WO2023206946A1 - 激光雷达的检测方法及其检测系统、激光雷达 - Google Patents

激光雷达的检测方法及其检测系统、激光雷达 Download PDF

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Publication number
WO2023206946A1
WO2023206946A1 PCT/CN2022/120779 CN2022120779W WO2023206946A1 WO 2023206946 A1 WO2023206946 A1 WO 2023206946A1 CN 2022120779 W CN2022120779 W CN 2022120779W WO 2023206946 A1 WO2023206946 A1 WO 2023206946A1
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WIPO (PCT)
Prior art keywords
reflectivity
channel
measured
lidar
target plate
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PCT/CN2022/120779
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English (en)
French (fr)
Inventor
陈劲松
王海波
匡宋杨
王卫松
向少卿
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上海禾赛科技有限公司
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Publication of WO2023206946A1 publication Critical patent/WO2023206946A1/zh

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    • 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
    • G01N21/47—Scattering, i.e. diffuse reflection
    • 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
    • G01N21/47—Scattering, i.e. diffuse reflection
    • G01N21/4738—Diffuse reflection, e.g. also for testing fluids, fibrous materials
    • 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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present invention relates to the field of laser detection technology, and in particular to a detection method and detection system of laser radar, and laser radar.
  • Lidar is a commonly used ranging sensor with the characteristics of long detection range, high resolution, and low environmental interference. It is widely used in fields such as intelligent robots, drones, and unmanned driving. In recent years, autonomous driving technology has developed rapidly, and lidar, as the core sensor for distance sensing, has become indispensable.
  • Lidar emits optical signals through lasers, receives the echo signals reflected by the target object through the detector and converts them into electrical signals. It calculates the time of flight (ToF) of the signal based on the optical signal emission time and the echo signal reception time. Combined with The speed of light determines the distance to the target.
  • ToF time of flight
  • any object in nature will absorb and reflect the incident light after being illuminated by light.
  • the intensity of reflected light formed by different object surfaces is also different.
  • the intensity of reflected light is related to the reflectivity of the object surface, which is the ratio of the radiant energy of the reflected light formed on the object surface to the total radiant energy incident on the object surface. If the energy incident on the surface of an object is completely absorbed without any return, the reflectance of the surface of the object is 0%; if the energy incident on the surface of the object is completely reflected without any absorption, the reflectance of the surface of the object is 100 %; the greater the reflectivity, the stronger the reflective ability of the object surface.
  • lidar can also obtain the reflectivity of the target surface.
  • Lidar can characterize the intensity of the echo signal based on the signal characteristics of the electrical signal converted by the echo signal, and obtain the reflectivity based on the intensity of the echo signal and the equivalent emitted light intensity attenuated by distance.
  • the maximum distance that lidar can detect is affected by the reflectivity of the target surface.
  • LiDAR products from different manufacturers usually indicate their ranging capabilities under a certain reflectivity, such as 200m@10%. This parameter means that within 0 to 200m, the energy reflected by an object with a reflectivity greater than 10% is enough to generate an echo. For an object with a reflectivity of less than or equal to 10%, when the distance is greater than 200m, the reflected energy is reflected in the atmosphere. Due to attenuation during transmission and other reasons, the echo energy is low, and the probability of lidar detecting the echo is very small. Therefore, the longest detection distance corresponding to lidar is 200m.
  • Reflectivity performance parameters are important indicators that reflect the detection capabilities of lidar.
  • the present invention provides a lidar detection method, its detection system, and lidar to improve the accuracy of the evaluation of lidar reflectivity performance parameters.
  • the invention provides a lidar detection method, which includes:
  • the detector of the channel to be measured receives multiple echo signals reflected by the target plate to obtain multiple reflectivity measurement values of the channel to be measured to the target plate given by the laser radar , wherein the channel to be measured is the detection channel of the laser radar; according to the result of the reflection receiving operation, the reflectivity parameter of the channel to be measured is obtained, wherein the reflectivity parameter of the channel to be measured includes: At least one of the reflectivity accuracy of the channel to be measured and the reflectivity accuracy of the channel to be measured.
  • the reflection receiving operation includes: making the channel to be measured scan the target plate at least once; and obtaining the reflectivity measurement of at least one reflection point each time the channel to be measured sweeps the target plate. value.
  • the target plate has a preset reflectivity standard value; the step of obtaining the reflectivity parameters of the channel to be measured includes: obtaining the reflectivity standard value and the multiple reflectivity measurement values. The reflectivity accuracy of the channel to be measured is obtained; according to the multiple reflectivity measurement values, the reflectivity accuracy of the channel to be measured is obtained.
  • the reflection receiving operation further includes: determining the channel to be measured.
  • the reflection reception operation is performed for one channel to be measured at a time.
  • the step of determining the channel to be measured includes: adjusting the relative posture of the laser radar and the target plate so that the laser beam emitted by the channel to be measured is incident on the target plate at a preset angle. .
  • the reflection reception operation further includes: adjusting the measurement distance between the target plate and the lidar; in the step of performing the reflection reception operation, perform the reflection reception operation under the measurement distance to obtain the desired A plurality of reflectivity measurement values at the measurement distance; in the step of obtaining the reflectance parameter of the channel to be measured, the reflectance parameter of the channel to be measured is obtained at the measurement distance.
