EP3857208A1 - Procédé et dispositif pour la simulation d'une visibilité d'un vernis appliqué sur un surface pour un capteur lidar - Google Patents

Procédé et dispositif pour la simulation d'une visibilité d'un vernis appliqué sur un surface pour un capteur lidar

Info

Publication number
EP3857208A1
EP3857208A1 EP19816542.5A EP19816542A EP3857208A1 EP 3857208 A1 EP3857208 A1 EP 3857208A1 EP 19816542 A EP19816542 A EP 19816542A EP 3857208 A1 EP3857208 A1 EP 3857208A1
Authority
EP
European Patent Office
Prior art keywords
lacquer
lidar sensor
distribution function
reflectance distribution
bidirectional reflectance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19816542.5A
Other languages
German (de)
English (en)
Inventor
Thomas Kantimm
Benjamin LANFER
Alfred WOLCKE
Markus Mundus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
BASF Coatings GmbH
Original Assignee
BASF Coatings GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by BASF Coatings GmbH filed Critical BASF Coatings GmbH
Publication of EP3857208A1 publication Critical patent/EP3857208A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • G01N21/57—Measuring gloss
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/8422—Investigating thin films, e.g. matrix isolation method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1793—Remote sensing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • G01N21/57—Measuring gloss
    • G01N2021/575—Photogoniometering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/8422—Investigating thin films, e.g. matrix isolation method
    • G01N2021/8427—Coatings

