteristic record data, particulate matter characteristic record data and laser power record data;
s332: extracting range record data with the laser receiving power equal to the preset laser power from the laser power record data;
s333: constructing the laser attenuation analysis channel according to the temperature characteristic record data, the humidity characteristic record data, the particulate matter characteristic record data and the range record data;
s334: and inputting the rated power of the laser radar into the laser attenuation analysis channel for processing, and obtaining the predicted maximum range.
As shown in fig. 2, step S34 includes the steps of:
s341: according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, carrying out data mining by combining the simulated illumination intensity and the simulated reflectivity to obtain a resolution measurement data set and a detection precision measurement data set;
S342: performing discrete parameter stripping on the resolution measurement data set, obtaining a data set in the resolution set, and performing mean value processing to obtain the prediction resolution;
s343: and carrying out discrete parameter stripping on the detection precision measurement data set, obtaining a detection precision concentrated data set, and carrying out mean value processing to obtain the prediction detection precision.
Specifically, according to a laser radar pre-application scene, performing simulation verification on the maximum range, the detection resolution and the distance measurement precision to obtain a predicted maximum range, a predicted resolution and a predicted detection precision, wherein the atmospheric environment information comprises temperature characteristic information, humidity characteristic information and particle characteristic information, the particle characteristic information generally refers to particle mass information and particle concentration information in the atmospheric environment, and as the particles in the atmospheric environment have scattering and absorption characteristics, the characteristic information of the particles in the atmospheric environment needs to be considered;
to ensure that illumination and reflectivity affect the range finding of the lidar as little as possible, the process of simulating the analysis of laser decay against temperature, humidity, particles in the environment, comprises: setting simulated illumination intensity and simulated reflectivity, wherein the simulated illumination intensity is smaller than or equal to an illumination intensity threshold value, the simulated reflectivity is larger than or equal to a reflectivity threshold value, the simulated illumination intensity is the illumination intensity of a process of simulating analysis laser attenuation, and the simulated reflectivity is the reflectivity of the process of simulating analysis laser attenuation;
Since the attenuation process of the laser is complex, the attenuation data may have larger deviation due to the small deviation of the state, and statistical analysis is difficult, preferably, an intelligent model can be constructed for processing: according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, combining the simulated illumination intensity and the simulated reflectivity to construct a laser attenuation analysis channel, and carrying out attenuation analysis on rated power of a laser radar to obtain the predicted maximum range;
in terms of resolution and detection accuracy, in the same type of laser radar, on the premise of the same environmental characteristics, illumination and reflectivity, the analog resolution is usually not greatly deviated, and based on the same environmental characteristics, the analog illumination intensity and the analog reflectivity are combined for data mining according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, so that the prediction resolution and the prediction detection accuracy are obtained; a plurality of environmental features are used for constructing a laser attenuation analysis channel, so that the prediction precision and the range of the laser radar are improved. In addition, by using the simulated illumination intensity and reflectivity, the actual conditions in different environments can be better simulated, so that the prediction precision and accuracy are improved.
Further, according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, combining the simulated illumination intensity and the simulated reflectivity, constructing a laser attenuation analysis channel, carrying out attenuation analysis on rated power of a laser radar, and obtaining the predicted maximum range;
the characteristic data of temperature, humidity, particulate matters and the like refer to the influence of the parameters in the environment on laser transmission, for example, the temperature and the humidity can influence the atmospheric density and the refractive index, so that the transmission distance and the scattering condition of laser are influenced; the particles scatter the laser light and create noise. The laser power recording data refers to the power value output by the laser radar and the received power value. Generally, if the laser receiving power is smaller than the preset laser power, ranging cannot be performed, so that if the laser power reflected by a certain distance is equal to the value, the laser power is considered to be the longest range in an ideal state, and therefore range recording data of which the laser receiving power is equal to the preset laser power is extracted from the laser power recording data;
Constructing the laser attenuation analysis channel according to the temperature characteristic record data, the humidity characteristic record data, the particulate matter characteristic record data and the range record data: based on the feedforward neural network as a model, adopting the temperature characteristic record data, the humidity characteristic record data, the particulate matter characteristic record data and the range record data as construction data, constructing new combination characteristics based on the temperature characteristic record data, the humidity characteristic record data and the particulate matter characteristic record data, transmitting the maximum range in the range record data as an identification result into the feedforward neural network for model convergence learning, constructing and training to obtain the laser attenuation analysis channel, and determining the laser attenuation analysis channel; and taking the rated power of the laser radar as input data, inputting the input data into the laser attenuation analysis channel for processing, and obtaining the predicted maximum range. The attenuation conditions of the laser under different environmental conditions are analyzed to infer the distance and reliability of laser transmission, so that the accuracy and the accuracy of laser radar simulation analysis are improved, and rich references are provided for subsequent practical tests.