  • the reflection receiving operation further includes: adjusting the reflectivity standard value of the target plate; in the step of performing the reflection receiving operation, obtaining multiple target plates with respect to the reflectivity standard value under the measurement distance. a reflectivity measurement value; in the step of obtaining the reflectivity parameter of the channel to be measured, obtain the reflectivity parameter of the channel to be measured for the target plate with the reflectivity standard value at the measurement distance.
  • the reflectivity standard value of the target plate before determining the measurement distance between the target plate and the lidar, adjust the reflectivity standard value of the target plate.
  • the step of adjusting the reflectivity standard value of the target plate includes: replacing the target plate.
  • Different target plates have different reflectivity standard values.
  • it also includes: after the step of obtaining the reflectivity parameters of the channel to be measured, obtain the reflectivity parameters of the lidar, and the reflectivity parameters of the lidar include: at least one measurement distance, for at least one The reflectivity standard value of the target plate, the reflectivity parameters of each detection channel of the lidar.
  • the present invention also provides a laser radar detection system, including:
  • the detection device is suitable for implementing the detection method of the present invention to obtain the reflectivity parameters of the channel to be measured in the laser radar.
  • the present invention also provides a laser radar detection system, including:
  • Reflection reception operation module the reflection reception operation module is suitable for performing reflection reception operation, so that the detector of the channel to be measured receives multiple echo signals reflected by the target board, so as to obtain the response of the channel to be measured to the target board.
  • a plurality of reflectivity measurement values wherein the channel to be measured is a detection channel of the laser radar; an evaluation module, the evaluation module is adapted to obtain the reflectivity parameter of the channel to be measured according to the result of the reflection receiving operation , wherein the reflectivity parameter of the channel to be measured includes: at least one of the reflectivity accuracy of the channel to be measured and the reflectivity accuracy of the channel to be measured.
  • the reflection reception operation module includes: a mechanical unit, the mechanical unit is suitable for fixing and adjusting the lidar and the target board; a control unit, the control unit is suitable for controlling the lidar to perform all operations.
  • the reflection receiving operation; the reading unit, the reading unit is suitable for reading point cloud data; the control unit causes the channel to be tested to scan the target plate at least once; the channel to be tested scans each time Through the target plate, the reading unit obtains the reflectivity measurement value of at least one reflection point.
  • control unit is also suitable for determining the channel to be tested.
  • control unit determines one channel to be measured for each reflection reception operation.
  • control unit adjusts the relative posture of the laser radar and the target plate through the mechanical unit so that the laser beam emitted by the channel to be measured is incident at a preset angle. to the target board.
  • At least one of the laser radar and the target plate is movably fixed on the mechanical unit; the mechanical unit further includes: a measuring element, the measuring element is suitable for obtaining the target plate and the target plate. The measured distance between lidars.
  • target boards there are multiple target boards, and different target boards have different reflectivity standard values.
  • the evaluation module includes: an integration unit, the integration unit is suitable for obtaining the reflectivity parameters of the lidar, the reflectivity parameters of the lidar include: at least one measurement distance, for at least one reflectivity Standard values of the target plate, reflectivity parameters of at least one detection channel of the lidar.
  • the present invention also provides a lidar, the reflectivity accuracy range of the lidar is -40% to 40%, wherein the reflectivity accuracy of the lidar is obtained by the detection method of the invention.
  • the present invention also provides a lidar.
  • the reflectivity accuracy of the lidar ranges from 0 to 40%, wherein the reflectivity accuracy of the lidar is obtained by the detection method of the invention.
  • a target plate with preset reflectivity is used, and under the condition that the lidar and the target plate are separated by a preset distance, multiple reflectivity measurement values can be obtained by using lidar.
  • the reflectivity accuracy and precision of the lidar's detection of objects within its field of view are statistically calculated, thereby obtaining the consistency of the reflectivity measurement of each channel of the lidar and the reflectivity measurement accuracy of the entire lidar machine, which is suitable for any type of LiDAR, such as mechanical LiDAR, solid-state LiDAR, etc., to improve the accuracy of LiDAR reflectivity performance evaluation.
  • Figure 1 is a schematic flow chart of an embodiment of the lidar detection method of the present invention
  • FIG 2 is a schematic structural diagram of the detection system used in the reflection receiving operation step in the embodiment of the lidar detection method shown in Figure 1;
  • Figure 3 is a schematic diagram of the Lambertian reflection principle
  • Figure 4 is a schematic diagram of the optical path during the reflection receiving operation step in the embodiment of the lidar detection method shown in Figure 1;
  • Figure 5 is a schematic diagram of the partial distribution of the laser beam emitted by the lidar detection channel in the vertical field of view in an embodiment of the present invention
  • Figure 6 is a schematic diagram of the reflection point distribution formed on the target plate by the laser beam emitted by the laser radar channel to be measured in an embodiment of the present invention.
  • the present invention provides a detection method of laser radar, including:
  • the detector of the channel to be measured receives multiple echo signals reflected by the target plate to obtain multiple reflectivity measurement values of the channel to be measured to the target plate given by the laser radar , wherein the channel to be measured is the detection channel of the laser radar; according to the result of the reflection receiving operation, the reflectivity parameter of the channel to be measured is obtained, wherein the reflectivity parameter of the channel to be measured includes: At least one of the reflectivity accuracy of the channel to be measured and the reflectivity accuracy of the channel to be measured.