Definitions

  • the present invention relates to a method and a corresponding device for simulating the visibility of a lacquer applied to a surface for a LiDAR sensor.
  • LiDAR LiDAR
  • LiDAR has become an important part of autonomous driving.
  • LiDAR stands for "Light Detection and Ranging", an optical measuring system to detect objects.
  • a LiDAR sensor emits directed laser pulses in the infrared range. If such a laser pulse strikes an object, it is reflected, the reflected light or the reflected laser pulse in turn being received by the LiDAR sensor.
  • a distance of the LiDAR sensor from the object struck by the laser pulse can be calculated from a transit time of the laser pulse starting from its emission until it is received at the LiDAR sensor.
  • the reflection of the emitted light or laser pulse on the object up to the arrival of the light or laser pulse at the receiver ie the LiDAR sensor itself, determines the position of the object over the transit time of the light or laser pulse leaves.
  • the LiDAR sensor can only measure a distance to an object if a sufficient amount of light is reflected back from the object in the direction of the LiDAR sensor. For a given distance of an object, this means that the object can only be detected if the reflection or the reflected light quantity of the object is sufficiently large at an operating wavelength of the LiDAR sensor.
  • the reflective properties of a vehicle are dominated by the paint with which the vehicle or the vehicle body is painted.
  • paint paint, paint, vehicle paint and vehicle paint are used interchangeably in the context of the present disclosure.
  • a method for simulating the visibility of a lacquer applied to a surface for a LiDAR sensor comprises at least the following steps:
  • the LiDAR sensor being a unit comprising a point light source and a camera and the unit being lacquered Surface can be simulated as a profile, which is arranged or can be arranged at a variable distance with a variable orientation in front of the camera, preferably a
  • Computer graphics model is applied to the profile using the customized bidirectional reflectance distribution function
  • Output of a brightness image means that a brightness image is determined, in particular calculated, on the basis of the preceding step of the simulation, and a result derived therefrom is displayed.
  • the result displayed can be the brightness image itself or an image derived therefrom, for example an image of visibility.
  • a representation / display of the brightness image can be designed in various ways. Areas of different brightness can thus be represented or displayed differently from one another by means of correspondingly different patterns / hatching or different colors. Any other suitable type of presentation / display is conceivable.
  • Typical operating wavelengths of a LiDAR sensor are 905 nm or 1,550 nm. This means that a LiDAR sensor only emits light with a wavelength of 905 nm or 1,550 nm and can only detect such (elastic backscattering).
  • the lacquer which is produced on the basis of a lacquer formulation and whose visibility is to be examined for the LiDAR sensor, is first applied to a narrow, flat sample surface and, if necessary, also coated with a commercially available clear lacquer.
  • a gonio-spectrophotometer is generally used.
  • the measurements are carried out at a plurality of illumination and / or measurement angles, which also include those measurement geometries in which the illumination and the observation or measurement direction or angles are approximately the same.
  • a gonio-spectrophotometer also called a spectro-goniometer, gonio-reflectometer, reflection goniometer, reflectance goniometer or goniometer for short, whereby a goniometer is basically a device for determining the angle, is a device for measuring a reflection behavior of a surface, in particular, angle-dependent ones Properties of the surface or of the lacquer with which the surface is coated can be determined.
  • the reflectance distribution function (BRDF) for the lacquer is determined at the given lighting and measuring angles relative to the surface or the respective sample surface, ie a reflection or a respective reflection value depending on the incidence of light and the sensor or Measuring position determined.
  • the azimuth angle angular direction of the illumination, measured from a cardinal direction (generally north) at 0 ° clockwise to 360 °
  • the zenith angle angular position of the illumination above the surface, measured from the surface (0 ° to 90 °)
  • the BRDF is a fundamental optical property of the reflective lacquer or the lacquer formulation on which the lacquer is based.
  • the invention provides for simulating both the LiDAR sensor itself and the surface coated with the paint or in a model to represent that describes the characteristic properties of both the LiDAR sensor and the paint.
  • anisotropic reflection behavior ie a direction-dependent retroreflection behavior of the light emitted by the LiDAR sensor and reflected by the surface, which is also referred to as anisotropic reflectance or differentiated spectroscopic reflectance, influences to a large extent the BRDF of the lacquer to be examined.
  • the bidirectional reflectance distribution function for the lacquer is formed from a weighted diffuse Lambert term and a Cook Torrance lighting model term with at least one lobe of gloss.
  • parameters of the bidirectional reflectance distribution function are optimized with reference to a cost function. This means that the parameters of the bidirectional reflectance distribution function (Lambert coefficient, weights of the Cook Torrance glossy lobes, etc.) are corrected using the measured reflections or the photospectrometer measurement data or the reflection values.
  • the parameters are optimized in such a way that the distance between the information in the optimized model and the corresponding values or reflection values of the measurement is minimal.
  • Reflection information in particular includes reflection values, for example brightness values.
  • the optimized model remains similar to the original model in order to prevent it from becoming unstable due to a small amount of measurement data or values and a relatively large amount of parameters Optimization is coming. It is conceivable to provide secondary conditions that ensure that the values for the parameters remain within a permissible value range.
  • a system of non-linear Formulate minimization conditions that can be minimized with appropriate optimization methods, for example the Nelder-Mead-Downhill-Simplex method, also called Downhill-Simplex method or Nelder-Mead method for short.
  • the cost function is formed on the basis of a penalty term and a sum of squared differences between the measured respective reflections and respective reflections or reflection values simulated on the basis of the bidirectional reflectance distribution function.
  • G m set of measurement geometries used to determine the BRDF
  • F cc factor that reflects on an (optional) clear coat
  • N, V, I . normal, observation and lighting direction, which can be derived from the respective measurement geometry g
  • the Beckmann distribution describes the angle-dependent reflection of a microfacet surface.
  • a microfacet surface is a rough, reflective surface that can be described as a collection of small mirrors (microfacets) that are tilted according to a certain distribution to the surface normal.
  • the term Beckmann distribution is common in computer graphics literature (Beckmann microfacet distribution according to Beckmann, Petr, and Andre Spizzichino. "The Scattering of electromagnetic waves from rough surfaces". Norwood, MA, Artech Flouse, Inc., 1987, 51 1 p., 1987).
  • the spread of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer is determined on the basis of the adapted bidirectional reflectance distribution function by means of a
  • a commercially available beam tracking application can be used as the beam tracking application.
  • Ray tracing or ray tracing means an algorithm based on the emission of rays for determining the visibility of objects from a certain point in space.
  • Ray tracing is also an extension of this basic method, which calculates a further path of rays after hitting a surface.
  • ray tracing is to be understood in particular to mean such an extension, namely a calculation of a further path of the rays reflected by the surface coated with the lacquer after they have struck the surface starting from the LiDAR sensor.
  • the beam tracking application can be implemented by an application, or app for short.
  • ray tracing or ray tracing works with a data structure, namely a ray, which indicates a starting point and a direction of a half line in space. For each pixel, a direction of the beam is calculated which points from the LiDAR sensor or from the object to a corresponding pixel of an image plane.
  • a reflection value and above that a brightness coordinate are determined for the respective painted surface.