Further, according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, carrying out data mining by combining the simulated illumination intensity and the simulated reflectivity to obtain the prediction resolution and the prediction detection precision, wherein the performance test system based on the laser radar is used for testing the quality of laser transmission, parameters such as temperature, humidity and particulate matters can influence the quality of laser transmission, meanwhile, the simulated illumination intensity and the simulated reflectivity are used for simulating illumination and reflection conditions when the laser is transmitted in the environment, and according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, carrying out data mining on the basis of multi-index combination definition by combining the simulated illumination intensity and the simulated reflectivity to obtain a resolution measurement data set and a detection precision measurement data set;
the discrete parameter stripping is a process of extracting key parameters from data, the average processing is a process of smoothing the data, and the discrete parameter stripping is carried out on the resolution measurement data set, so that the discrete data are screened out, and the average processing is carried out after the resolution measurement data set is obtained, so that the prediction resolution is obtained; and carrying out discrete parameter stripping on the detection precision measurement data set, screening out discrete data, carrying out mean value processing after obtaining the detection precision centralized data set, obtaining the prediction detection precision, obtaining resolution and detection precision through data analysis and calculation, and further evaluating the performance and reliability of the laser radar.
Step S342 includes the steps of:
s342-1: constructing a discrete coefficient evaluation function:wherein L represents the discrete coefficient of any one set of parameters, ">An ith parameter representing any one set of parameters, m representing the total number of any one set of parameters;
s342-2: processing the resolution measurement data set according to the discrete coefficient evaluation function to obtain a reference discrete coefficient;
s342-3: screening out the kth measured resolution of the resolution measurement data set to obtain a second resolution measurement data set;
s342-4: processing the second resolution measurement data set according to the discrete coefficient evaluation function to obtain a kth measurement resolution discrete coefficient;
s342-5: adding the kth measured resolution to the resolution set dataset when the kth measured resolution discrete coefficient is greater than or equal to the reference discrete coefficient;
s342-6: when the kth measured resolution discrete coefficient is smaller than the reference discrete coefficient, judging whether a preset discrete coefficient difference is met or not;
s342-7: if yes, performing discrete parameter stripping on the kth measurement resolution;
s342-8: if not, adding the kth measured resolution to the resolution set dataset.
Specifically, performing discrete parameter stripping on the resolution measurement data set to obtain a data set in the resolution measurement data set, performing mean processing on the data set in the resolution measurement data set to obtain the prediction resolution, wherein the discrete parameter stripping is performed on raw data to extract key parameters, and firstly, processing the resolution measurement data set by using a discrete coefficient evaluation function to obtain discrete coefficients in each group corresponding to the resolution measurement data set: constructing a discrete coefficient evaluation function:wherein L represents the discrete coefficient of any one set of parameters, ">An ith parameter representing any one set of parameters, m representing the total number of any one set of parameters;
substituting the resolution measurement data set into the discrete coefficient evaluation function for processing, obtaining the discrete coefficients in each group corresponding to the resolution measurement data set and recording the discrete coefficients as reference discrete coefficients; screening out the kth measured resolution of the resolution measurement data set, and obtaining a second resolution measurement data set obtained by screening out the kth measured resolution; substituting the second resolution measurement data set into the discrete coefficient evaluation function for processing, obtaining the discrete coefficients in each group corresponding to the second resolution measurement data set and recording the discrete coefficients as kth measurement resolution discrete coefficients;
Through verification, if the kth measurement resolution discrete coefficient is greater than or equal to the reference discrete coefficient, the resolution measurement data set corresponding to the kth measurement resolution is possibly screened out as a concentrated data set, so that the degree of dispersion of the data set is increased; if the kth measured resolution discrete coefficient is smaller than the reference discrete coefficient, the method is opposite; further, it is known that when the kth measured resolution discrete coefficient is greater than or equal to the reference discrete coefficient, adding the kth measured resolution to the resolution-concentrated dataset; when the kth measured resolution discrete coefficient is smaller than the reference discrete coefficient, judging whether the kth measured resolution discrete coefficient meets a preset discrete coefficient difference or not; if yes, performing discrete parameter stripping on the kth measured resolution, jumping to the step S342-2 and performing the subsequent steps; if the resolution is not met, adding the kth measured resolution into the resolution concentrated data set, objectively evaluating the resolution of the digital image through a discrete coefficient evaluation function, and screening and optimizing the resolution measured data set according to an evaluation result, so that the accuracy and precision of the resolution are improved.
