CN220064370U - Laser radar detection performance testing system - Google Patents
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Abstract
The utility model provides a laser radar detection performance testing system, which comprises: the target is suitable for reflecting the detection light beam emitted by the laser radar to be detected back to the laser radar to be detected; the light path adjusting device is arranged between the laser radar to be detected and the target object and is suitable for adjusting the stray field of view of the laser radar to be detected, wherein the stray field of view is a field of view formed by light rays which can be detected by the laser radar to be detected outside the nominal field of view of the laser radar to be detected. By adopting the test system, dependence on environmental factors can be avoided to a great extent, so that the detection performance of the laser radar can be objectively and accurately reflected.
Description
Technical Field
The embodiment of the specification relates to the field of laser radars, in particular to a laser radar detection performance testing system.
Background
When the light beam enters the lens barrel through the laser radar light path, diffuse reflection occurs at different positions of optical devices such as the inner wall of the lens barrel and the end face of the lens, and then the light beam finally irradiates on a photosensitive device of the laser radar through complex reflection to form a field of view with a certain range, wherein the field of view is called stray field of view.
When sunlight in the environment enters a stray field of view of the laser radar, the sunlight irradiates on a photosensitive device in the laser radar to form ambient light noise, so that the performance of point clouds such as the remote measurement capability and the ground line detection capability of the laser radar is affected. Therefore, the influence of sunlight entering the stray field of view of the laser radar on the point cloud performance of the laser radar needs to be tested, so that the working performance of the laser radar is ensured.
The existing test system is generally limited by environmental factors such as sun azimuth, building shielding, road trend and the like, and is difficult to objectively and accurately reflect the detection performance of the laser radar. In addition, the conventional test system only subjectively evaluates the change condition of the point cloud performance by comparing the point cloud performance of the target object or the ground line when sunlight exists or not, and the test result cannot accurately reflect the detection performance of the laser radar.
The matters in the background section are only those known to the public and do not, of course, represent prior art in the field.
Disclosure of Invention
Aiming at the technical problems, the utility model provides a laser radar detection performance testing system which can get rid of dependence on environmental factors to a great extent, so that the detection performance of the laser radar can be objectively and accurately reflected.
The utility model provides a laser radar detection performance testing system, which comprises:
the target is suitable for reflecting the detection light beam emitted by the laser radar to be detected back to the laser radar to be detected;
the light path adjusting device is arranged between the laser radar to be detected and the target object and is suitable for adjusting the stray field of view of the laser radar to be detected, wherein the stray field of view is a field of view formed by light rays which can be detected by the laser radar to be detected outside the nominal field of view of the laser radar to be detected.
Optionally, the optical path adjusting device includes:
the position and the posture of the reflecting unit are suitable for free adjustment, and the ambient light is reflected by the reflecting unit and then enters the stray field of view of the laser radar to be detected at a target angle;
and the displacement unit is suitable for adjusting the pose of the reflecting unit.
Optionally, the shift unit includes:
the posture adjusting assembly is suitable for fixing the reflecting unit and responding to a posture adjusting signal to adjust the posture of the reflecting unit;
the transmission assembly is movably connected with the gesture adjusting assembly and is suitable for responding to a position adjusting signal to drive the gesture adjusting assembly so as to adjust the position of the reflecting unit relative to the laser radar to be measured;
and the control assembly is in communication connection with the gesture adjusting assembly and the transmission assembly and is suitable for outputting the gesture adjusting signal and the position adjusting signal so as to control the gesture adjusting assembly and the transmission assembly to work.
Optionally, the transmission assembly includes:
the transmission component is movably connected with the gesture adjusting component and is suitable for responding to a position adjusting signal to drive the gesture adjusting component so as to adjust the transverse distance of the reflecting unit relative to the laser radar to be measured;
the transmission component is arranged on the lifting component and is suitable for adjusting the vertical distance of the reflection unit relative to the horizontal plane where the laser radar to be detected is located.
Optionally, the reflection unit includes: a metallized film mirror.
Optionally, the posture adjustment assembly includes: electric cradle head.
Optionally, the transmission component includes: an electric slide rail;
the lifting member includes: a retractable bracket.
Optionally, the test system further comprises:
the processing device is suitable for acquiring first point cloud data and second point cloud data, and acquiring a test result of the detection performance of the laser radar to be detected based on the first point cloud data and the second point cloud data;
the first point cloud data are point cloud data corresponding to the target object when the target object is detected by the laser radar to be detected under the condition that ambient light is incident to the stray field of view of the laser radar to be detected at a target angle; the second point cloud data are point cloud data corresponding to the target object when the laser radar to be detected detects the target object under the condition of no environment light.
Optionally, the test system further comprises:
the signal attenuation unit is arranged between the laser radar to be detected and the target object and is suitable for attenuating signals, so that the signal intensities corresponding to the acquired first point cloud data and the acquired second point cloud data are within a preset range.
