DE102019106129A1 - Test unit and method for testing a LIDAR unit for a vehicle - Google Patents

Abstract

The approach presented here discloses a test unit (130) for testing a LIDAR unit (100) for a vehicle (400). The test unit (130) comprises a reception unit (145a, 145b, 145c) for outputting a reception signal (160a, 160b, 160c) upon receipt of light (110) from the LIDAR unit (100), the reception unit (145a, 145b, 145c) is arranged on a sensor screen (150) at a predetermined position. The test unit (130) further comprises a transmission unit (140a, 140b, 140c) for emitting light (115) to the LIDAR unit (100) in response to a transmission signal (170a, 170b, 170c), the transmission unit (140a, 140b , 140c) is arranged at a predetermined distance from the receiving unit (145a, 145b, 145c) on the sensor screen (150). Finally, the test unit (130) comprises a computer unit (155) which is designed, in response to the received signal (160a, 160b, 160c), to transmit the transmission signal (170a, 170b, 170c) to the transmission unit (140a, 140b, 140c).

Description

The present invention relates to a test unit and a method for testing a LIDAR unit for a vehicle and to a computer program.

Modern vehicles now often contain LIDAR sensors in order to be able to recognize a vehicle environment around the vehicle or to classify obstacles in this environment. However, in order to recognize the measured values of these LIDAR sensors as reliable, it is necessary to check the corresponding LIDAR sensors for their correct functionality. 3D LIDAR systems in particular should be tested with regard to dynamic scenarios and range. For this purpose, mostly trade fair setups are currently carried out in large halls, in which corresponding objects or people are then placed at certain intervals on a lane in front of a LIDAR sensor to be tested and the measured values obtained from the LIDAR sensor are compared with the actual arrangement in front of the LIDAR sensor will. However, this requires a partially complex movement of objects or extras, so that the previous test scenarios are personnel and / or space-consuming.

Against this background, the approach presented here presents an improved test unit for testing a LIDAR unit for a vehicle, an improved method for testing a LIDAR unit and a corresponding computer program in accordance with the main claims. Advantageous embodiments result from the subclaims and the following description.

• - eine Empfangseinheit zum Ausgeben eines Empfangssignals bei einem Empfang von Licht der LIDAR-Einheit, wobei die Empfangseinheit auf einem Sensorschirm an einer vorbestimmten Position angeordnet ist;
• - eine Sendeeinheit zum Aussenden von Licht an die LIDAR-Einheit, ansprechend auf ein Sendesignal, wobei die Sendeeinheit in einem vorbestimmten Abstand zu der Empfangseinheit auf dem Sensorschirm angeordnet ist; und
• - eine Rechnereinheit, die ausgebildet ist, um ansprechend auf das Empfangssignal nach einer definierten Zeitdauer das Sendesignal an die Sendeeinheit auszugeben.

With the presented approach, a test unit for testing a LIDAR unit for a vehicle is presented, the test unit having the following features:

• a receiving unit for outputting a received signal when light is received from the LIDAR unit, the receiving unit being arranged on a sensor screen at a predetermined position;
• a transmission unit for emitting light to the LIDAR unit in response to a transmission signal, the transmission unit being arranged on the sensor screen at a predetermined distance from the reception unit; and
• a computer unit which is designed to output the transmission signal to the transmission unit in response to the reception signal after a defined period of time.

In the present case, a test unit can be understood to mean, for example, a compact unit which can be set up in front of the LIDAR unit at a certain distance, which can also be very small, for example. The receiving unit can be understood to mean, for example, a sensor such as a photodiode, which is sensitive to light emitted by the LIDAR unit. A transmission unit can be understood to mean, for example, a light-emitting unit, such as a light-emitting diode or laser diode, which advantageously emits light in a spectral range, which can be received and evaluated by the LIDAR unit. For example, the transmission unit can be designed as an infrared transmission unit. A computer unit can be understood to mean a unit which, when the received signal is received, transmits the transmitted signal after a predetermined or adjustable period of time.

The approach presented here is based on the knowledge that the transmission unit can be controlled by the defined period of time that the transmission signal is transmitted after the reception signal, such that the light emitted by the transmission unit corresponds to a light which corresponds to a light from a Object would be reflected in front of the lidar unit. In this way, such a reflected light can be generated “artificially” and also delayed when the test unit is set up directly in front of the LIDAR unit by taking the light propagation time into account, so that a certain distance from the object can be simulated by the defined period of time the light from the LIDAR unit is reflected. This makes it possible, on the one hand, to significantly save installation space for the required set-up for testing the LIDAR unit and, on the other hand, to be able to simulate a position of an object in front of the LIDAR unit very flexibly by setting or selecting the defined duration. This can save both the required space and personnel costs for testing the LIDAR unit.

The approach presented here also uses a computer unit which is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices. This embodiment variant of the invention in the form of a device can also be used to achieve the object on which the invention is based quickly and efficiently.