S40: when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, and a laser radar test case is set, wherein the laser radar test case comprises preset illumination intensity and preset reflectivity;
s50: deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging accuracy, the preset illumination intensity and the preset reflectivity;
step S50 includes the steps of:
s51: according to the expected maximum range, the preset illumination intensity and the preset reflectivity, deploying a first test target based on a laser radar distribution position;
s52: deploying a first test task for the first test target, wherein the first test task is a ranging task;
s53: deploying a second test task for the first test target, wherein the second test task is a plurality of ranging tasks and is used for testing the expected ranging precision;
s54: according to a second range, the preset illumination intensity and the preset reflectivity, a second test target and a third test target are deployed based on a laser radar distribution position, wherein the distance between the second test target and the third test target is equal to the expected resolution, and the second range is smaller than the expected maximum range;
S55: deploying a third test task for the second test target and the third test target, wherein the third test task is a distance measurement task for the second test target and the third test target at the same time;
s56: and acquiring the first test live-action according to the first test task, the second test task and the third test task.
Specifically, when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, and the predicted detection accuracy meets the expected ranging accuracy, namely, meets an expected simultaneously, a laser radar test case is set, wherein the laser radar test case comprises preset illumination intensity and preset reflectivity;
further, the laser transmitting end and the laser receiving end of the laser radar are coaxially calibrated according to the collimator, the first test live is tested, and a laser radar test result is obtained, wherein the preset illumination intensity refers to illumination intensity used in a test process and can influence measurement accuracy and stability of the laser radar; the preset reflectivity refers to the reflectivity of the surface of the test target, and may affect the measurement accuracy and stability of the laser radar.
In a first case, measuring a distance between a lidar and an object includes: the first test target is a first test target deployed in the test process, and is usually an object with a known shape and size, and is used for testing the measurement accuracy and stability of the laser radar; according to the expected maximum range, the preset illumination intensity and the preset reflectivity, deploying a first test target within a limited range of the expected maximum range based on a laser radar distribution position; deploying a first test task for the first test target, wherein the first test task is a ranging task deployed for the first test target; deploying a second test task for the first test target, wherein the second test task is a plurality of ranging tasks aiming at the same test target and is used for testing the expected ranging precision and stability;
in a second case, measuring the distance between the laser radar to two objects, comprising: the second measuring range refers to an effective measuring distance of the laser radar, the second measuring range is smaller than the expected maximum measuring range, equipment such as the laser radar is used for measuring the distance between a second test target and a third test target, the second test target and the third test target are deployed based on the laser radar distribution position according to the second measuring range, the preset illumination intensity and the preset reflectivity, and the distance between the second test target and the third test target is equal to the expected resolution; a third test task is deployed for the second test target and the third test target, wherein the third test task is a distance measurement task for the second test target and the third test target at the same moment, namely a distance measurement task at the same moment; and acquiring the first test live-action according to the first test task, the second test task and the third test task, and providing a reference for setting the test task according to the actual measurement requirement.
S60: and carrying out coaxial calibration on a laser transmitting end and a laser receiving end of the laser radar according to the collimator, and testing the first test live-action to obtain a laser radar test result.