Optionally, the processing device is adapted to obtain a first average signal intensity and a first average noise intensity corresponding to each point cloud in the first point cloud data, and a second average signal intensity and a second average noise intensity corresponding to the second point cloud data; and acquiring a test result of the detection performance of the laser radar to be detected based on the first average signal intensity, the first average noise intensity, the second average signal intensity and the second average noise intensity.
Optionally, the processing device is adapted to obtain a variation amplitude of a ratio of the first average signal intensity to the first average noise intensity relative to a ratio of the second average signal intensity to the second average noise intensity, as a test result of the detection performance of the lidar to be tested.
The test system for the detection performance of the laser radar in the embodiment of the specification comprises a target object and an optical path adjusting device, wherein the optical path adjusting device is arranged between the laser radar to be detected and used for adjusting the incidence of ambient light to the stray field of view of the laser radar to be detected at a target angle, and controlling the laser radar to be detected to detect the target object so as to test the laser radar to be detected, and the optical path adjusting device can freely adjust the incidence of the ambient light to the stray field of view of the laser radar to be detected at a required target angle, so that the dependence on environmental factors can be avoided to a great extent, and the detection performance of the laser radar can be objectively and accurately reflected.
Further, the optical path adjusting device may include a reflecting unit and a shifting unit, and the pose of the reflecting unit is adjusted by the shifting unit, so that the ambient light is reflected by the shifting unit and is incident to the stray field of view of the laser radar to be tested at the target angle, dependency on environmental factors can be avoided to a great extent, the detection performance of the laser radar can be objectively and accurately reflected, the reflecting unit controls the optical path of the ambient light based on the reflection principle of light, the ambient light is reflected by the reflecting unit, and is incident to the stray field of view of the laser radar to be tested at the target angle, and the device is easy to implement and has higher test efficiency.
Further, the shift unit may include a gesture adjusting component, a transmission component and a control component, where the control component controls the gesture adjusting component to adjust the gesture of the reflection unit relative to the laser radar to be tested and controls the transmission component to adjust the position of the reflection unit, so that on one hand, the control component may quantitatively control the gesture adjusting component and the transmission component, and thus it may be ensured that the ambient light is reflected by the reflection unit and then enters into a stray field of view of the laser radar to be tested at the target angle, and the accuracy of testing the detection performance of the laser radar to be tested may be further improved; on the other hand, the gesture adjusting assembly and the transmission assembly can be controlled to be automatically adjusted through the control assembly, so that the testing efficiency can be further improved.
Further, the transmission assembly can comprise a transmission component and a lifting component, the transverse distance of the reflection unit relative to the laser radar to be detected can be adjusted through the transmission component, and the vertical distance of the reflection unit relative to the horizontal plane of the laser radar to be detected can be adjusted through the lifting component; on the other hand, the transverse distance of the reflecting unit relative to the laser radar to be detected and the vertical distance relative to the horizontal plane where the laser radar to be detected is located are easy to measure and easy to adjust, so that the position of the reflecting unit relative to the laser radar to be detected can be conveniently and accurately adjusted by adjusting the two parameters, the ambient light can be ensured to be incident to the stray field of view of the laser radar to be detected at the target angle after being reflected by the reflecting unit, and the accuracy of the test of the detection performance of the laser radar to be detected can be further improved.
Further, the test system may further include a processing device, where the processing device obtains first point cloud data corresponding to the target object when the laser radar to be tested detects the target object under a condition that ambient light is incident to the laser radar to be tested in a target angle, and obtains second point cloud data corresponding to the target object when the laser radar to be tested detects the target object under the condition that ambient light is not incident to the target object, so that a test result of the detection performance of the laser radar to be tested is obtained based on the first point cloud data and the second point cloud data, and the detection performance of the laser radar to be tested can be quantitatively reflected, so that accuracy of testing of the detection performance of the laser radar to be tested can be further improved.
Further, the test system may further include a signal attenuation unit, since the obtained test result of the detection performance of the laser radar to be tested has a larger error when the signal intensity of the echo of the laser radar to be tested is saturated, and by setting the signal attenuation unit between the laser radar to be tested and the target object, the obtained (echo) signal intensities corresponding to the first point cloud data and the second point cloud data are within a preset range, so that the error of the test result caused by the saturation of the (echo) signal intensity corresponding to the point cloud data can be avoided, the accuracy of the obtained test result can be further improved, and the detection performance of the laser radar can be objectively and accurately reflected.
Further, since the detection performance of the laser radar is related to the signal intensity and the noise intensity corresponding to the point cloud data, the processing device may obtain the test result of the detection performance of the laser radar to be detected by obtaining the first average signal intensity and the first average noise intensity corresponding to each point cloud in the first point cloud data and the second average signal intensity and the second average noise intensity corresponding to the second point cloud data, so as to quantitatively reflect the detection performance of the laser radar.