  • the brightness coordinates or brightness values thus determined for the respective measurement geometries are used when adapting the bidirectional reflectance distribution function in order to be related in the cost function to the modeled respective brightness values of the lacquer to be considered.
  • the simulation is carried out on the basis of an operating wavelength of the LiDAR sensor. Accordingly, the BRDF describes the reflectivity of the respective painted surface for this wavelength.
  • the surface lacquered with the lacquer is a surface which can have one or more lacquer layers lying one on top of the other, with a color-determining layer being the case with multi-layer layers Paints do not have to represent the top layer, the paint layer that essentially determines the intended, final color of the painted object or the painted surface.
  • the top layer can, for example, also be a clear lacquer layer.
  • reflection curves of the light emitted by the light source are determined at different observation or measurement angles.
  • the reflection curves can be determined with a number of different observation angles. For example, a determination of five observation angles of e.g. B. 15 °, 25 °, 45 °, 75 ° and 1 10 ° relative to the specular reflection is generally sufficient. Starting from these points, the reflection curves for other observation angles can be determined by extrapolation. If only the measurement angle, but not the illumination angle, is changed, the fixed illumination angle can be 45 ° with respect to the plane perpendicular to the surface, for example.
  • the illumination angle wherein a number of different illumination angles can be used. It is conceivable, for example.
  • the colorimetric data thus determined, i. H. the reflection curves are saved in the form of a data file with an assignment to the corresponding observation and illumination angles.
  • the position or orientation of the surface is also taken into account.
  • the use of a conventional personal computer is generally sufficient to carry out the method according to the invention.
  • computers with a higher computing capacity can be used advantageously.
  • the brightness image to be output can be used as a visually perceptible, realistic computer image with all conventional virtual Reality techniques are generated.
  • the brightness image can be carried out in a conventional manner, for example on a monitor or with the aid of a projector on a screen. It is clear to the person skilled in the art that brightness images which are generated using the method according to the invention can be printed out on paper or other materials in the form of a visually perceptible representation. While a brightness image that exists as a coded representation can be assessed visually, a brightness image that only exists as a file can be assessed using a computer.
  • the brightness images can be assessed, for example, with regard to desired, for example the smallest possible undetectable areas.
  • the method according to the invention can be used as a valuable tool in the selection of one or more lacquers or lacquer formulations assigned to them in order to ensure good or sufficient visibility of a respective object lacquered with the selected lacquer, in particular a vehicle or a vehicle body by a LiDAR -Sensor that can be installed on another vehicle, for example.
  • the LiDAR sensor is simulated as a unit comprising a point light source which emits light beams uniformly in all directions and a camera which detects the brightness of the reflected light beams.
  • the surface painted with the lacquer is simulated as a profile which is arranged in front of the camera at a variable distance with a variable orientation relative to the camera.
  • a vehicle contour can be selected for the profile, for example, in order to take into account in particular the case where the LiDAR sensor is used in road traffic for autonomous driving, the LiDAR sensor then being mounted on the vehicle, for example.
  • a real scene in road traffic can be simulated, in which a vehicle with a LiDAR sensor from another vehicle, which then approximates the object or the surface painted with the paint.
  • a computer graphic model is provided, which is applied to the vehicle contour or the profile using the previously calculated parameters of the bidirectional reflectance distribution function, in order to as well as possible reproduce the ones with the previously adapted bidirectional reflectance distribution function
  • the beam tracking simulation outputs a brightness image that shows a brightness of the light reflected by the profile in the direction of the LiDAR sensor, taking into account the adapted bidirectional reflectance distribution function.
  • the brightness image is used to determine how much light is reflected from different areas of the profile simulating the painted surface, in particular the vehicle contour. It can be determined relatively precisely which parts of the simulated vehicle contour are invisible, which are less and which are clearly visible to the LiDAR sensor.
  • a brightness threshold value is applied to the output or output brightness image, which is defined by a reflected brightness of a reference original with a diffuse reflection of 10%.
  • a reference template is usually used to indicate or specify a nominal range or nominal range of a LiDAR sensor.
  • the brightness image corrected or filtered in this way now shows areas of the profile or vehicle contour that are visible for a LiDAR sensor in its nominal area. It is also conceivable to output the brightness image to be output as a type of color image, in which the respective brightnesses or the associated reflection values are displayed using a color scale.
  • the visible areas are quantified as a percentage of a maximum visible area of the profile given the current position of the profile relative to the camera or to the LiDAR sensor simulated by the camera and the point light source.
  • the method is carried out for a plurality of lacquers or lacquer formulations on which the lacquers are based in each case, the respectively output brightness images for the different lacquers or lacquer formulations being compared with one another and that lacquer formulation or lacquer from the plurality of lacquer formulations or of paints is selected that is best visible to the LiDAR sensor.
  • the present invention further relates to a system for simulating the visibility of a lacquer applied to a surface for a LiDAR sensor.
  • the system according to the invention comprises at least one spectrophotometer, preferably a gonio-spectrophotometer, which is configured to measure a respective reflection of light with an operating wavelength of the LiDAR sensor from the surface coated with the varnish at a plurality of illumination and / or measurement angles .
  • the system according to the invention further comprises a computing unit which is configured to adapt a bidirectional reflectance distribution function for the lacquer as a function of the respective illumination and / or measurement angle to the respective measured reflections.
  • the system according to the invention comprises a simulation unit that is configured to a spread of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer on the basis of the adapted bidirectional reflectance distribution function by means of a
  • the LiDAR sensor as a unit comprising a point light source and a camera and the lacquered surface are simulated as a profile which is arranged at a variable distance with a variable orientation in front of the camera.
  • the point light source is designed to emit light evenly in all directions.
  • the simulation unit comprises a computer graphic model which is designed to be applied to the profile using the adapted bidirectional reflectance distribution function.
  • the system according to the invention comprises a display unit which is configured to output or display a brightness image on the basis of the simulated propagation of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer, the brightness image representing a brightness of that Shows profile of reflected light in the direction of the LiDAR sensor taking into account the adapted bidirectional reflectance distribution function.
  • the invention further relates to a device for simulating the visibility of a lacquer applied to a surface for a LiDAR sensor, which comprises at least:
  • the LiDAR sensor as a unit comprising a point light source and a camera and the one with the lacquered surface is simulated as a profile which is arranged or can be arranged at a variable distance with a variable orientation in front of the camera;
  • a bidirectional reflectance distribution function is adapted with the aid of respective measured reflections before simulation of the propagation of the light emitted by a LiDAR sensor and reflected by the surface coated with the lacquer.
  • the lacquer to be observed is applied to a surface, and the surface is illuminated with light of an operating wavelength of the LiDAR sensor and measured using a measuring instrument, usually a gonio-photospectrometer, at a plurality of illumination and / or measuring angles.