As shown in fig. 3, step S60 includes the steps of:
s61: setting a reticle of the collimator and a test target to be in a parallel state, and aligning a reticle cross center with the test target center;
s62: acquiring a first connecting line between the laser emission end and the cross center of the reticle;
s63: acquiring a second connecting line between the laser receiving end and the cross center of the reticle;
s64: acquiring a first included angle between the first connecting line and the second connecting line at the cross center of the reticle;
s65: and when the first included angle is larger than or equal to an included angle threshold value, adjusting the positions of the laser transmitting end and the laser receiving end, and stopping when the first included angle is smaller than the included angle threshold value, so as to complete coaxial calibration.
Specifically, the laser transmitting end and the laser receiving end of the laser radar are coaxially calibrated according to the collimator, the first test live is tested, and a laser radar test result is obtained, wherein the coaxial calibration is a process of ensuring the alignment of the laser transmitting end and the laser receiving end, namely, the positions of the laser transmitting end and the laser receiving end of the laser radar are regulated, so that the laser transmitting end and the laser receiving end are on an optical axis emitted by the collimator, and the directions of the laser transmitting end and the laser receiving end are consistent, thereby ensuring the test accuracy, the reticle is used for measuring the aberration of an optical system, namely, the deviation degree of light, the included angle threshold is an included angle value set by related technicians in the field in the coaxial calibration, and when the first included angle is larger than or equal to the included angle threshold, the positions of the laser transmitting end and the laser receiving end are required to be regulated, generally not more than 2 degrees, and the method comprises the following steps: setting a reticle of the collimator and a test target to be in a parallel state, and aligning a reticle cross center with the test target center; acquiring a first connecting line between the laser emission end and the cross center of the reticle; acquiring a second connecting line between the laser receiving end and the cross center of the reticle; acquiring a first included angle between the first connecting line and the second connecting line at the cross center of the reticle; when the first included angle is larger than or equal to an included angle threshold value, the positions of the laser transmitting end and the laser receiving end are adjusted, and when the first included angle is smaller than the included angle threshold value, the coaxial calibration is completed, and the alignment of the laser transmitting end and the laser receiving end is ensured, so that the measurement precision of the laser radar is improved, and the performance of the laser radar under different environmental conditions is more stable and reliable.
In summary, the performance test method and system for the laser radar provided by the embodiment of the application have the following technical effects:
1. the performance to be tested of the laser radar is obtained; traversing the maximum range, the detection resolution and the ranging accuracy, and setting an expected maximum range, an expected resolution and an expected ranging accuracy; performing simulation verification on the maximum range, the detection resolution and the ranging accuracy according to the laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy; when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, and a laser radar test case is set; deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging accuracy, the preset illumination intensity and the preset reflectivity; according to the method and the system for testing the performance of the laser radar, the simulation detection of the laser radar in a pre-application scene is realized before each performance is measured, the design is further optimized, the parameters are adjusted, and the proper test reality is selected, so that the measurement pre-simulation verification is realized, the uncertainty in the performance test is reduced, the effectiveness and the accuracy of the performance test are improved, and the technical effect of supporting is provided for ensuring the reliability and the accuracy of the laser radar.
2. The laser radar pre-application scene comprises atmospheric environment information; setting the simulated illumination intensity and the simulated reflectivity; according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, combining the simulated illumination intensity and the simulated reflectivity, constructing a laser attenuation analysis channel, carrying out attenuation analysis on the rated power of the laser radar, and obtaining a predicted maximum range; according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, the simulated illumination intensity and the simulated reflectivity are combined to conduct data mining, the prediction resolution and the prediction detection precision are obtained, and a plurality of environmental characteristics are used for constructing a laser attenuation analysis channel, so that the prediction precision and the measurement range of the laser radar are improved. In addition, by using the simulated illumination intensity and reflectivity, the actual conditions in different environments can be better simulated, so that the prediction precision and accuracy are improved.
Example two
Based on the same inventive concept as the performance test method of a lidar in the foregoing embodiment, as shown in fig. 4, an embodiment of the present application provides a performance test system of a lidar, where the system includes:
the data acquisition module 100 is configured to acquire performance to be tested of the laser radar, where the performance to be tested of the laser radar includes a maximum range, a detection resolution and a ranging accuracy;
The expected index setting module 200 is configured to traverse the maximum range, the detection resolution, and the ranging accuracy, and set an expected maximum range, an expected resolution, and an expected ranging accuracy;
the simulation verification module 300 is configured to perform simulation verification on the maximum range, the detection resolution and the ranging accuracy according to a laser radar pre-application scene, so as to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy;
the test case setting module 400 is configured to set a laser radar test case when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, and the predicted detection precision meets the expected ranging precision, where the laser radar test case includes a preset illumination intensity and a preset reflectivity;
the live-action deployment module 500 is configured to deploy a first test live-action according to the expected maximum range, the expected resolution, the expected ranging accuracy, the preset illumination intensity and the preset reflectivity;
and the coaxial calibration module 600 is configured to perform coaxial calibration on the laser transmitting end and the laser receiving end of the laser radar according to the collimator, and perform a test on the first test live-action, so as to obtain a laser radar test result.