Further, since the detection performance of the laser radar is in direct proportion to the signal-to-noise ratio of the echo corresponding to the point cloud data, the processing device can obtain the variation amplitude of the ratio of the first average signal intensity to the first average noise intensity relative to the ratio of the second average signal intensity to the second average noise intensity, and can be used as a test result of the detection performance of the laser radar to be detected, so that the detection performance of the laser radar can be quantitatively reflected, and the detection performance of the laser radar can be objectively and accurately detected.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram showing a laser radar detection performance test system according to an embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a formation process of stray field of view of a lidar;
FIG. 3 shows a schematic diagram of simulated stray field of view and nominal field of view of a lidar;
FIG. 4 shows a schematic view of the optical path of ambient light in an embodiment of the present disclosure;
fig. 5A to 5C are schematic views showing a specific structure of a laser radar detection performance test system according to an embodiment of the present specification, wherein fig. 5A shows a front view of the test system, fig. 5B shows a side view of the test system, and a top view of the test system is shown;
FIG. 6 shows a schematic diagram of a measurement point distribution in an embodiment of the present disclosure.
Detailed Description
As described in the background art, when the influence of the stray field of view of the sunlight entering the lidar on the point cloud performance of the lidar is tested, the existing test system is generally limited by environmental factors such as the sun azimuth, the building shielding, the road trend and the like, and it is difficult to objectively and accurately reflect the detection performance of the lidar. In addition, the conventional test system only subjectively evaluates the change condition of the point cloud performance by comparing the point cloud performance of the target object or the ground line when sunlight exists or not, and the test result cannot accurately reflect the detection performance of the laser radar.
To the above-mentioned problem, this embodiment of the specification provides a laser radar detection performance's test system, including target object and light path adjusting device, through set up in the laser radar that awaits measuring with light path adjusting device between the target object adjusts ambient light with the target angle is incident to the stray visual field of laser radar awaits measuring, and control the laser radar awaits measuring to the target object detects, in order to right the laser radar awaits measuring tests, because light path adjusting device can freely adjust ambient light with required target angle incidence to the stray visual field of laser radar awaits measuring, consequently can get rid of to a great extent and rely on environmental factor to can reflect laser radar's detection performance objectively and accurately.
For a better understanding and to be obtained by anyone skilled in the art to practice the embodiments of the present description, the following detailed description is of the concepts, solutions, principles and advantages of the embodiments of the present description, etc. with reference to the drawings, by way of specific examples of application.
First, the embodiment of the present disclosure provides a system for testing laser radar detection performance, referring to a schematic structural diagram of a system for testing laser radar detection performance shown in fig. 1, a test system T may include:
the target object T1 is suitable for reflecting the detection light beam emitted by the laser radar LA to be detected back to the laser radar LA to be detected.
The light path adjusting device T2 is arranged between the laser radar LA to be measured and the target object T1, and is suitable for adjusting the stray view field of the ambient light entering the laser radar LA to be measured at a target angle, wherein the stray view field is a view field formed by light rays which can be detected by the laser radar LA to be measured outside the nominal view field of the laser radar LA to be measured.
Specifically, the stray field of view is a field of view formed by light rays that can be detected by the lidar under test outside the nominal field of view of the lidar under test.
Referring to fig. 2, a schematic view of a formation process of a stray field of view of a laser radar is shown in fig. 2, wherein a light L1 and a light parallel thereto, a light L2 and a light parallel thereto are light within a nominal field of view of the laser radar, and the light L1 and the light parallel thereto, the light L2 and the light parallel thereto are converged on detectors T1 and T2 on a focal plane through lens groups RX1, RX2 and RX3 of the laser radar, respectively.
The light L3, the light parallel to the light L4, and the light parallel to the light L3 are outside the nominal field of view of the laser radar, and the light L3, the light parallel to the light L4, and the light parallel to the light L4 cannot be directly converged on the detector on the focal plane through the lens groups RX1, RX2, and RX3, but are reflected by the inner wall of the laser radar, and finally are detected by the detector on the focal plane. For example, the reflecting surface of the light ray L4 and the light ray parallel thereto is mainly a lens barrel mechanical surface between the lens groups RX1 and RX2 as indicated by an arrow P1, and the reflecting surface of the light ray L3 and the light ray parallel thereto is mainly a lens barrel mechanical surface between the lens groups RX2 and RX3 as indicated by an arrow P2.
In specific implementation, the stray field of view of the laser radar to be detected can be obtained through simulation calculation.
As a specific example, referring to a simulated stray field and a nominal field schematic diagram of a laser radar shown in fig. 3, as shown in fig. 3, a region K is a nominal field of the laser radar, a brow region Z1 and a brow region Z2 which are centrosymmetric are stray fields of the laser radar, and the brow region Z1 and the brow region Z2 do not coincide with the region K.