  • the detection method can obtain the consistency of the reflectivity measurement of each channel of the lidar and the reflectivity measurement accuracy of the entire lidar machine. It has a wide range of applications and is suitable for any type of lidar, such as mechanical lidar. , solid-state lidar, etc., so that the reflectivity performance of commercially available lidar can be visually compared and effectively evaluated to improve the accuracy of the reflectivity performance evaluation of lidar.
  • FIG. 1 a schematic flow chart of an embodiment of the lidar detection method of the present invention is shown.
  • the detection method includes: performing step S110 to perform a reflection receiving operation, so that the detector of the channel to be measured receives multiple echo signals reflected by the target plate 102 (as shown in Figure 2), so as to obtain the laser radar given by the laser radar.
  • the detection method further includes: executing step S101 to build a detection system.
  • the detection system is used to perform reflection receiving operation.
  • FIG. 2 a schematic structural diagram of the detection system used in the reflection receiving operation step in the detection method embodiment of the lidar 101 shown in FIG. 1 is shown.
  • the detection system includes: a mechanical unit (not labeled in the figure), the mechanical unit is suitable for fixing and adjusting the lidar 101 and the target board 102; the lidar 101 and the target board 102; At least one of the target boards 102 is movably fixed on the mechanical unit.
  • the mechanical unit includes a turntable 111 , and the lidar 101 is fixed on the table of the turntable 111 .
  • the turntable 111 is a two-dimensional turntable, that is, the turntable 111 has two rotating axes, one of which is perpendicular to the table of the turntable 111 and the other of which is parallel to the table of the turntable 111 .
  • the turntable 111 is used to carry the lidar and adjust the attitude of the lidar; for solid-state lidar, the turntable 111 can also drive the lidar to rotate .
  • the height of the turntable 111 can be adjusted according to the size of the target plate 102 so that the ranging center of the lidar 101 and the center of the target plate 102 are at the same height.
  • the lidar 101 has a vertical field of view (vertical FOV) and a horizontal field of view (horizontal FOV).
  • the lidar 101 is fixed on the table of the turntable 111. Based on the vertical field of view and the horizontal field of view of the lidar, the height of the turntable, the size of the target board, and the lidar and the target plate are adjusted. The distance between the target plates enables detection of the reflectivity of each azimuth angle of the lidar 101 .
  • the target plate 102 is a Lambertian body, that is, as shown in Figure 3, when the incident energy is uniformly reflected in all directions, that is, the incident energy is centered on the incident point and isotropically reflected energy around the entire hemispheric space.
  • the phenomenon is called diffuse reflection, also called isotropic reflection.
  • a complete diffuser is called a Lambertian body.
  • An ideal diffusing surface should follow Lambert's law, that is, no matter where the incident light comes from, the luminous intensity of diffused light in each direction is always proportional to cos ⁇ ( ⁇ is the angle between the reflection direction of diffused light and the normal line of the reflecting surface). Proportional.
  • the target plate 102 has a height of 0.5 m to 3 m and a width of 0.5 m to 3 m.
  • the target plate 102 is a Lambertian body with a calibrated reflectivity standard value.
  • the target plate 102 has preset reflectivity standard values, such as 10%, 50%, and 90%.
  • the size of the target board 102 is such that the target board 102 can cover the field of view of the lidar 101 at a preset distance.
  • the preset distance can be set very small, such as 0.3m. , 0.5m, 1m, etc.
  • the target board 102 is fixed within the field of view of the lidar 101.
  • the target board 102 is placed vertically.
  • the ranging center of the lidar and the geometric center of the target board are
  • the connection lines are perpendicular to the surface of the target board.
  • the number of target plates 102 is multiple, and different target plates 102 have different reflectivity standard values.
  • the lidar can realize the detection of reflectance performance parameters of targets with different reflectivities.
  • the mechanical unit further includes: a measuring element (not shown in the figure), the measuring element is suitable for obtaining the measurement distance d between the target plate 102 and the lidar 101 .
  • the measuring element is suitable for obtaining the measurement distance d between the target plate 102 and the lidar 101 .
  • the measurement distance d between the lidar 101 and the target board 102 may be 0.5m, 1m, 3m, or 5m.
  • the detection system also includes: an external light source 103.
  • the external light source 103 complies with the CIE standard. Two external light sources can be used, symmetrically arranged on the top and bottom of the target board 102. At the bottom, the external light source 103 is suitable for illuminating the target plate 102, thereby setting the luminous flux received by the target plate 102 per unit area, and thereby controlling the illumination of the target plate 102, thereby simulating the use process of the laser radar 101. Ambient light in .
  • the setting of the external light source 103 can realize the simulation of a preset light intensity environment (for example, the light intensity can be 10 to 150 lux).
  • the detection system further includes: a reading unit 120.
  • the reading unit 120 is suitable for reading and displaying the point cloud data obtained by the lidar 101.
  • a reading unit is communicatively connected to the lidar.
  • the reading unit includes a storage medium and a processor.
  • the storage medium stores at least one instruction set for reading point cloud data of the lidar when the lidar is working.
  • the processor communicates with the reading unit for acquiring and displaying the point cloud data of the lidar 101.
  • the reflectivity measurement values of each effective reflection point can be selected and recorded based on the actual detected point cloud data.
  • the reading unit 120 may be a point cloud visualization device.
  • the point cloud data of the lidar includes: the position coordinates of each reflection point and the reflectivity measurement value of each reflection point.
  • the reading unit 120 can extract the reflectivity measurement values of all reflection points in the point cloud data, and then obtain the reflectance measurement values of each effective reflection point.
  • step S101 is executed.