The analog verification module 300 includes the steps of:
the laser radar pre-application scene comprises atmospheric environment information, wherein the atmospheric environment information comprises temperature characteristic information, humidity characteristic information and particulate matter characteristic information;
setting simulated illumination intensity and simulated reflectivity, wherein the simulated illumination intensity is smaller than or equal to an illumination intensity threshold value, and the simulated reflectivity is larger than or equal to a reflectivity threshold value;
according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, combining the simulated illumination intensity and the simulated reflectivity to construct a laser attenuation analysis channel, and carrying out attenuation analysis on rated power of a laser radar to obtain the predicted maximum range;
and carrying out data mining according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information by combining the simulated illumination intensity and the simulated reflectivity to obtain the prediction resolution and the prediction detection precision.
The analog verification module 300 further includes the steps of:
taking the simulated illumination intensity and the simulated reflectivity as constraint information, and collecting temperature characteristic record data, humidity characteristic record data, particulate matter characteristic record data and laser power record data;
Extracting range record data with the laser receiving power equal to the preset laser power from the laser power record data;
constructing the laser attenuation analysis channel according to the temperature characteristic record data, the humidity characteristic record data, the particulate matter characteristic record data and the range record data;
and inputting the rated power of the laser radar into the laser attenuation analysis channel for processing, and obtaining the predicted maximum range.
The analog verification module 300 further includes the steps of:
according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, carrying out data mining by combining the simulated illumination intensity and the simulated reflectivity to obtain a resolution measurement data set and a detection precision measurement data set;
performing discrete parameter stripping on the resolution measurement data set, obtaining a data set in the resolution set, and performing mean value processing to obtain the prediction resolution;
and carrying out discrete parameter stripping on the detection precision measurement data set, obtaining a detection precision concentrated data set, and carrying out mean value processing to obtain the prediction detection precision.
The analog verification module 300 further includes the steps of:
constructing a discrete coefficient evaluation function: Wherein L represents the discrete coefficient of any one set of parameters, ">An ith parameter representing any one set of parameters, m representing the total number of any one set of parameters;
processing the resolution measurement data set according to the discrete coefficient evaluation function to obtain a reference discrete coefficient;
screening out the kth measured resolution of the resolution measurement data set to obtain a second resolution measurement data set;
processing the second resolution measurement data set according to the discrete coefficient evaluation function to obtain a kth measurement resolution discrete coefficient;
adding the kth measured resolution to the resolution set dataset when the kth measured resolution discrete coefficient is greater than or equal to the reference discrete coefficient;
when the kth measured resolution discrete coefficient is smaller than the reference discrete coefficient, judging whether a preset discrete coefficient difference is met or not;
if yes, performing discrete parameter stripping on the kth measurement resolution;
if not, adding the kth measured resolution to the resolution set dataset.
The live-action deployment module 500 includes the steps of:
according to the expected maximum range, the preset illumination intensity and the preset reflectivity, deploying a first test target based on a laser radar distribution position;
Deploying a first test task for the first test target, wherein the first test task is a ranging task;
deploying a second test task for the first test target, wherein the second test task is a plurality of ranging tasks and is used for testing the expected ranging precision;
according to a second range, the preset illumination intensity and the preset reflectivity, a second test target and a third test target are deployed based on a laser radar distribution position, wherein the distance between the second test target and the third test target is equal to the expected resolution, and the second range is smaller than the expected maximum range;
deploying a third test task for the second test target and the third test target, wherein the third test task is a distance measurement task for the second test target and the third test target at the same time;
and acquiring the first test live-action according to the first test task, the second test task and the third test task.