For this purpose, the computing unit can have at least one computing unit for processing signals or data, at least one storage unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting data or control signals to the Actuator and / or at least one communication interface for reading in or outputting data have, which are embedded in a communication protocol. The computing unit can be, for example, a signal processor, a microcontroller or the like, and the storage unit can be a flash memory, an EEPROM or a magnetic storage unit. The communication interface can be designed to read or output data wirelessly and / or line-bound, wherein a communication interface that can read or output line-bound data can read this data, for example electrically or optically, from a corresponding data transmission line or can output it to a corresponding data transmission line.

In the present case, a computer unit can be understood to mean an electrical device that processes sensor signals and outputs control and / or data signals as a function thereof. The computer unit can have an interface which can be designed in terms of hardware and / or software. In the case of a hardware configuration, the interfaces can be part of a so-called system ASIC, for example, which contains the most varied functions of the device. However, it is also possible that the interfaces are separate, integrated circuits or at least partially consist of discrete components. In the case of software-based training, the interfaces can be software modules which are present, for example, on a microcontroller in addition to other software modules.

A favorable embodiment of the approach proposed here is one in which the computer unit is designed to output the transmit signal after a variable period of time after receipt of the received signal. Such an embodiment offers the advantage of being able to very flexibly simulate a distance of an object from the LIDAR unit, so that the LIDAR unit can be checked with a large number of different test scenarios.

An embodiment of the approach proposed here is also advantageous, in which the transmitting unit is adjacent to the receiving unit and / or is not more than one centimeter apart from the receiving unit. Such an embodiment offers the advantage of being able to send the simulated reflection beam, which supposedly results from the reflection of the light emitted by the LIDAR unit at the object, back to the LIDAR unit from that spatial direction. In this way, the spatial resolution of the LIDAR unit can also be checked very precisely.

According to a further embodiment of the approach presented here, at least one second receiving unit can be provided for outputting a second received signal when light from the LIDAR unit is received. The second receiving unit is arranged on the sensor screen at a predetermined second position, the test unit further comprising a second transmitting unit for emitting light to the LIDAR unit in response to a second transmitted signal, the second transmitting unit being at a predetermined distance from the second receiving unit the sensor screen is arranged. The computer unit is designed to output the second transmission signal to the second transmission unit in response to the second reception signal after a defined second time period. Such an embodiment of the approach presented here offers the advantage of being able to test the LIDAR unit in several channels, so that it can be checked, for example, whether the LIDAR unit can recognize and clearly differentiate between several objects arranged in front of the LIDAR unit. This enables a significant improvement in the inspection of the LIDAR unit.

Also advantageous is an embodiment in which the receiving unit and the second receiving unit and / or the transmitting unit and the second transmitting unit are arranged in a column or a row of a matrix-shaped sensor screen, in particular with the receiving unit and the second receiving unit in different columns or Rows are arranged. Such an embodiment offers the advantage of being able to construct a sensor screen in a technically very simple and cost-effective manner in order to check the LIDAR unit.

In order to be able to simulate different distances from one or more objects from the LIDAR unit, according to one embodiment of the approach presented here, the computer unit can be designed to output the second transmit signal after a second period of time that differs from the period after receipt of the second receive signal, or to to output the second transmission signal after a second time period that is the same as the time period after receipt of the second reception signal.

Another embodiment of the approach presented here is also conceivable, in which at least one third receiving unit is provided for outputting a third received signal when light from the LIDAR unit is received. The third receiving unit is arranged on the sensor screen at a predetermined third position, the test unit further comprising a third transmitting unit for transmitting light to the LIDAR unit in response to a third transmission signal, the third transmitting unit being at a predetermined distance from the third receiving unit the sensor screen is arranged. The computing unit is designed to respond to the third received signal after a defined third period of time output third transmission signal to the third transmission unit. Such an embodiment of the approach presented here offers the advantage of being able to test the LIDAR unit in several, especially more than two, channels, so that it can be checked, for example, whether the LIDAR unit recognizes and clearly distinguishes several objects arranged in front of the LIDAR unit can. This enables a significant improvement in the inspection of the LIDAR unit.

In order to also be able to test whether the LIDAR unit recognizes and / or classifies a vehicle environment in which objects move dynamically in the vehicle environment, according to a further embodiment of the approach presented here, the computer unit can be designed to transmit the transmission signal at a first point in time after the time period after receiving the received signal and to output at a second time after another time period after receiving the received signal. In this way, a first distance of an object in front of the lidar unit can be simulated at the first point in time, while at the second point in time a second distance of an object in front of the lidar unit can be simulated, which is different from the first distance.