  • step S110 is executed to perform a reflection receiving operation.
  • the reflection receiving operation is used to obtain the reflectivity measurement value of the channel to be measured given by the lidar.
  • the reflection receiving operation includes: making the channel to be measured scan the target plate 102 at least once; and obtaining at least one reflection each time the channel to be measured scans the target plate 102 The reflectivity measurement of the point.
  • the lidar 101 includes multiple lasers and multiple detectors, at least one laser and at least one detector constitute a detection channel, and multiple lasers and multiple detectors constitute multiple detection channels.
  • the reflection reception operation is performed for one of the channels to be measured at a time.
  • the lidar 101 is a multi-line lidar 101, that is, the lidar 101 has multiple detection channels, so the reflection receiving operation also includes: determining the channel to be measured, that is, from multiple detection channels. Select at least one channel among the detection channels as the channel to be measured.
  • the number of channels to be measured is one during each reflection reception operation. In other embodiments of the present invention, during each reflection reception operation, the number of channels to be measured may also be multiple.
  • the step of determining the channel to be measured includes: adjusting the relative posture of the laser radar 101 and the target plate 102 so that the laser beam emitted by the channel to be measured is incident in the horizontal direction. to the target board 102 placed vertically.
  • the pitch angle of the lidar 101 can be adjusted based on the internal parameters of the lidar 101 so that the laser beam emitted from the channel to be measured is incident on the target at a preset angle. Plate 102.
  • the internal parameters of the lidar 101 include: the vertical direction angle of each laser in the lidar 101 .
  • the relative posture of the lidar 101 and the target plate 102 can be adjusted through the turntable 111, so that the laser beam emitted from the channel to be measured is incident on the vertically placed laser beam in the horizontal direction.
  • the target board 102 The target board 102.
  • each detection channel is responsible for detection in a vertical angle direction.
  • 40 channels/bundles are shown, with a vertical field of view (FOV) ranging from -16° to 7°, which is composed of the vertical detection angles of all lasers.
  • FOV vertical field of view
  • the vertical direction angle of the uppermost laser is 7°, which is responsible for the distance detection in the 7° azimuth
  • the vertical direction angle of the lowermost laser is -16°, which is responsible for the distance detection in the -16° azimuth.
  • the optical signal emitted by the transmitting unit in the same detection channel can be received by the detection unit of the detection channel after encountering obstacles, being reflected and returning to the lidar.
  • the sub-fields of all detection channels together constitute the scanning interval of the entire lidar vertical field of view.
  • the vertical direction angle of each laser can be obtained. If it is determined that the channel to be measured is the detection channel corresponding to the uppermost laser, the lidar can be adjusted downward by 7° in the vertical direction so that the uppermost laser beam of the lidar can be incident on the target plate in the horizontal direction. .
  • the relative posture of the lidar and the target board can be continuously adjusted so that the laser beams emitted by each channel of the lidar are incident on the target board at a preset angle in sequence.
  • the pitch angle of the laser radar 101 and the direction of the laser radar 101 are adjusted so that the laser beam emitted from the channel to be measured is incident on the vertically placed target plate in the horizontal direction. 102.
  • the lidar 101 is started to scan.
  • FIG. 6 there is shown a schematic diagram of the reflection point distribution formed by the laser beam emitted from the channel to be measured on the target plate after the lidar starts scanning in an embodiment of the present invention.
  • the reflection receiving operation includes: making the channel to be measured scan the target plate 102 at least once; and obtaining at least one reflection each time the channel to be measured scans the target plate 102 The reflectivity measurement of the point.
  • the number of effective reflection points is greater than or equal to 200.
  • the number of effective points in a single frame of the laser radar 101 can be several, dozens, or hundreds; therefore, during the reflection receiving operation, the channel to be measured can be made to scan the target plate 102 at least multiple times. , thereby obtaining the reflectivity measurement values of more than or equal to 200 effective reflection points.
  • the reading unit 120 that is, the point cloud visualization device, reads and records the reflectivity measurement values of the multiple effective reflection points.
  • step S120 is performed to obtain the reflectivity parameter of the channel to be measured according to the result of the reflection reception operation.
  • the target plate 102 has a preset reflectivity standard value, so the step of obtaining the reflectivity parameter of the channel to be measured includes: according to the reflectivity standard value and the multiple reflectivities Measure the values to obtain the reflectivity accuracy of the channel to be measured; obtain the reflectivity accuracy of the channel to be measured based on the multiple reflectivity measurement values.
  • the reflectivity accuracy can reflect the difference between the reflectivity measurement value obtained by the lidar 101 and the reflectivity standard value. The higher the reflectivity accuracy, the higher the degree of consistency between the measurement results of the lidar 101 reflectivity and the real data.
  • the step of obtaining the reflectivity accuracy of the channel to be measured includes: obtaining an average measurement value based on the average of the multiple reflectivity measurement values; and obtaining an average measurement value based on the average measurement value and the reflectivity standard value. The difference between , the reflectivity accuracy of the channel to be measured is obtained:
  • the step of obtaining the reflectivity accuracy of the channel to be measured may further include: obtaining an average measurement value based on the average of the multiple reflectivity measurement values; and obtaining an average measurement value based on the average measurement value and the reflectivity standard.
  • the reflectivity accuracy of the channel to be measured is obtained by the ratio of the values.
  • the reflectivity accuracy may reflect the degree of consistency between multiple reflectivity measurement values obtained by performing the reflection receiving operation on the target plate 102 at the same distance. The higher the reflectivity accuracy, the smaller the random error in the reflectivity measurement of the lidar 101.