In a specific implementation, the target angle may be any angle at which the ambient light can enter the stray field of view of the laser radar to be tested, and may be freely set according to the test requirement.
By adopting the above embodiment, the light path adjusting device T2 is used for adjusting the stray field of view of the laser radar LA to be tested, which is incident to the laser radar LA to be tested at the target angle, and controlling the laser radar LA to be tested to detect the target object T1, so that the light path adjusting device T2 can freely adjust the stray field of view of the laser radar LA to be tested, which is incident to the laser radar to be tested at the required target angle, and thus the dependence on environmental factors can be avoided to a great extent, and the detection performance of the laser radar can be objectively and accurately reflected.
In a specific implementation, the optical path adjusting device T2 may include:
and the position and the posture of the reflecting unit T21 are suitable for free adjustment, and the ambient light is reflected by the reflecting unit T21 and then enters the stray field of view of the laser radar to be detected at a target angle.
Specifically, the control of the light path of the ambient light can be realized based on the light reflection principle, so that the ambient light is made to enter the stray field of view of the laser radar to be detected at the target angle after being reflected by the reflecting unit T21 by setting the reflecting unit T21 and further adjusting the pose of the reflecting unit T21.
In a specific implementation, the stray field of view of the laser radar to be measured is incident at a target angle, and may specifically include the stray field of view of the laser radar to be measured incident at a target azimuth angle and a target altitude angle.
In particular andin other words, referring to a schematic view of the optical path of ambient light shown in fig. 4, in three-dimensional space, there is an initial azimuth angle α 1 An initial altitude angle of beta 1 According to the target azimuth angle alpha of the ambient light incident to the stray field of view of the laser radar to be detected 2 Target altitude angle beta 2 And the ambient light is incident to an incident point A of the laser radar to be detected (the incident point is positioned in a certain area of the laser radar), the pose of the reflecting unit M can be determined through calculation, and then the pose of the reflecting unit M is adjusted, so that the ambient light is reflected by the reflecting unit M and then the target azimuth angle alpha is used 2 Target altitude angle beta 2 And the stray view field is incident to the laser radar to be detected.
As a specific example, the reflecting unit T21 may be a metallized mirror.
It is to be understood that the above embodiments are only preferred embodiments, and the reflecting unit is not particularly limited by the embodiments of the present specification.
And the displacement unit T22 is suitable for adjusting the pose of the reflecting unit.
By adopting the embodiment, the pose of the reflecting unit T21 is adjusted by the shifting unit T22, so that the ambient light is reflected by the reflecting unit T22 and then enters the stray field of view of the laser radar to be tested at the target angle, dependence on environmental factors can be avoided to a great extent, the detection performance of the laser radar can be objectively and accurately reflected, the reflecting unit T21 controls the light path of the ambient light based on the light reflection principle, the ambient light is reflected by the reflecting unit T21 and then enters the stray field of view of the laser radar to be tested at the target angle, and the method is easy to implement and has higher test efficiency.
In other embodiments of the present specification, the shift unit T22 may include:
the posture adjustment assembly T221 is adapted to fix the reflecting unit T21 and adjust the posture of the reflecting unit T21 in response to a posture adjustment signal.
In a specific implementation, based on the determined target azimuth angle and target altitude angle of the stray field of view of the laser radar to be measured, the posture of the reflecting unit T21 may be adjusted by the posture adjusting component T221, so that the ambient light is reflected by the reflecting unit T21 and then enters the stray field of view of the laser radar to be measured at the target angle.
As a specific example, the posture adjustment component T221 may be an electric pan/tilt head. Specifically, the electric pan-tilt can perform a series of posture adjustments such as horizontal rotation and vertical pitching in response to the posture adjustment signal, so as to adjust the posture of the reflecting unit T21 fixedly connected thereto.
And the transmission component T222 is movably connected with the gesture adjusting component T221 and is suitable for responding to a position adjusting signal to drive the gesture adjusting component T222 so as to adjust the position of the reflecting unit T21 relative to the laser radar LA to be measured.
In a specific implementation, based on the determined target azimuth angle and target altitude angle of the stray field of view of the laser radar to be measured, the position of the reflection unit T21 relative to the laser radar to be measured may be adjusted by the transmission component T222, so that the ambient light is reflected by the reflection unit T21 and then enters the stray field of view of the laser radar to be measured at the target angle.
It is understood that the attitude adjustment assembly and the transmission assembly may operate simultaneously to adjust the attitude of the reflecting unit according to actual test requirements. For example, in other embodiments of the present disclosure, based on the determined target azimuth angle and target altitude angle of the ambient light incident on the stray field of view of the lidar to be measured, the position of the reflecting unit T21 relative to the lidar to be measured and the posture of the reflecting unit T21 may be adjusted by the posture adjusting assembly T221 and the driving assembly T222 at the same time, so that the ambient light is reflected by the reflecting unit T21 and then is incident on the stray field of view of the lidar to be measured at the target angle.