An embodiment of the approach proposed here is particularly favorable, in which the computer unit is designed to output the transmission signal to the transmission unit in order to control a modulation of the output of light from the transmission unit to the LIDAR unit, in particular by an amplitude and / or To control the phase of the light output from the transmitter unit to the LIDAR unit. In this way, for example, it is also advantageously possible to simulate an attenuation of the light which is reflected by an object arranged at a large distance from the LIDAR unit. In this way, a further plausibility check of the distance detected by the LIDAR unit can be carried out not only from the light propagation time but also, for example, from the reduction in an amplitude of the light received by the LIDAR unit. By modulating the phase of the light emitted by the transmitter unit to the LIDAR unit, it can also be checked whether the LIDAR unit can recognize reflective surfaces as such or whether scattering effects can be detected if necessary.

An embodiment in which the sensor screen is curved or planar is particularly advantageous. In a variant with a curved sensor screen, for example, a simulated retroreflection of light from an object can advantageously be realized, which is also reflected in perspective from the LIDAR unit at a correct angle. In the variant in which the sensor screen is planar, for example a technically simple manufacture of the sensor screen can lead to a cost reduction for the production of the test unit, for example by means of optical elements such as lenses or prisms arranged between the sensor screen and the LIDAR unit of the light rays emitted by the sensor unit on the LIDAR unit is possible, so that a spatial image can be obtained which corresponds to that of a curved sensor screen.

An embodiment of the approach proposed here is particularly advantageous, in which the transmitter unit is designed as an infrared transmitter unit, in particular as an infrared light-emitting diode. On the one hand, such an embodiment is technically simple to produce and, on the other hand, offers a good match to the spectral light components often used in LIDAR units.

According to a further embodiment of the approach proposed here, the computer unit can be designed to output the transmission signal to the transmission unit in response to the reception signal after the defined period of time, the defined period of time being arranged in an environmental scenario in which an object is on a road ahead of a vehicle located. Such an embodiment offers the advantage that defined standard scenarios for the surroundings of the vehicle (such as the presence of a tire or pedestrians on the road) can be used to test the LIDAR unit. In this way, it is possible to avoid a great deal of effort in determining test criteria for the LIDAR unit, and at the same time, for example, corresponding test scenarios can be met by vehicle manufacturers.

• - Empfangen eines Empfangssignals, das einen Empfang von Licht der LIDAR-Einheit von einer Empfangseinheit repräsentiert, die auf einem Sensorschirm an einer vorbestimmten Position angeordnet ist;
• - Ermitteln eines Sendesignals zur Ausgabe an eine Sendeeinheit in einer Rechnereinheit, wobei das Sendesignal ansprechend auf das Empfangssignal nach einer definierten Zeitdauer ausgegeben wird; und
• - Aussenden von Licht an die LIDAR-Einheit durch die Sendeeinheit, ansprechend auf das Sendesignal, wobei die Sendeeinheit in einem vorbestimmten Abstand zu der Empfangseinheit auf dem Sensorschirm angeordnet ist.

According to a further embodiment of the approach presented here, a method for testing a LIDAR unit for a vehicle is presented, the method comprising the following steps:

• - receiving a reception signal representing reception of light from the lidar unit from a reception unit arranged on a sensor screen at a predetermined position;
• Determining a transmission signal for output to a transmission unit in a computer unit, the transmission signal being output in response to the reception signal after a defined period of time; and
• - Transmission of light to the LIDAR unit by the transmission unit in response to the transmission signal, the transmission unit being arranged on the sensor screen at a predetermined distance from the reception unit.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit. The proposed approach can also be implemented efficiently and inexpensively by such a method.

Also advantageous is a computer program product or computer program with program code, which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, in particular if the program product or program is executed on a computer or a device.

• 1 einen schematischen Aufbau einer Testumgebung zur Überprüfung der LIDAR - Einheit;
• 2 eine schematische Darstellung eines Testszenarios für die LIDAR-Einheit;
• 3 eine weitere schematische Darstellung eines Testszenarios für die LIDAR-Einheit;
• 4A eine weitere schematische Darstellung eines Testszenarios für eine Prüfung der LIDAR-Einheit;
• 4B eine weitere schematische Darstellung des in 4A vorgestellten Testszenarios;
• 4C eine weitere schematische Darstellung des Testszenarios gemäß den 4A und 4B;
• 5A eine weitere schematische Darstellung eines Testszenarios für eine Prüfung der LIDAR-Einheit;
• 5B eine weitere schematische Darstellung des in 5A vorgestellten Szenarios;
• 5C eine schematische Darstellung des Sensorschirms mit den Matrix-förmig angeordneten Sendeeinheit-Empfangseinheit-Paaren;
• 5D eine weitere schematische Darstellung des Testszenarios gemäß den 5A, 5B und 5C; und
• 6 ein Ablaufdiagramm eines Ausführungsbeispiels des hier vorgestellten Ansatzes als Verfahren zum Prüfen einer LIDAR-Einheit für ein Fahrzeug.