  • a respective reflection of the emitted light, preferably of laser pulses, from the surface coated with the lacquer is measured at the plurality of illumination and / or measurement angles.
  • the respective reflections or reflection values obtained in this way for the plurality of illumination and / or measurement angles are now used to adapt the bidirectional reflectance distribution function for the lacquer.
  • the bidirectional reflectance distribution function for the paint increases determining parameters are determined by optimizing a cost function, the cost function being formed, for example, from a sum of squared differences between the measured reflections or reflection values and the modeled reflections or reflection values and a penalty term.
  • a common optimization method can be used for the optimization, such as the Nelder-Meat-Downhill-Simplex method.
  • the now adapted bidirectional reflectance distribution function is now used to simulate the propagation of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer by means of a beam tracking application. This simulation is now based on the arrangement described above.
  • G m set of measurement geometries used to determine the BRDF
  • R t reflection value calculated for the current parameters using the BRDF m: reflection value measured with the goniospectrophotometer
  • N, Y, L normal, observation and illumination direction, which can be derived from the respective measurement geometry g
  • the system according to the invention or the device according to the invention is configured in an embodiment to carry out the method described above.
  • the present invention relates to a computer program product with a computer program with program code means, which are designed, when the computer program runs on a computing unit, at least the computer-aided steps of the method described above, i. H. especially the step of adapting, the step of simulating and the step of outputting.
  • FIG. 1 shows a structure of a possible virtual measuring arrangement as it is based on the simulation to be carried out in one embodiment of the method according to the invention.
  • FIG. 2 shows an example of a brightness image as it is output when a further embodiment of the method according to the invention is carried out.
  • FIG. 3 shows a flow diagram of an embodiment of the method according to the invention.
  • FIG. 1 shows a structure of a measuring arrangement 100 as it can be used in one embodiment of the method according to the invention to simulate the propagation of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer.
  • a point light source 101 is shown which emits light uniformly in all directions. Also shown is a camera 102 which is arranged on the same or at least in the vicinity of the point light source 101.
  • the point light source 101 emits light rays 104, usually laser pulses of a wavelength of 905 nm or 1,550 nm, in the direction of a profile 103, which is designed here as a vehicle contour and which is coated with the lacquer Simulated surface.
  • the light beams 105 or laser pulses impinging on the vehicle contour 103 are at least partially reflected by the vehicle contour 103 and sent back in the direction of the camera 102 as reflected light beams 105 or laser pulses.
  • the camera 102 detects the reflected light beams 105.
  • the distance between the vehicle contour 103 and the camera 102 can be varied in the simulation. The same applies to the orientation of the vehicle contour 103 relative to the camera 102. From the reflections or reflection values detected by the camera 102 in the simulation, a brightness image can ultimately be calculated and displayed on a display unit, not shown here, as shown, for example, in FIG Figure 2 is shown.
  • FIG. 2 shows a brightness image 201 in FIG. 2a, as can be displayed on a display unit as a result of the simulation process carried out.
  • the brightness of respective areas of the profile 202 is reproduced or represented by a respective pattern / hatching of the respective areas, wherein a pattern / hatching is in each case assigned to a scale value or scale area on a scale 203 of brightness values in the range from 0.0 to 1.0 (au stands for "arbitrary unit" - any unit to indicate a relative size).
  • the respective patterns / hatching can also be replaced by respective colors, the scale 203 then being selected as the corresponding color scale.
  • the colors can range, for example, from dark blue for a scale value 0.0 to green in the range from 0.5 to red with a scale value of 1.0.
  • FIG. 2b shows an image 204 of a visibility of the same profile 202 as in FIG. 2a. It can be seen in FIG. 2b that it is to be assessed on the basis of the brightness which parts of the profile 202 or the vehicle contour are clearly visible and which are virtually invisible and accordingly, when used in autonomous driving, there is a possible risk of collision of the vehicle comprising the LiDAR sensor raise another vehicle.
  • Such an image of visibility is derived from the brightness image and can additionally or alternatively to the brightness image on a display or output unit provided according to the invention.
  • FIG. 3 shows a schematic representation of a flow diagram of a sequence of a possible embodiment of the method according to the invention.
  • a lacquer with a specific lacquer formulation is first applied to a surface, preferably a sample surface in the form of a small flat surface.
  • the surface coated with the lacquer in this way is measured in a step 302, for example with the aid of a gonio spectrophotometer, with regard to its reflection properties.
  • This means that the surface is illuminated with light with an operating wavelength of a LiDAR sensor and the light reflected by the surface coated with the lacquer is recorded and evaluated by the gonio spectrophotometer.
  • the surface is measured at a plurality of lighting and / or measuring angles.
  • the lighting unit or a light beam emanating from the lighting unit, preferably a laser pulse, with the operating wavelength of the LiDAR sensor is directed in succession at a plurality of lighting angles onto the surface coated with the lacquer.
  • the respective reflected light beams or the reflected laser beam or pulse are recorded with the gonio spectrophotometer and its light quantity and / or intensity is determined.
  • the respective measured reflections are used to adapt a bidirectional reflectance distribution function for the lacquer with which the surface is lacquered, as a function of the respective illumination and / or measurement angle.
  • the parameters of the bidirectional reflectance distribution function for the lacquer are determined or at least estimated on the basis of the measured reflections or reflection values.
  • the respective measured reflections result in a large number of equations with as yet unknown parameters, which can be determined or at least estimated if there are a sufficient number of measured reflections.
  • a step 304 it is now possible in a step 304 to simulate a spread of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer by means of a beam tracking application.
  • the LiDAR sensor is simulated or modeled as a point light source that emits light of a certain wavelength, namely an operating wavelength of the LiDAR sensor, for example 905 nm or 1,550 nm, uniformly in all directions.
  • the modeled LiDAR sensor also includes a camera that is designed to receive light rays and to determine their light quantity and / or light intensity.
  • the surface coated with the paint is modeled as a profile which is arranged at a variable distance with a variable orientation in front of the camera.
  • the profile can be simulated with a respective simulation of a spread of the light emitted by the LiDAR sensor and reflected by the surface coated with the lacquer at a different distance and / or with a different orientation than in each case arranged in front of the camera.
  • a computer graphic model is applied to the profile using the adapted bidirectional reflectance distribution function.
  • a step 305 To output a brightness image or to display it on a display unit that has a brightness (luminance) of the shows the profile of reflected light in the direction of the LiDAR sensor, taking into account the adapted bidirectional reflectance distribution function.
  • the brightness image can be explicitly displayed as light on a display unit or respective values of the brightness can be specified for the lacquer and assigned to it.
  • the described method is carried out for a plurality of different lacquers and associated lacquer formulations, so that ultimately a comparison between the lacquers can be carried out on the basis of the respective brightness images and the lacquer or the lacquer formulation associated therewith is selected, its or their Brightness image suggests that the paint is best visible to a LiDAR sensor and therefore an object painted with the paint is best detectable to a LiDAR sensor.