  • the step of obtaining the reflectivity accuracy of the channel to be measured includes: obtaining the reflectivity accuracy of the channel to be measured based on the standard deviation of the multiple reflectivity measurement values:
  • Ri represents the i-th reflectivity measurement value
  • N represents the number of reflectivity measurement values
  • the lidar 101 is a multi-line lidar, that is, the lidar 101 includes multiple detection channels. Therefore, after obtaining the reflectivity parameter of one of the channels to be measured, it is necessary to determine the channel to be measured again, select another channel from the plurality of detection channels as the channel to be measured, and repeat step S110 to perform the reflection reception. Step S120 is operated and executed to obtain the redetermined reflectivity parameters of the channel to be measured until the respective reflectivity parameters of all detection channels are obtained.
  • the relative posture of the lidar 101 is adjusted so that each determined channel to be measured is incident on the target plate 102 in the horizontal direction, and the reflectivity measurement values of multiple effective reflection points are obtained each time, and then each channel is calculated.
  • the reflectivity parameter of each detection channel Based on the reflectivity parameters of each detection channel, the standard deviation of the reflectivity parameters of each detection channel can be calculated to obtain the reflectivity accuracy of the lidar, which is used to evaluate the reflectivity measurement consistency of each detection channel of the lidar; based on each For the reflectivity accuracy of the detection channel, the average reflectivity accuracy of each detection channel can be calculated to obtain the reflectivity accuracy of the lidar, which is used to evaluate the reflectivity measurement accuracy of the entire lidar machine.
  • the reflection reception operation further includes: performing step S130, adjusting the measurement distance d between the target plate 102 and the lidar 101; performing a reflection reception operation
  • a reflection receiving operation is performed to obtain multiple reflectivity measurement values at the measurement distance d.
  • the reflectivity parameter of the channel to be measured At distance d, the reflectivity parameter of the channel to be measured.
  • the measurement distance d between the target plate 102 and the lidar 101 is adjusted.
  • the measurement element is used to adjust the measurement distance d, and the adjustment is obtained again The reflectivity parameter of each detection channel at the final measurement distance d.
  • the reflectivity parameters of each detection channel under the adjusted measurement distance d are obtained.
  • the selection of the effective reflection point is related to the measurement distance d.
  • the selected effective reflection point is located in the central area of the target plate 102 .
  • the reflection receiving operation further includes: before adjusting the measurement distance d between the target plate 102 and the lidar 101, determining whether the target plate 102 is located in the near-field measurement range or in the near-field measurement range.
  • Far-field measurement range When the target plate 102 is located in the near-field measurement range, the distance between any of the effective reflection points and the edge of the target plate 102 is greater than 10 cm.
  • the step of determining whether the target board 102 is located in the near-field measurement range or the far-field measurement range based on the measurement distance d or the central angle of the target board 102 relative to the ranging center of the lidar 101, It is determined whether the target board 102 is located in the near-field measurement range or the far-field measurement range.
  • the reflection receiving operation further includes: performing step S140 to adjust the standard reflectivity value of the target plate 102; in the step of performing the reflection receiving operation, obtaining the measurement distance d , multiple reflectivity measurement values of the target plate 102 for the reflectivity standard value; in the step of obtaining the reflectivity parameter of the channel to be measured, obtain the measurement distance d, for the reflectivity standard value
  • the target plate 102 is the reflectivity parameter of the channel to be measured.
  • the reflectivity standard value of the target plate 102 is adjusted.
  • the target board 102 has a preset reflectivity standard value. Therefore, in some embodiments of the present invention, the step of adjusting the reflectivity standard value of the target board 102 includes: replacing the target board 102, and different target boards 102 have different Reflectivity standard value. Specifically, after replacing the target board 102, repeat steps S110 and S120 for each detection channel of the lidar 101 under different measurement distances d.
  • step S150 is performed to obtain the reflectivity parameter of the lidar 101.
  • the reflectivity parameter of the lidar 101 It includes: the reflectivity parameters of each detection channel of the laser radar 101 for the target plate 102 with at least one reflectivity standard value under at least one measurement distance d.
  • the reflectivity parameters of all channels to be measured in the laser radar 101 are summarized for the target board 102 with all reflectivity standard values.
  • the standard deviation of the reflectivity parameters of each detection channel can be calculated to obtain the reflectivity accuracy of the lidar.
  • the average value of the reflectivity accuracy of each detection channel can be calculated to obtain the reflectivity accuracy of the lidar , used to evaluate the reflectivity measurement accuracy of the entire lidar machine.
  • the present invention also provides a laser radar detection system.
  • the detection system includes a detection device, and the detection device is suitable for implementing the detection method of the present invention to obtain the reflectivity parameters of the channel to be measured in the laser radar.
  • the detection device implements the detection method of the present invention. Therefore, the specific technical solutions of the detection device refer to the embodiments of the aforementioned detection method, and the present invention will not be described in detail here.
  • the present invention also provides a detection system for laser radar 101.
  • FIG. 2 a schematic structural diagram of an embodiment of the detection system of the laser radar 101 of the present invention is shown.