Embodiments of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

• 1 a schematic structure of a test environment for checking the LIDAR unit;
• 2nd a schematic representation of a test scenario for the LIDAR unit;
• 3rd another schematic representation of a test scenario for the LIDAR unit;
• 4A another schematic representation of a test scenario for a test of the lidar unit;
• 4B a further schematic representation of the in 4A presented test scenarios;
• 4C a further schematic representation of the test scenario according to the 4A and 4B ;
• 5A another schematic representation of a test scenario for a test of the lidar unit;
• 5B a further schematic representation of the in 5A presented scenarios;
• 5C is a schematic representation of the sensor screen with the matrix-shaped transmitter-receiver unit pairs;
• 5D a further schematic representation of the test scenario according to the 5A , 5B and 5C ; and
• 6 a flowchart of an embodiment of the approach presented here as a method for testing a lidar unit for a vehicle.

In the following description of favorable exemplary embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and acting in a similar manner, and a repeated description of these elements is omitted.

1 shows a schematic structure of a test environment for checking the LIDAR unit 100 . The LIDAR unit 100 can be arranged in a vehicle, for example, as will be described in more detail below. Now around an environment around the lidar unit 100 The LIDAR unit includes the detection, which then also corresponds to a vehicle environment 100 at least one recipient 105 for emitting a light beam 110 , the Indian 1 is shown with the designation Tx. This emitted light beam is now in the real vehicle environment 110 reflected on an object, with a reflected beam of light 115 towards the lidar unit 100 is thrown back in the 1 is shown with the designation Rx. In the lidar unit 100 is now a recipient 120 arranged of the reflected light beam 115 can receive and from the determination of the difference in time between the emission of the emitted light beam 110 and the arrival of the reflected light beam 115 (taking into account the speed of light) an estimate of the distance of the object from the LIDAR unit 100 can make on the emitted light beam 110 reflected and reflected by the reflected light beam 115 at the receiver 120 was recognized. Alternatively or additionally, other parameters of the emitted light beam can also be used 110 for example in relation to corresponding parameters in the reflected light beam 115 are evaluated, such as an amplitude or phase, for further information relating to the object on which the emitted light beam 110 was reflected. This information can consist, for example, of a light intensity in the reflected light beam in the case of rough surfaces on the object 115 is weaker than if the surface of the object were smooth.

To the above-mentioned disadvantages when checking the functionality of the lidar unit 100 to avoid, it is now proposed to use a test unit instead of a real test environment 130 in front of the lidar unit 130 to provide. The test unit 130 can be placed directly in front of the LIDAR unit 100 position and assigns transmitter-receiver unit pairs 135 on. This includes each of the transmitter-receiver pairs 135 one sending unit each 140 and a receiving unit 145 . Thus, for example, is a (first) sensor unit 140a next to a (first) receiving unit 145a arranged, a second transmitter unit 140b next to a second receiving unit 145b arranged a third transmitter unit 140c a third receiving unit 145c arranged, etc. Favorably, the transmitter unit 140 and the associated receiving unit 145 of the respective transmitter-receiver pair 135 arranged very close to each other, for example no further than one centimeter or half a centimeter or also directly adjacent to one another. The sending unit 140 and / or the receiving unit 145 of the individual transmitter-receiver unit pairs 135 are in line and / or column form on a sensor screen 150 arranged so that, for example, a matrix-shaped arrangement of the transmitter-receiver unit pairs 135 on the sensor screen 150 is trained.

There is also a computer unit 155 provided, for example, in a housing of the test unit 130 is housed, but alternatively outside the housing of the test unit 130 can be arranged. The computing unit 155 is with the transmitter units 140 (ie at least one transmitter unit 140a) and receiving units 145 (ie at least one receiving unit 145a) of the respective transmitter-receiver unit pairs 135 connected for signal transmission. This means that the computing unit 155 for example from a receiving unit 145a a receive signal 160a can receive an incident from one of the lidar unit 100 emitted light beam 110 on the receiving unit 145a represents. In response to this, the computer unit can then, for example 155 a parameter 162 from a store 165 read out, this parameter 162 represents a predefined length of time that corresponds to a runtime that corresponds to that of the lidar unit 100 emitted light beam 110 would need to on an object that is in an optical axis between the LIDAR unit 100 and the position of the receiving unit 145a is to be reflected and as a reflected light beam 115 back to recipient 120 would occur. In this context, a period of time should also be taken into account, which is due to a running time of the light 110 respectively. 115 by a distance between the lidar unit 100 and the test unit 130 is caused. Taking this parameter into account 162 , which now represents the predefined period of time, now becomes a transmission signal 170a generated and sent to the sending unit 140a output, which then the beam of light 115 to the LIDAR unit 100 or the recipient 120 the LIDAR unit 100 transmits and thereby simulates an object that is located at that position of the transmitting unit 140a or receiving unit 145a is located, so here, for example, the pair of transmitter-receiver unit 135 . By choosing the parameter 162 representing the defined period of time can thus cause a defined delay in the output of the light beam 115 through the transmitter unit 140a be achieved so that the lidar unit 100 the presence of an object in front of the LIDAR-100 can be simulated at a predefined distance. This distance of the object in front of the lidar unit 100 can in the lidar unit 100 essentially by evaluating the transit time difference between the emission of the light beam 110 by the transmitter 105 and the reception of the “reflected” light beam 115 By setting the parameter representing the time period 162 and if necessary by taking into account the transit time of the light of the light rays 110 respectively. 115 can therefore be flexible the presence of an object at a certain distance in front of the lidar unit 100 can be arbitrarily specified or simulated.