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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé pour la simulation d'une visibilité d'un vernis appliqué sur une surface pour un capteur LIDAR, qui comprend au moins les étapes suivantes : - application du vernis sur la surface (301) ; - mesure d'une réflexion respective de lumière ayant une longueur d'onde de fonctionnement du capteur LIDAR de la surface laquée avec le vernis pour une pluralité d'angles d'éclairage et/ou de mesure (302) ; - adaptation d'une fonction de distribution de réflexion bidirectionnelle pour le vernis aux réflexions mesurées respectives en fonction de l'angle d'éclairage et/ou de mesure (303) ; - simulation d'une propagation de la lumière émise par le capteur LIDAR et réfléchie par la surface laquée avec le vernis sur la base de la fonction de distribution de réflexion bidirectionnelle adaptée au moyen d'une application de suivi de faisceau (304), le capteur LIDAR étant simulé comme une source de lumière ponctuelle et une unité comprenant une caméra et la surface laquée avec le vernis comme un profil, qui est disposé à une distance variable avec une orientation variable devant la caméra ; - sortie d'une image de luminosité qui montre une luminosité de la lumière réfléchie par le profil dans la direction du capteur LIDAR en tenant compte de la fonction de distribution de réflexion bidirectionnelle adaptée (305).
EP19816542.5A 2018-11-15 2019-11-15 Procédé et dispositif pour la simulation d'une visibilité d'un vernis appliqué sur un surface pour un capteur lidar Withdrawn EP3857208A1 (fr)