  • the detection system of the laser radar 101 includes: a reflection receiving operation module, which is suitable for performing a reflection receiving operation, so that the detector of the channel to be measured receives multiple echo signals reflected by the target plate 102 to obtain Multiple reflectivity measurement values of the channel to be measured on the target plate 102 given by the laser radar, where the channel to be measured is the detection channel of the laser radar 101; evaluation module 130, the evaluation module 130 is suitable for obtaining the reflectivity parameter of the channel to be measured according to the result of the reflection receiving operation, wherein the reflectivity parameter of the channel to be measured includes: the reflectivity accuracy of the channel to be measured and the reflectivity of the channel to be measured. At least one of the channel's reflectivity accuracy.
  • the reflection reception operation module is adapted to perform reflection reception operations to obtain reflectivity measurements.
  • the reflection reception operation module includes: a mechanical unit (not labeled in the figure), which is suitable for fixing and adjusting the laser radar 101 and the target board 102; a control unit 110.
  • the control unit 110 is suitable for controlling the lidar 101 to perform the reflection receiving operation;
  • the reading unit 120 is suitable for reading point cloud data.
  • the mechanical unit includes a turntable 111, and the lidar 101 is fixed on the table of the turntable 111.
  • the turntable height can be adjusted according to the size of the target board.
  • the turntable 111 is a two-dimensional turntable, that is, the turntable 111 has two rotating axes, one of which is perpendicular to the table of the turntable 111 and the other of which is parallel to the table of the turntable 111 .
  • the turntable 111 is used to carry the lidar and adjust the attitude of the lidar; for solid-state lidar, the turntable 111 can also drive the lidar to rotate .
  • the height of the turntable 111 can be adjusted according to the size of the target plate 102 so that the ranging center of the lidar 101 and the center of the target plate 102 are at the same height.
  • the lidar 101 has a vertical field of view (vertical FOV) and a horizontal field of view (horizontal FOV).
  • the lidar 101 is fixed on the table of the turntable 111. Based on the vertical field of view and the horizontal field of view of the lidar, the height of the turntable, the size of the target board, and the lidar and the target plate are adjusted. The distance between the target plates enables detection of the reflectivity of each azimuth angle of the lidar 101 .
  • the height of the target plate 102 is 0.5-3m, and the width is 0.5-3m.
  • the target plate 102 is a Lambertian body with a calibrated reflectivity standard value.
  • the target plate 102 has preset reflectivity standard values, such as 10%, 50%, and 90%.
  • the size of the target board 102 is such that the target board can cover the field of view of the lidar 101 as much as possible at a preset distance.
  • the preset distance can be set very small, such as 0.3 m, 0.5m, 1m, etc.
  • the target board 102 is fixed within the field of view of the lidar 101.
  • the target board 102 is placed vertically.
  • the ranging center of the lidar and the geometric center of the target board are The connection lines are perpendicular to the surface of the target board.
  • the number of target plates 102 is multiple, and different target plates 102 have different reflectivity standard values.
  • the lidar can realize the detection of reflectance performance parameters of targets with different reflectivities.
  • the mechanical unit further includes: a measuring element, the measuring element is suitable for The measured distance d between the target plate 102 and the lidar 101 is obtained.
  • the measurement distance d the reflectivity performance parameters of the lidar at different measurement distances d are obtained.
  • the measurement distance d between the lidar 101 and the target board 102 is 0.5m, 1m, 3m, or 5m.
  • the detection system also includes: an external light source 103.
  • the external light source 103 complies with the CIE standard. Two external light sources can be used, symmetrically arranged on the top and bottom of the target plate 102. At the bottom, the external light source 103 is suitable for illuminating the target plate 102, thereby setting the luminous flux received by the target plate 102 per unit area, and thereby controlling the illumination of the target plate 102, thereby simulating the use process of the laser radar 101. Ambient light in .
  • the setting of the external light source 103 can realize the simulation of a preset light intensity environment (for example, the light intensity can be 100 lux).
  • the detection system further includes: a reading unit 120.
  • the reading unit 120 is suitable for reading and displaying the point cloud data obtained by the lidar 101.
  • the reading unit and the LiDAR communication connection the reading unit includes a storage medium and a processor, the storage medium stores at least one instruction set, used to read the point cloud data of the LiDAR when the LiDAR is working, the processor and the reading Unit communication is used to obtain and display the point cloud data of the lidar 101.
  • the reflectivity measurement values of each effective reflection point can be selected and recorded based on the actual detected point cloud data.
  • the reading unit 120 may be a point cloud visualization device.
  • the point cloud data of the lidar includes: the position coordinates of each reflection point and the reflectivity measurement value of each reflection point.
  • the reading unit 120 can extract the reflectivity measurement values of all reflection points in the point cloud data, and then obtain the reflectance measurement values of each effective reflection point.
  • control unit 110 causes the channel to be tested to scan the target board 102 at least once; each time the channel to be tested scans the target board 102, the reading unit 120 obtains Reflectance measurement of at least 1 reflection point.
  • the lidar 101 is a multi-line lidar 101, that is, the lidar 101 has multiple detection channels. Therefore, the control unit 110 is also suitable for determining the channel to be measured, that is, from Select at least one channel from multiple detection channels as the channel to be measured. Specifically, for each reflection reception operation, the control unit 110 determines one channel to be measured.
  • the number of channels to be measured is one. In other embodiments of the present invention, during each reflection reception operation, the number of channels to be measured may also be multiple.
  • control unit 110 adjusts the relative posture of the lidar 101 through the mechanical unit based on the internal parameters of the lidar 101, so that the laser beam emitted by the channel to be measured is along the horizontal direction. direction incident on the target plate 102 .