In an implementation, the transmission assembly T222 may include:
and the transmission component T2221 is movably connected with the attitude adjustment assembly T221 and is suitable for responding to a position adjustment signal to drive the attitude adjustment assembly T221 so as to adjust the transverse distance of the reflecting unit T21 relative to the laser radar LA to be measured.
As a specific example, the transmission member T2221 may be an electric slide rail. Specifically, the gesture adjusting component T221 may be fixedly connected to a slider of the electric sliding rail, and the electric sliding rail may drive the gesture adjusting component T221 in response to a position adjusting signal, and further drive a reflecting unit T21 fixedly connected to the gesture adjusting component T221, so as to adjust a lateral distance between the reflecting unit T21 and the laser radar LA to be measured.
And the lifting component T2222, wherein the transmission component T2221 is arranged on the lifting component T2222, and is suitable for adjusting the vertical distance between the reflecting unit T21 and the horizontal plane where the laser radar LA to be tested is positioned.
As a specific example, the lifting part T2222 may be a telescopic bracket. Specifically, the telescopic bracket is telescopic, so that the horizontal height of the transmission component T2221 arranged on the telescopic bracket is adjusted, and the vertical distance between the reflection unit T21 and the horizontal plane where the laser radar LA to be measured is located can be adjusted.
In a specific implementation, the longitudinal distance and the transverse distance of the reflecting unit relative to the laser radar to be detected and the vertical distance relative to the horizontal plane where the laser radar to be detected is located are easy to measure and easy to adjust, so that the position of the reflecting unit relative to the laser radar to be detected can be conveniently and accurately adjusted by adjusting any two parameters, and the ambient light can be ensured to be incident into the stray field of view of the laser radar to be detected at the target angle after being reflected by the reflecting unit, and the accuracy of testing the detection performance of the laser radar to be detected can be further improved.
Specifically, with continued reference to fig. 4, the following formula is shown:
wherein alpha is 2 For the target azimuth angle beta 2 For the target altitude angle, x is the transverse distance of the reflecting unit M relative to the laser radar to be detected, d is the longitudinal distance of the reflecting unit M relative to the laser radar to be detected, and Δh is the vertical distance of the reflecting unit M relative to the horizontal plane where the laser radar to be detected is located.
As a specific example, with continued reference to fig. 4, when x=0, it means that the reflecting unit M is on the north-positive side of the lidar under test, that is, the position where the horizontal angle of view of the lidar under test is 90 °, at this time
As can be seen from the formulas (1) and (2), by adjusting any two parameters of x, d and Deltah, multiple groups of different target azimuth angles alpha can be determined 2 Target altitude angle beta 2 The method can get rid of dependence on environmental factors to a great extent, and can objectively and accurately reflect the detection performance of the laser radar.
In some embodiments of the present disclosure, with continued reference to formulas (1) and (2), the position of the reflecting unit relative to the lidar to be measured may be adjusted by determining the longitudinal distance d of the reflecting unit relative to the lidar to be measured, and then adjusting the lateral distance x of the reflecting unit relative to the lidar to be measured and the vertical distance Δh relative to the horizontal plane of the lidar to be measured based on the longitudinal distance d.
With the above embodiment, on one hand, the transmission component T2221 and the lifting component T2222 can freely traverse the required lateral distance and vertical distance, so as to get rid of the dependence on environmental factors to a great extent; on the other hand, the transverse distance of the reflecting unit relative to the laser radar to be detected and the vertical distance relative to the horizontal plane where the laser radar to be detected is located are easy to measure and easy to adjust, so that the position of the reflecting unit relative to the laser radar to be detected can be conveniently and accurately adjusted by adjusting the two parameters, the ambient light can be ensured to be incident to the stray field of view of the laser radar to be detected at the target angle after being reflected by the reflecting unit, and the accuracy of the test of the detection performance of the laser radar to be detected can be further improved.
The control component T223 is in communication connection with the gesture adjusting component T221 and the transmission component T222 and is suitable for outputting the gesture adjusting signal and the position adjusting signal so as to control the gesture adjusting component T221 and the transmission component T222 to work.
By adopting the above embodiment, the control component T223 controls the posture adjusting component T221 to adjust the posture of the reflecting unit T21 relative to the laser radar LA to be tested, and controls the transmission component T222 to adjust the position of the reflecting unit T21, on one hand, the control component T223 can quantitatively control the posture adjusting component T221 and the transmission component T222, so that the ambient light can be ensured to be reflected by the reflecting unit T221 and then be incident to the stray field of view of the laser radar to be tested at the target angle, and the accuracy of testing the detection performance of the laser radar to be tested can be further improved; on the other hand, the control component T223 can control the posture adjusting component T221 and the transmission component T222 to automatically adjust, so that the testing efficiency can be further improved.