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EP18206542 2018-11-15
PCT/EP2019/081501 WO2020099643A1 (fr) 2018-11-15 2019-11-15 Procédé et dispositif pour la simulation d'une visibilité d'un vernis appliqué sur un surface pour un capteur lidar

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US (1) US20220003675A1 (fr)
EP (1) EP3857208A1 (fr)
JP (1) JP7098839B2 (fr)
KR (1) KR102533401B1 (fr)
CN (1) CN113056666A (fr)
CA (1) CA3118962A1 (fr)
MX (1) MX2021005732A (fr)
WO (1) WO2020099643A1 (fr)

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CN113029977B (zh) * 2021-03-11 2022-03-15 武汉大学 一种针对宽视场角多光谱传感器的自动交叉辐射定标方法
US20230080540A1 (en) * 2021-09-16 2023-03-16 Aurora Operations, Inc. Lidar simulation system

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JP3456095B2 (ja) * 1996-07-12 2003-10-14 三菱自動車工業株式会社 グロメット構造およびその構造を用いた車載機器の取付方法
JPH10247256A (ja) * 1997-03-04 1998-09-14 Integra:Kk 光学的に複雑な特性を有する物体の美感設計をコンピュータ上で対話的に行う方法
US6618050B1 (en) * 2000-11-27 2003-09-09 E. I. Du Pont De Nemours And Company Process for generating a computer image of a three-dimensional object provided with a special-effect coating
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EP3395875B2 (fr) 2017-04-24 2023-01-25 Covestro Deutschland AG Matériau matriciel transparent au rayon laser pour applications de détection

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KR20210088692A (ko) 2021-07-14
WO2020099643A1 (fr) 2020-05-22
US20220003675A1 (en) 2022-01-06
CA3118962A1 (fr) 2020-05-22
MX2021005732A (es) 2021-07-21
JP2022513065A (ja) 2022-02-07
CN113056666A (zh) 2021-06-29
JP7098839B2 (ja) 2022-07-11

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