  • the control unit 110 obtains the internal parameters of the laser radar 101 from the laser radar 101.
  • the internal parameters of the laser radar 101 include: the vertical direction angle of each laser in the laser radar 101; according to According to the internal parameters of the lidar 101, the control unit 110 adjusts the relative posture of the lidar 101 through the turntable 111, so that the laser beam emitted by the channel to be measured is incident on the target in the horizontal direction. Plate 102.
  • control unit 110 adjusts the pitch angle of the lidar 101 and the direction of the lidar 101 through the turntable 111 so that the channel to be measured is incident on the target plate 102 in the horizontal direction. After determining the channel to be measured and adjusting the relative posture of the lidar 101, the control unit 110 starts the lidar 101 to scan.
  • the channel to be measured scans the target plate 102 at least once; the channel to be measured scans the target plate 102 to obtain at least one reflection point each time. Reflectance measurements.
  • the number of effective reflection points is greater than or equal to 200.
  • the number of effective points in a single frame of the lidar 101 can be several, dozens, or hundreds; therefore, the channel to be measured scans the target plate 102 at least multiple times, thereby obtaining more than or equal to 200 effective points.
  • the reflectivity measurement of the reflection point Specifically, the reading unit 120, that is, the point cloud visualization device, reads and records the reflectivity measurement values of the multiple effective reflection points.
  • the evaluation module 130 is suitable for obtaining the reflectivity parameter of the channel to be measured.
  • the evaluation module 130 includes: a communication unit, the communication unit is suitable for obtaining the reflectivity measurement value given by the lidar; a processing unit, the processing unit is suitable for obtaining the reflectivity of the channel to be measured according to the communication unit parameter.
  • the target plate 102 has a preset reflectivity standard value, so the evaluation module 130 obtains the channel to be measured based on the reflectivity standard value and the multiple reflectivity measurement values.
  • the reflectivity accuracy; the evaluation module 130 also obtains the reflectivity accuracy of the channel to be measured based on the multiple reflectivity measurement values.
  • the reflectivity accuracy reflects the difference between the reflectivity measurement value obtained by the lidar 101 and the reflectivity standard value. The higher the reflectivity accuracy, the higher the consistency between the measurement results of the lidar 101 reflectivity and the real data.
  • the evaluation module 130 obtains an average measurement value based on the average of the multiple reflectivity measurement values; and obtains the to-be-measured value based on the difference between the average measurement value and the reflectivity standard value.
  • Channel reflectivity accuracy :
  • the step of obtaining the reflectivity accuracy of the channel to be measured may further include: obtaining an average measurement value based on the average of the multiple reflectivity measurement values; and obtaining an average measurement value based on the average measurement value and the reflectivity standard.
  • the reflectivity accuracy of the channel to be measured is obtained by the ratio of the values.
  • the reflectivity accuracy reflects the degree of consistency between multiple reflectivity measurement values obtained by performing the reflection receiving operation on the target plate 102 at the same distance. The higher the reflectivity accuracy, the smaller the random error in the reflectivity measurement of the lidar 101.
  • the evaluation module 130 obtains the reflectivity accuracy of the channel to be measured based on the standard deviation of the multiple reflectivity measurement values:
  • the step of obtaining the reflectivity accuracy of the channel to be measured may further include: obtaining an average measurement value based on the average of the multiple reflectivity measurement values; and obtaining an average measurement value based on the average measurement value and the reflectivity standard.
  • the reflectivity accuracy of the channel to be measured is obtained by the ratio of the values.
  • the reflectivity accuracy reflects the degree of consistency between multiple reflectivity measurement values obtained by performing the reflection receiving operation on the target plate 102 at the same distance. The higher the reflectivity accuracy, the smaller the random error in the reflectivity measurement of the lidar 101.
  • the evaluation module 130 obtains the reflectivity accuracy of the channel to be measured based on the standard deviation of the multiple reflectivity measurement values:
  • Ri represents the i-th reflectivity measurement value
  • the lidar 101 is a multi-line lidar 101, that is, the lidar 101 includes: multiple detection channels; the reflectivity parameter obtained by the evaluation module 130 is the Reflectivity parameter of the channel to be measured. Therefore, after obtaining the reflectivity parameter of the channel to be measured, the reflection receiving operation module determines the channel to be measured again, selects another channel from the multiple detection channels as the channel to be measured, and then performs the reflection again In the receiving operation, the evaluation module 130 obtains the re-determined reflectivity parameters of the channel to be measured until the respective reflectivity parameters of all detection channels are obtained.
  • the evaluation module is also adapted to: based on the reflectivity parameters of each detection channel, the standard deviation of the reflectivity parameters of each detection channel can be calculated to obtain the reflectivity accuracy of the lidar for evaluation.
  • the reflectivity measurement consistency of each detection channel of the lidar; based on the reflectivity accuracy of each detection channel, the average value of the reflectivity accuracy of each detection channel can be calculated to obtain the reflectivity accuracy of the lidar for evaluation Reflectivity measurement accuracy of the entire lidar machine.
  • control unit 110 adjusts the relative posture of the lidar 101 multiple times, sequentially making the determined channel to be measured each time incident on the target plate 102 along the horizontal direction, and acquiring the reflections of multiple effective reflection points each time. rate measurement value, and then the evaluation module 130 calculates the reflectivity parameter of each detection channel, that is, the control unit 110 adjusts the pitch angle of the lidar 101 again, each time adjusting the pitch angle of the lidar 101 so that As a detection channel to be measured, a detection channel is incident on the target plate 102 along the horizontal direction, and the reading unit 120 records the reflectivity measurement values of multiple effective reflection points each time.