It should be noted that, in the embodiment of the present disclosure, the manner in which the control component is in communication with the posture adjustment component and the transmission component is not particularly limited.
In some embodiments of the present disclosure, the control component T223 may be connected with the posture adjustment component T221 and the transmission component T222 by a physical entity, so that the transmission speed is faster and the transmission process is more stable.
In other embodiments of the present disclosure, the control component T223 may also be connected to the posture adjustment component T221 and the transmission component T222 by a wireless communication module, for example, by a remote control. By adopting the embodiment, the whole test system has simple circuit structure and is easy to overhaul and maintain.
In an implementation, with continued reference to fig. 1, the test system T may further include:
the processing device T3 is suitable for acquiring first point cloud data and second point cloud data, and acquiring a test result of the LA detection performance of the laser radar to be detected based on the first point cloud data and the second point cloud data;
the first point cloud data are point cloud data corresponding to the target object T1 when the target object T1 is detected by the laser radar LA to be detected under the condition that ambient light is incident to the laser radar LA to be detected in a target angle and the stray field of view; the second point cloud data is point cloud data corresponding to the target object T1 when the laser radar LA to be detected detects the target object T1 under the condition of no environment light.
Specifically, the change condition of the detection performance of the laser radar to be detected can be obtained by analyzing the change condition of first point cloud data, corresponding to the target object, of the laser radar to be detected under the environment light condition relative to second point cloud data, corresponding to the target object, of the laser radar to be detected under the environment light condition.
As a specific example, the processing device may be a computer.
It will be appreciated that the processing device is not particularly limited in this embodiment, and may be any electronic device capable of processing information and performing operational tasks.
By adopting the embodiment, the processing device T3 acquires the first point cloud data and the second point cloud data, and further acquires the test result of the detection performance of the laser radar to be tested based on the first point cloud data and the second point cloud data, so that the detection performance of the laser radar can be quantitatively reflected, and the accuracy of the test of the detection performance of the laser radar to be tested can be further improved.
In a specific implementation, since the detection performance of the laser radar is related to the signal intensity and the noise intensity corresponding to the point cloud data, the processing device T3 may obtain the test result of the detection performance of the laser radar to be detected by obtaining a first average signal intensity and a first average noise intensity corresponding to each point cloud in the first point cloud data and a second average signal intensity and a second average noise intensity corresponding to the second point cloud data, so as to quantitatively reflect the detection performance of the laser radar.
As a specific example, the processing device T3 may obtain, as the test result of the detection performance of the lidar to be tested, the variation amplitude of the ratio of the first average signal intensity to the first average noise intensity with respect to the ratio of the second average signal intensity to the second average noise intensity. In the above description, each point cloud in the first point cloud data corresponds to a plurality of sets of target azimuth angles and target altitude angles of ambient light, that is, each point cloud corresponds to point cloud data of the target object obtained when ambient light is incident to the stray field of view of the laser radar to be measured at different target angles. Specifically, a set of target azimuth and target altitude of the ambient light corresponds to a frame of point cloud data in the first point cloud data.
With the above embodiment, since the detection performance of the lidar is proportional to the signal-to-noise ratio of the echo corresponding to the point cloud data, the processing device T3 may obtain the variation range of the ratio of the first average signal intensity to the first average noise intensity relative to the ratio of the second average signal intensity to the second average noise intensity, as the test result of the detection performance of the lidar to be tested, so that the detection performance of the lidar may be quantitatively reflected, and the method is objective, accurate and easy to implement.
In some embodiments of the present description, with continued reference to fig. 1, the test system T may further include:
the signal attenuation unit T4 is disposed between the laser radar LA to be tested and the target object T1, and is adapted to attenuate a signal, so that the signal intensities corresponding to the acquired first point cloud data and second point cloud data are within a preset range.
By adopting the embodiment, when the signal intensity of the echo of the laser radar to be detected is saturated, the point cloud data generated based on the echo is easy to be inaccurate, and then the acquired test result of the detection performance of the laser radar to be detected has larger error, and the signal attenuation unit T4 is arranged between the laser radar LA to be detected and the target object T1, so that the acquired (echo) signal intensities corresponding to the first point cloud data and the second point cloud data are in a preset range, the error of the test result caused by the saturation of the (echo) signal intensity corresponding to the point cloud data can be avoided, the accuracy of the acquired test result can be further improved, and the detection performance of the laser radar can be objectively and accurately reflected.
In a specific implementation, the signal intensity corresponding to the point cloud data can be controlled in the linear area through the signal attenuation unit T4.
In other embodiments of the present disclosure, with continued reference to fig. 1, the test system T may further include:
the illumination sensing unit T5 is adapted to measure the intensity of said ambient light.