It is also conceivable that the parameter 162 which presents the defined period of time, can be varied or is actually varied, so that, for example, a first parameter at a first point in time 162 to determine the transmission signal 170a after receiving the received signal 160a is used, which corresponds to a (first) time period, whereas at a later second time a second parameter 162 to determine the transmission signal 170a after receiving the received signal 160a is used, which corresponds to a second time period. Here, for example, the second time period can be longer or shorter than the first time period, so that in the end the LIDAR unit 100 an object is simulated which is a larger or smaller distance from the LIDAR unit 100 exhibits than at the first time.

A second received signal can of course also be used in the same way 160b when the emitted light beam strikes 110 to the second receiving unit 145b from the computing unit 155 can be read in and using the parameter 162 , which represents the defined period of time, a second transmission signal 170b to the second transmitter unit 140b are output in order to create a “reflected” light beam 115 from the position of the second transmitter unit 140b to the LIDAR unit 100 or to the recipient 120 the LIDAR unit 100 to spend. This way the lidar unit 100 the presence of an object can be simulated at the position at which the second transmission unit 140b on the sensor screen 150 is arranged. Here the parameter 162 For example, be chosen so that the time period corresponds to the time period that also for the output of the transmission signal 170a is used, which then causes the lidar unit 100 an object (or several individual objects) can be simulated, which (which) equidistant from the lidar unit 100 is (are) positioned. In contrast, becomes a parameter 162 for the determination of the second transmission signal 170b uses a different time span and thus a different distance of the object from the LIDAR unit 100 represents the lidar unit 100 the presence of two different objects at different distances in different positions of the LIDAR unit 100 be simulated or the presence of a large, spatially extended object, so that the LIDAR unit 100 possibly even capture the dimensions of the object in different directions.

A third received signal can of course also be carried out in an analog manner 160c when the emitted light beam occurs 110 to the third receiving unit 145c from the computing unit 155 can be read in and using the parameter 162 , which represents the defined period of time, a third transmission signal 170c the third transmission unit 140c are output in order to create a “reflected” light beam 115 from the position of the third transmitter unit 140c the LIDAR unit 100 or to the recipient 120 the LIDAR unit 100 to spend. This way the lidar unit 100 Furthermore, the presence of an object can be simulated at the position at which the third transmission unit 140c on the sensor screen 150 is arranged. The parameter can also be used here 162 For example, be selected so that the time period corresponds to the time period that also for the output of the transmission signal 170 a and / or the second transmission signal 170b is used, which then causes the lidar unit 110 the presence of an object (or several individual objects) can be simulated, which / which at an equal distance in front of the LIDAR unit 110 is (are) positioned. The above explanations therefore of course also apply to the detection of an object at the same or different distance from the spatial direction in which the transmitter-receiver unit pair 135 with the third transmitter unit 140c on the sensor screen 150 is arranged.

With the approach proposed here for a test unit 130 This means that flexible testing of the LIDAR unit can be carried out very compactly and inexpensively 100 make. Furthermore, an increase in the security of the systems that are based on signals from the LIDAR unit can be made possible 100 based. Specifically about the arrangement of the transmitter-receiver unit pairs 135 In M rows and N columns, for example, an MxN matrix-shaped structure of the sensor screen can thus be found 150 reach, with the delay lines for delayed output of the "reflected" light beam 150 to the recipient 120 the LIDAR unit 100 are provided in order to find the appropriate resolution of the LIDAR unit to be tested 100 to specify different test scenarios in which a spatial arrangement of one or more objects, for example also different reflectances, is simulated. The simulated distance can then be achieved, for example, by the phase and / or the reflectance by means of an amplitude or transit time parameterization. The structure is compact and designed for end-of-line testing.

Favorably continue to be on the sensor screen 150 so many transmitter-receiver pairs 135 arranged or provided that the detection of objects as complete as possible by the lidar unit 100 in the entire field of view of the LIDAR unit 100 becomes possible.

2nd shows a schematic representation of a test scenario of the LIDAR unit 100 , where from the transmitter 105 through an exit pupil 200 the emitted light beam 110 in a field of vision 205 the LIDAR unit 100 is issued. For example, the lidar unit 100 or the transmitter 105 the LIDAR unit 100 here the light beam 110 at a horizontal angle of 30 degrees, a vertical angle of 12 degrees and, for example, with a power of not more than 300 watts and, for example, a pulse duration of not more than 18 nanoseconds.