The coaxial calibration module 600 includes the steps of:
setting a reticle of the collimator and a test target to be in a parallel state, and aligning a reticle cross center with the test target center;
Acquiring a first connecting line between the laser emission end and the cross center of the reticle;
acquiring a second connecting line between the laser receiving end and the cross center of the reticle;
acquiring a first included angle between the first connecting line and the second connecting line at the cross center of the reticle;
and when the first included angle is larger than or equal to an included angle threshold value, adjusting the positions of the laser transmitting end and the laser receiving end, and stopping when the first included angle is smaller than the included angle threshold value, so as to complete coaxial calibration.
Any of the steps of the methods described above may be stored as computer instructions or programs in a non-limiting computer memory and may be called by a non-limiting computer processor to identify any method for implementing an embodiment of the present application, without unnecessary limitations.
Further, the first or second element may not only represent a sequential relationship, but may also represent a particular concept, and/or may be selected individually or in whole among a plurality of elements. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, the present application is intended to include such modifications and alterations insofar as they come within the scope of the application or the equivalents thereof.
Claims (8)
1. A method for testing performance of a lidar, comprising:
obtaining the performance to be tested of the laser radar, wherein the performance to be tested of the laser radar comprises a maximum range, a detection resolution and a ranging precision;
traversing the maximum range, the detection resolution and the ranging accuracy, and setting an expected maximum range, an expected resolution and an expected ranging accuracy;
performing simulation verification on the maximum range, the detection resolution and the ranging accuracy according to a laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy;
when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, and a laser radar test case is set, wherein the laser radar test case comprises preset illumination intensity and preset reflectivity;
deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging accuracy, the preset illumination intensity and the preset reflectivity;
and carrying out coaxial calibration on a laser transmitting end and a laser receiving end of the laser radar according to the collimator, and testing the first test live-action to obtain a laser radar test result.
2. The method of claim 1, wherein performing a simulated verification of the maximum range, the detection resolution, and the ranging accuracy according to a lidar pre-application scenario to obtain a predicted maximum range, a predicted resolution, and a predicted detection accuracy comprises:
the laser radar pre-application scene comprises atmospheric environment information, wherein the atmospheric environment information comprises temperature characteristic information, humidity characteristic information and particulate matter characteristic information;
setting simulated illumination intensity and simulated reflectivity, wherein the simulated illumination intensity is smaller than or equal to an illumination intensity threshold value, and the simulated reflectivity is larger than or equal to a reflectivity threshold value;
according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, combining the simulated illumination intensity and the simulated reflectivity to construct a laser attenuation analysis channel, and carrying out attenuation analysis on rated power of a laser radar to obtain the predicted maximum range;
and carrying out data mining according to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information by combining the simulated illumination intensity and the simulated reflectivity to obtain the prediction resolution and the prediction detection precision.
3. The method of claim 2, wherein constructing a laser attenuation analysis channel based on the temperature characteristic information, the humidity characteristic information, and the particulate matter characteristic information in combination with the simulated illumination intensity and the simulated reflectivity, performing attenuation analysis on a rated power of a laser radar, and obtaining the predicted maximum range comprises:
taking the simulated illumination intensity and the simulated reflectivity as constraint information, and collecting temperature characteristic record data, humidity characteristic record data, particulate matter characteristic record data and laser power record data;
extracting range record data with the laser receiving power equal to the preset laser power from the laser power record data;
constructing the laser attenuation analysis channel according to the temperature characteristic record data, the humidity characteristic record data, the particulate matter characteristic record data and the range record data;
and inputting the rated power of the laser radar into the laser attenuation analysis channel for processing, and obtaining the predicted maximum range.
4. The method of claim 2, wherein performing data mining in combination with the simulated illumination intensity and the simulated reflectance based on the temperature characteristic information, the humidity characteristic information, and the particulate matter characteristic information to obtain the predicted resolution and the predicted detection accuracy comprises:
According to the temperature characteristic information, the humidity characteristic information and the particulate matter characteristic information, carrying out data mining by combining the simulated illumination intensity and the simulated reflectivity to obtain a resolution measurement data set and a detection precision measurement data set;
performing discrete parameter stripping on the resolution measurement data set, obtaining a data set in the resolution set, and performing mean value processing to obtain the prediction resolution;
and carrying out discrete parameter stripping on the detection precision measurement data set, obtaining a detection precision concentrated data set, and carrying out mean value processing to obtain the prediction detection precision.