By adopting the embodiment, the illumination sensing unit T5 is used for measuring the light intensity of the ambient light reflected by the reflecting unit, so that the stability of the ambient illumination can be ensured, the accuracy of an obtained test result can be ensured, and the detection performance of the laser radar can be objectively and accurately reflected.
It should be noted that, the embodiment of the present disclosure does not limit the environmental light, and the environmental light may be any light source in the use environment of the lidar to be tested, for example, may be sunlight unavoidable in the outdoor use environment of the lidar, or may be some artificial light source, for example, a street lamp.
The following describes in detail, by way of a specific example, a procedure for testing using the lidar detection performance and testing system described in the embodiments of the present specification.
This example takes the example that the ambient light is sunlight.
Referring to fig. 5A to 5C, which are schematic diagrams showing a specific structure of a laser radar detection performance test system, fig. 5A shows a front view of the test system, fig. 5B shows a side view of the test system, fig. 5C shows a top view of the test system, and the test system T includes: target O, metal film plating reflector M, electronic cloud platform Y, electronic slide rail G, scalable support Z1 and scalable support Z2.
In a specific implementation, the laser radar LA to be tested is first started up to be clocked with a processing device (not shown) so that the time of the laser radar LA to be tested is synchronized with the processing device.
As a specific example, the processing device may be a computer.
Further, the stray field of view of the laser radar LA to be measured can be obtained through simulation calculation, and then the distribution of the measuring points is determined according to the determined stray field of view range, wherein one measuring point corresponds to a target angle of the ambient light incident to the stray field of view of the laser radar to be measured.
As a specific example, referring to a schematic diagram of measuring point distribution shown in fig. 6, by adjusting the electric sliding rail G to h 1-h 5 5 different heights, and adjusting the metal film plating mirror M to 9 different positions on the electric sliding rail G at each height, the laser radar detection performance can be tested under 45 sets of different target azimuth angles and target height angles.
In a specific implementation, with continued reference to fig. 5A, 5B and fig. 6, after determining a measurement point of a stray field of sunlight incident to the laser radar LA to be measured, a longitudinal distance d of the metallized film reflector M relative to the laser radar LA to be measured may be determined first, then by telescoping the telescoping supports Z1 and Z2, a vertical distance Δh of the metallized film reflector M relative to a horizontal plane where the laser radar LA to be measured is located may be adjusted, the electric slide rail G may be adjusted to a height h1, and then a position adjustment signal may be sent through a remote controller (not shown), so as to control the electric slide rail G to work, drive the electric pan-tilt Y, and further drive the metallized film reflector M fixedly connected with the electric slide rail to adjust a lateral distance x of the metallized film reflector M relative to the laser radar LA to be measured, traverse 9 measurement points on the height h1, and continue telescoping the telescoping supports Z1 and Z2 until the lateral distance x of the metallized film reflector M relative to the laser radar LA to be measured is adjusted.
In a specific implementation, after the position of the metallized film reflector M relative to the laser radar LA to be measured is adjusted, an attitude adjustment signal may be sent through a remote controller (not shown) to control the electric pan-tilt Y to perform a series of attitude adjustments such as horizontal rotation and vertical pitching, so as to adjust the attitude of the metallized film reflector M fixedly connected thereto, so that sunlight is at a target azimuth angle α 2 Target altitude angle beta 2 And the laser radar enters the stray field of view of the laser radar LA to be detected, and then reaches an incident point A of the laser radar.
In a specific implementation, when each measuring point controls the laser radar LA to be measured to detect the target object O, the laser radar LA to be measured may be switched to a peak-rms measurement mode (peak represents the signal intensity of the laser radar echo to be measured, rms represents the noise intensity of the laser radar echo to be measured), the point cloud is recorded, and the time point is recorded, so as to obtain first point cloud data corresponding to the target object O at each measuring point.
Further, after the first point cloud data corresponding to the target object O at each measuring point is obtained, a posture adjustment signal is sent through a remote controller (not shown) to control the electric holder Y to perform a series of posture adjustments such as horizontal rotation and vertical pitching, so that sunlight is separated from the laser radar to be measured, and the second point cloud data corresponding to the target object O under the condition of no sunlight is recorded.
Further, after the point cloud recording is finished, according to the recorded time point corresponding to each measuring point, the point cloud data of the target plate O of the corresponding frame in the point cloud data are derived, and then the average peak/average rms value of a plurality of position echoes in the corresponding area of the target plate O of each measuring point is calculated, and the detection performance of the laser radar can be quantitatively reflected by calculating the variation amplitude of the average peak/average rms value of each point cloud in the corresponding area of the target plate O under the direct sunlight condition relative to the average peak/average rms value under the no-ambient light (direct light) condition. Specifically, for example, when the ambient light corresponds to the first measurement point, one frame of point cloud data of the target plate O includes echoes of a plurality of positions, signal intensities of the plurality of position echoes are extracted, an average value is taken, and simultaneously noise intensities of the plurality of position echoes are extracted, an average peak/average rms value is obtained.