In order to achieve as little optical distortion as possible or that of the transmission units concerned 140 emitted rays of light 115 as precisely as possible on the LIDAR unit 100 A curved sensor screen can also be able to output 150 be provided on which the transmitter-receiver unit pairs 135 are arranged. In this way, the radiation of the "reflected" light beam can be 115 in different positions on the sensor screen 150 in different directions, but very precisely to a corresponding one, in the 2nd not shown receiver 120 the LIDAR unit 100 output.

3rd shows a schematic representation of a test scenario for the LIDAR unit 100 where the recipient 120 the "reflected" light beam 115 receives that from a transmission unit 140a was sent, this sending unit 140a here, for example, on a planar sensor screen 150 is arranged. Here you can also see that the "reflected" light beam 115 is somewhat divergent in a vertical field of view and a larger area on the receiver 120 the LIDAR unit 100 illuminated as the area from which the "reflected" light beam 115 from the transmitter unit 140a was sent out. It is also advantageous here, for example, if directly on the sensor screen 150 or the transmitter unit 140a an optical beam shaping element 300 how For example, a lens or a prism is arranged, so that, for example, a planar sensor screen, which is advantageous for manufacturing reasons 150 nevertheless a sufficient distraction from the transmission unit in question 140 emitted "reflected" light beam 115 this beam of light correctly on the receiver 120 the LIDAR unit 100 is sent out.

4A shows a further schematic representation of a test scenario for a test of the LIDAR unit 100 that are now, for example, on a vehicle 400 is appropriate. A case in which a black tire is to serve as a test scenario 405 at a distance A of 40 meters in front of the vehicle 400 through the LIDAR unit 100 should be recognized. In the conventional case, such a test requires a large amount of space, in which the vehicle is placed in a hall and 40 meters in front of it, with the tires being used by personnel 405 must be placed, which then by the LIDAR unit 100 should be recognized.

4B shows a further schematic representation of the in 4A presented scenarios, but now only in the 4B sensor screen shown in top view 150 at a certain distance from the lidar unit 100 out 4A needs to be placed. As from the illustration 4B is recognizable, are on the sensor screen 150 now the transmitter-receiver unit pairs 135 shown, with the control of the transmitter unit 140a in the bottom line in the fourth column from the right through the computing unit 155 (after receiving one from the LIDAR unit 100 output light beam 110 ) a light signal can be output, which is now the light beam 115 to the LIDAR unit 100 represented by which the tire 405 out 4A is simulated. The sending units 140 the further transmitter-receiver unit pairs 135 , for example in the area 420 are not controlled, so there is no light from these spatial areas to the LIDAR unit 100 is output and the lidar unit 100 here only a road surface in the direction of emission is assumed, which does not result in any reflection of the emitted light beam 110 leads.

4C shows a schematic representation of the test scenario according to the 4A and 4B , whereby it can now be seen that the computer unit 155 only one transmitter unit 140a in the bottom line of the sensor screen 150 is controlled to the "reflected" light beam 115 to the recipient 120 the LIDAR unit 100 to broadcast.

5A shows a further schematic representation of a test scenario for a test of the LIDAR unit 100 that are now, for example, on a vehicle 400 is appropriate. A case in which a pedestrian is to serve as a test scenario 505 at a distance A of 40 meters in front of the vehicle 400 be recognized. In the conventional case, such a test requires a large amount of space and personnel, in which the vehicle is placed in a hall and 40 meters in front of it, with the help of personnel, the person is through the field of vision of the LIDAR unit 100 must then move through the lidar unit 100 should be recognized.

5B shows a schematic representation of the in 5A presented scenarios, but now only in the 5B sensor screen shown in top view 150 at a certain distance from the lidar unit 100 out 5A needs to be placed. As from the illustration 5B is recognizable, are on the sensor screen 150 now the transmitter-receiver unit pairs 135 shown, with the control of the nine transmitter units 140 in the area 520 through the computing unit 155 (after receiving one from the LIDAR unit 100 output light beam 110 by the relevant receiving units 145 of these transmitter-receiver unit pairs 135 ) a light signal can be output, which is the light beam 115 to the LIDAR unit 100 represented by which the pedestrian 505 out 5A is simulated. The sending units 140 the further transmitter-receiver unit pairs 135 , for example in the area 525 are not controlled, so there is no light from these spatial areas to the LIDAR unit 100 is output and the lidar unit 100 here only a road surface in the direction of emission is assumed, which does not result in any reflection of the emitted light beam 110 leads. Furthermore, according to the illustration 5B can be recognized that larger objects such as pedestrians by controlling several transmitters arranged side by side 140 can be simulated. Here, the individual transmission units can also be controlled with different time delays, so that the LIDAR unit 100 a spatial depth of the object in question can be simulated. In this way, the function of the LIDAR unit can be set very easily and yet very precisely 100 check.