5. The method of claim 4, wherein performing discrete parameter stripping on the resolution measurement dataset, obtaining a dataset in a resolution set, performing mean processing, and obtaining the predicted resolution, comprises:
constructing a discrete coefficient evaluation function:wherein L represents the discrete coefficient of any one set of parameters, ">An ith parameter representing any one set of parameters, m representing the total number of any one set of parameters;
processing the resolution measurement data set according to the discrete coefficient evaluation function to obtain a reference discrete coefficient;
screening out the kth measured resolution of the resolution measurement data set to obtain a second resolution measurement data set;
Processing the second resolution measurement data set according to the discrete coefficient evaluation function to obtain a kth measurement resolution discrete coefficient;
adding the kth measured resolution to the resolution set dataset when the kth measured resolution discrete coefficient is greater than or equal to the reference discrete coefficient;
when the kth measured resolution discrete coefficient is smaller than the reference discrete coefficient, judging whether a preset discrete coefficient difference is met or not;
if yes, performing discrete parameter stripping on the kth measurement resolution;
if not, adding the kth measured resolution to the resolution set dataset.
6. The method of claim 1, wherein deploying a first test live-action according to the desired maximum range, the desired resolution, the desired ranging accuracy, the preset illumination intensity, and the preset reflectivity comprises:
according to the expected maximum range, the preset illumination intensity and the preset reflectivity, deploying a first test target based on a laser radar distribution position;
deploying a first test task for the first test target, wherein the first test task is a ranging task;
Deploying a second test task for the first test target, wherein the second test task is a plurality of ranging tasks and is used for testing the expected ranging precision;
according to a second range, the preset illumination intensity and the preset reflectivity, a second test target and a third test target are deployed based on a laser radar distribution position, wherein the distance between the second test target and the third test target is equal to the expected resolution, and the second range is smaller than the expected maximum range;
deploying a third test task for the second test target and the third test target, wherein the third test task is a distance measurement task for the second test target and the third test target at the same time;
and acquiring the first test live-action according to the first test task, the second test task and the third test task.
7. The method of claim 1, wherein the testing the first test live-action to obtain the laser radar test result according to the coaxial calibration of the laser transmitting end and the laser receiving end of the laser radar by the collimator comprises:
setting a reticle of the collimator and a test target to be in a parallel state, and aligning a reticle cross center with the test target center;
Acquiring a first connecting line between the laser emission end and the cross center of the reticle;
acquiring a second connecting line between the laser receiving end and the cross center of the reticle;
acquiring a first included angle between the first connecting line and the second connecting line at the cross center of the reticle;
and when the first included angle is larger than or equal to an included angle threshold value, adjusting the positions of the laser transmitting end and the laser receiving end, and stopping when the first included angle is smaller than the included angle threshold value, so as to complete coaxial calibration.
8. A performance testing system for a lidar, characterized by performing a performance testing method for a lidar according to any of claims 1 to 7, comprising:
the data acquisition module is used for acquiring the performance to be tested of the laser radar, wherein the performance to be tested of the laser radar comprises a maximum range, a detection resolution and a ranging precision;
the expected index setting module is used for traversing the maximum range, the detection resolution and the ranging precision and setting an expected maximum range, an expected resolution and an expected ranging precision;
the simulation verification module is used for carrying out simulation verification on the maximum range, the detection resolution and the ranging accuracy according to a laser radar pre-application scene to obtain a predicted maximum range, a predicted resolution and a predicted detection accuracy;
The test case setting module is used for setting a laser radar test case when the predicted maximum range meets the expected maximum range, the predicted resolution meets the expected resolution, the predicted detection precision meets the expected ranging precision, wherein the laser radar test case comprises preset illumination intensity and preset reflectivity;
the live-action deployment module is used for deploying a first test live-action according to the expected maximum range, the expected resolution, the expected ranging precision, the preset illumination intensity and the preset reflectivity;
and the coaxial calibration module is used for carrying out coaxial calibration on the laser transmitting end and the laser receiving end of the laser radar according to the collimator, testing the first test live-action and obtaining a laser radar test result.
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