Specifically, the distance of the laser radar to be measured is proportional to the evolution of the overall signal-to-noise ratio of the echo corresponding to the point cloud data, wherein the signal-to-noise ratio is the peak/rms ratio, and the larger the average peak/average rms value of the echo corresponding to each point cloud in the corresponding area of the target board O under the condition of direct sunlight relative to the decreasing amplitude of the average peak/average rms value under the condition of no ambient light (direct sunlight), the larger the decreasing of the detection performance of the laser radar is indicated.
In specific implementation, by comparing the variation amplitude of the average peak/rms value of the echo in the corresponding area of the target board O under the condition of direct sunlight irradiation with respect to the average peak/rms value under the condition of no ambient light (direct irradiation), the influence on the point cloud performance of the laser radar when sunlight is incident into the stray field of view of the laser radar to be detected at different target angles can be obtained, so that the targeted improvement design or avoidance can be performed to improve the detection performance of the laser radar.
It should be noted that, the definitions of the terms "first", "second", and the like in the embodiments of the present disclosure are only used for distinguishing descriptions, and are not used for any limitation.
Although the embodiments of the present specification are disclosed above, the present utility model is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the utility model, and the scope of the utility model should be assessed accordingly to that of the appended claims.
Claims (11)
1. A system for testing the detection performance of a lidar, comprising:
the target is suitable for reflecting the detection light beam emitted by the laser radar to be detected back to the laser radar to be detected;
the light path adjusting device is arranged between the laser radar to be detected and the target object and is suitable for adjusting the stray field of view of the laser radar to be detected, wherein the stray field of view is a field of view formed by light rays which can be detected by the laser radar to be detected outside the nominal field of view of the laser radar to be detected.
2. The test system of claim 1, wherein the optical path adjustment device comprises:
the position and the posture of the reflecting unit are suitable for free adjustment, and the ambient light is reflected by the reflecting unit and then enters the stray field of view of the laser radar to be detected at a target angle;
and the displacement unit is suitable for adjusting the pose of the reflecting unit.
3. The test system of claim 2, wherein the shift unit comprises:
the posture adjusting assembly is suitable for fixing the reflecting unit and responding to a posture adjusting signal to adjust the posture of the reflecting unit;
the transmission assembly is movably connected with the gesture adjusting assembly and is suitable for responding to a position adjusting signal to drive the gesture adjusting assembly so as to adjust the position of the reflecting unit relative to the laser radar to be measured;
and the control assembly is in communication connection with the gesture adjusting assembly and the transmission assembly and is suitable for outputting the gesture adjusting signal and the position adjusting signal so as to control the gesture adjusting assembly and the transmission assembly to work.
4. A test system according to claim 3, wherein the transmission assembly comprises:
the transmission component is movably connected with the gesture adjusting component and is suitable for responding to a position adjusting signal to drive the gesture adjusting component so as to adjust the transverse distance of the reflecting unit relative to the laser radar to be measured;
the transmission component is arranged on the lifting component and is suitable for adjusting the vertical distance of the reflection unit relative to the horizontal plane where the laser radar to be detected is located.
5. The test system of claim 2, wherein the reflection unit comprises: a metallized film mirror.
6. The test system of claim 3, wherein the attitude adjustment assembly comprises: electric cradle head.
7. The test system of claim 4, wherein the transmission component comprises: an electric slide rail;
the lifting member includes: a retractable bracket.
8. The test system of claim 1, further comprising:
the processing device is suitable for acquiring first point cloud data and second point cloud data, and acquiring a test result of the detection performance of the laser radar to be detected based on the first point cloud data and the second point cloud data;
the first point cloud data are point cloud data corresponding to the target object when the target object is detected by the laser radar to be detected under the condition that ambient light is incident to the stray field of view of the laser radar to be detected at a target angle; the second point cloud data are point cloud data corresponding to the target object when the laser radar to be detected detects the target object under the condition of no environment light.
9. The test system of claim 8, further comprising:
the signal attenuation unit is arranged between the laser radar to be detected and the target object and is suitable for attenuating signals, so that the signal intensities corresponding to the acquired first point cloud data and the acquired second point cloud data are within a preset range.
10. The test system of claim 8, wherein the processing device is adapted to obtain a first average signal strength and a first average noise strength corresponding to each point cloud in the first point cloud data and a second average signal strength and a second average noise strength corresponding to the second point cloud data; and acquiring a test result of the detection performance of the laser radar to be detected based on the first average signal intensity, the first average noise intensity, the second average signal intensity and the second average noise intensity.
11. The test system according to claim 10, wherein the processing means is adapted to obtain a variation amplitude of the ratio of the first average signal intensity and the first average noise intensity with respect to the ratio of the second average signal intensity and the second average noise intensity as a test result of the detection performance of the lidar under test.
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