5C shows a schematic representation of the sensor screen 150 with the pairs of transmitters and peripheral units arranged in a matrix 135 . It can also be seen here that, for example, there is an object that the pedestrian is off 5A represents, at different times in different positions in front of the lidar unit 100 can be simulated. For example, at a first time, the pedestrian may be on the left side of the field of view of the lidar unit 100 be simulated so that the transmitter units 140 in the area 550 be activated in accordance with the above statements. If, for example, the pedestrian moves further to the right, the transmitter units can 140 in the middle area 555 of the sensor screen 150 activated so that now the lidar unit 100 a movement of the object, here the pedestrian 505 , can be simulated. Finally, the object can move further to the right, so that the sending units 140 in the right area 560 of the sensor screen 150 to be activated. This also allows a temporal behavior of the object to be embedded in a test scenario and to check whether the LIDAR unit 100 can also correctly detect such movement of the object. It is also conceivable that with such a movement of the object different distances of the objects in front of the LIDAR unit 100 are simulated so that not only a lateral component but also a longitudinal component of the movement of an object in relation to the vehicle can be detected.

5D shows a schematic representation of the test scenario according to the 5A , 5B and 5C , whereby it can now be seen that the computer unit 155 only those transmitters 140 in that area 550 , 555 or 560 the sensor screen 150 is controlled to the "reflected" light rays 115 to the recipient 120 the LIDAR unit 100 to broadcast.

In summary, it can be noted that a device and method for qualifying LIDAR systems is presented here. The approach presented here relates to a test device and a test method for testing lidar systems. 3D lidar systems in particular should be tested with regard to dynamic scenarios and ranges. Lidar tests are currently being carried out in large halls with complex movements of objects or extras. A complex test with increased space is required here.

With the approach presented here, these test procedures can be made more compact - as an end-of-line tester. Furthermore, a very large number of scenarios should be allowed to test the overall system (logic). However, such testing currently requires a hall with a linear rail system and space requirements in accordance with the LIDAR range to be tested.

In contrast, the approach presented here has several advantages. On the one hand, the approach presented here can be implemented compactly, inexpensively in operation and flexibly. This leads to an increase in the security of the systems (see Lidar - Autonomous Driving Accident in the USA). The approach presented here can also create a system that enables a 100% test.

Massively parallel electronic delay lines with adjustable noise and gain behavior can be implemented. Controllers can also simply be used (for example as a computer unit 155 ) and software for generating simulations and their evaluation. A matrix of MxN detector transmitter pairs on a sensor screen 150 can make individually configurable light reflection delays adjustable at different positions, which can cover the entire field of view of LIDAR.

3D scenes can be mimicked by parameterization. The LIDAR to be tested can be offered any test situation with spatial arrangements of objects of different reflectances via the MxN delay sections in suitable resolution. The distance is achieved by phase and the reflectance by amplitude parameterization. The structure is compact and designed for end-of-line testing.

Scenes can also be simulated and repeated, compared and analyzed with evaluation programs. The system and device require a short distance from the transmitter to perform the tests, e.g. B. 1 to 5 m). The lidar tester 130 can, for example, also on the vehicle directly in front of the vehicle's windscreen 400 attached one.

A target-actual comparison between the different positions and scenes can be made here. The figures attached here show use cases within the MxN Delay GUI matrix (Graphic User Interface) and their configuration, objects that are still standing or move with individual distance assignments. The objects are drawn into the matrix (i.e. the relevant transmission units for light output are controlled) and a distance is assigned to the relevant matrix pixels by the adjustable delay in the light emission. The figures show examples such as a tire or a moving person as an object to be recognized, the positions of which can be simulated (scene tests).

6 shows an embodiment of a method 600 for testing a LIDAR unit for a vehicle. The procedure 600 includes one step 610 receiving a reception signal representing reception of light of the lidar unit from a reception unit arranged on a sensor screen at a predetermined position. The method also includes 600 one step 620 determining a transmission signal for output to a transmission unit in a computer unit, the transmission signal being output in response to the reception signal after a defined period of time. Finally, the process includes 600 one step 630 the transmission of light to the LIDAR unit by the transmission unit in response to the transmission signal, the transmission unit being arranged on the sensor screen at a predetermined distance from the reception unit.

If an exemplary embodiment comprises a “and / or” link between a first feature and a second feature, this is to be read in such a way that the embodiment according to one embodiment has both the first feature and the second feature and according to a further embodiment either only that has the first feature or only the second feature.

Claims (14)

Test unit (130) for testing a LIDAR unit (100) for a vehicle (400), the test unit (130) having the following features: - A receiving unit (145a, 145b, 145c) for outputting a received signal (160a, 160b, 160c) upon receipt of light (110) from the lidar unit (100), the receiving unit (145a, 145b, 145c) on a sensor screen (150) is located at a predetermined position; - a transmission unit (140a, 140b, 140c) for emitting light (115) to the LIDAR unit (100) in response to a transmission signal (170a, 170b, 170c), the transmission unit (140a, 140b, 140c) in one predetermined distance from the receiving unit (145a, 145b, 145c) is arranged on the sensor screen (150); and - A computer unit (155) which is designed to output the transmission signal (170a, 170b, 170c) to the transmission unit (140a, 140b, 140c) after a defined period of time in response to the received signal (160a, 160b, 160c). Test unit (130) according to Claim 1 , characterized in that the computer unit (155) is designed to output the transmitted signal (170a, 170b, 170c) after a variable period of time after receipt of the received signal (160a, 160b, 160c). Test unit (130) according to one of the preceding claims, characterized in that the transmitting unit (140a, 140b, 140c) is adjacent to the receiving unit (145a, 145b, 145c) and / or by no more than one centimeter from the receiving unit (145a, 145b , 145c) is spaced. Test unit (130) according to one of the preceding claims, characterized by at least one second reception unit (145b) for outputting a second reception signal (160b) when light (110) is received from the LIDAR unit (100), the second reception unit (145b) is arranged on a sensor screen (150) at a predetermined second position, the test unit (130) further comprising a second transmission unit (140b) for emitting light (115) to the LIDAR unit (100) in response to a second transmission signal (170b) , wherein the second transmitter unit (140a, 140b, 140c) is arranged at a predetermined distance from the second receiver unit (145a, 145b, 145c) on the sensor screen (150) and wherein the computer unit (155) is designed to respond to the second Receive signal (160b) after a defined second period of time to output the second transmission signal (170b) to the second transmission unit (140b). Test unit (130) according to Claim 4 , characterized in that the receiving unit (145a) and the second receiving unit 145b) and / or the transmitting unit (140a) and the second transmitting unit (140b) are arranged in a column or a row of a matrix-shaped sensor screen (150), in particular wherein the The receiving unit (145a) and / or the second receiving unit (145b) are arranged in different columns or rows. Test unit (130) according to one of the Claims 4 or 5 , characterized in that the computer unit (155) is designed to output the second transmission signal (170b) after a second time period different from the time period after receipt of the second reception signal (160b) or to transmit the second transmission signal (170b) after one time period output the same second time period after receipt of the second received signal (160b). Test unit (130) according to one of the preceding claims, characterized in that the computer unit (155) is designed to transmit the transmitted signal (170a, 170b, 170c) at a first point in time after the period after receipt of the received signal (160a, 160b, 160c) output and output at a second point in time after a different period of time after receiving the received signal (160a, 160b, 160c). Test unit (130) according to one of the preceding claims, characterized in that the computer unit (155) is designed to output the transmission signal (170a, 170b, 170c) to the transmission unit (140a, 140b, 140c) in order to modulate the output of To control light from the transmission unit (140a, 140b, 140c) to the LIDAR unit (100), in particular to control an amplitude and / or phase of the emission from the transmission unit (140a, 140b, 140c) to the LIDAR unit (100) Control lights (115). Test unit (130) according to one of the preceding claims, characterized in that the sensor screen (150) is curved or planar. Test unit (130) according to one of the preceding claims, characterized in that the transmission unit (140a, 140b, 140c) is designed as an infrared transmission unit (140a, 140b, 140c), in particular as an infrared light-emitting diode. Test unit (130) according to one of the preceding claims, characterized in that the computer unit (155) is designed to transmit the transmission signal (170a, 170b, 170c) in response to the reception signal (160a, 160b, 160c) to the transmission unit after the defined period of time (140a, 140b, 140c), the defined period of time being arranged in an environmental scenario in which an object is on a road in front of the vehicle (400). A method (600) for testing a LIDAR unit (100) for a vehicle, the method (600) comprising the following steps: - Receiving (610) a reception signal (160a, 160b, 160c) representing reception of light from the lidar unit (100) from a reception unit (145a, 145b, 145c), which is on a sensor screen (150) at a predetermined position is arranged; - Determining (620) a transmission signal (170a, 1470b, 170c) for output to a transmission unit (140a, 140b, 140c) in a computer unit (155), the transmission signal (170a, 1470b, 170c) in response to the reception signal according to a defined one Time is spent; and - emitting (630) light to the LIDAR unit (100) by the transmission unit (140a, 140b, 140c) in response to the transmission signal (170a, 1470b, 170c), the transmission unit (140a, 140b, 140c) in one predetermined distance from the receiving unit (145a, 145b, 145c) is arranged on the sensor screen (150). Computer program, which is set up according to the steps of the method (600) Claim 12 to execute and / or to control. Machine-readable storage medium on which the computer program is based Claim 13 is saved.

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