  • control unit 110 also adjusts the measurement distance d between the target plate 102 and the lidar 101 according to the measurement element; under the measurement distance d, the reflection
  • the receiving operation module performs a reflection receiving operation to obtain multiple reflectivity measurement values at the measurement distance d; the evaluation module 130 obtains the reflectivity parameters of the channel to be measured at the measurement distance d.
  • control unit 110 before determining the channel to be measured, the control unit 110 adjusts the measurement distance d between the target plate 102 and the lidar 101.
  • the reflection reception operation module performs reflection reception operations on all detection channels. After the evaluation module 130 obtains the reflectivity parameters of all channels to be measured under the preset detection distance, the measurement element is used to , the reflection receiving operation module adjusts the measurement distance d, and the evaluation module 130 again obtains the reflectivity parameter of each detection channel under the adjusted measurement distance d. Each time the reflection reception operation module adjusts the measurement distance d, the evaluation module 130 obtains the reflectivity parameter of each detection channel at the adjusted measurement distance d.
  • the selection of the effective reflection point is related to the measurement distance d.
  • the selected effective reflection point is located in the central area of the target plate 102 .
  • the reflection reception operation module further includes: a region judgment unit (not shown in the figure), the region judgment unit is suitable for judging whether the target board 102 is located in the near-field measurement range or in the far-field measurement range. Range; when the area judgment unit determines that the target plate 102 is located in the near-field measurement range, the distance between any of the effective reflection points and the edge of the target plate 102 is greater than 10 cm.
  • the area determination unit determines whether the target plate 102 is located in the near-field measurement range or in the far-field measurement range based on the measurement distance d or the central angle of the target plate 102 relative to the laser radar 101 ranging center. scope.
  • the target board 102 is detachably fixed to the mechanical unit, and there are multiple target boards 102 , and the reflectivity standard values of different target boards 102 are different. Therefore, by replacing different target plates 102, the detection system can obtain the reflectivity parameters of the lidar 101 for different reflectivity standard values.
  • the evaluation module 130 also includes: an integration unit (not shown in the figure), the integration unit is suitable for obtaining the reflectivity parameters of the lidar 101, the laser
  • the reflectivity parameters of the radar 101 include: the reflectivity parameters of at least one detection channel of the laser radar 101 for the target plate 102 with at least one reflectivity standard value under at least one measurement distance d.
  • the integration unit is also suitable for: for a target plate 102 with a measurement distance d and a reflectivity standard value, based on the reflectivity parameters of each detection channel, obtain the reflectivity accuracy of the lidar; based on each The reflectivity accuracy of the detection channel is obtained to obtain the reflectivity accuracy of the lidar.
  • the present invention also provides a laser radar.
  • the reflectivity accuracy range of the lidar is -40% to 40%, wherein the reflectivity accuracy of the lidar is obtained by the detection method of the present invention.
  • the reflectivity accuracy of the lidar is obtained by the detection method of the present invention. Therefore, the specific technical solution of the lidar refers to the embodiment of the aforementioned detection method, and the present invention will not be described in detail here.
  • the present invention also provides a laser radar.
  • the reflectivity accuracy of the laser radar ranges from 0 to 40%, wherein the reflectivity accuracy of the laser radar is obtained by the detection method of the present invention.
  • the reflectivity accuracy of the lidar is obtained by the detection method of the present invention. Therefore, the specific technical solution of the lidar refers to the embodiment of the aforementioned detection method, and the present invention will not be described in detail here.
  • the reflectivity accuracy and accuracy of object detection within the vertical or horizontal azimuth angle of the lidar are calculated.
  • Accuracy so as to obtain the consistency of the measured reflectivity of each channel of the lidar and the deviation from the actual reflectivity of the target. It is suitable for any type of lidar, such as mechanical lidar, solid-state lidar, etc., so that the commercially available lidar can be measured Conduct visual comparison and effective evaluation of reflectivity performance to improve the accuracy of LiDAR reflectivity performance evaluation.

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Abstract

一种激光雷达的检测方法及其检测系统、激光雷达，检测方法包括：进行反射接收操作，使待测通道的探测器接收到目标板反射的多个回波信号，以获得激光雷达给出的待测通道对目标板的多个反射率测量值，其中待测通道为激光雷达的探测通道（S110）；根据反射接收操作的结果，获得待测通道的反射率参数，其中待测通道的反射率参数包括：待测通道的反射率准度和待测通道的反射率精度中的至少一个（S120）。检测方法能够获得激光雷达各个通道反射率测量的一致性以及激光雷达整机的反射率测量准度，适用于任何类型的激光雷达，以提高对激光雷达反射率性能评估的准确性。

Description

激光雷达的检测方法及其检测系统、激光雷达
本申请要求2022年4月29日提交中国专利局、申请号为202210467154.6、发明名称为“激光雷达的检测方法及其检测系统、激光雷达”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及激光探测技术领域，特别涉及一种激光雷达的检测方法及其检测系统、激光雷达。
背景技术
激光雷达是一种常用的测距传感器，具有探测距离远、分辨率高、受环境干扰小等特点，广泛应用于智能机器人、无人机、无人驾驶等领域。近年来，自动驾驶技术发展迅速，激光雷达作为其距离感知的核心传感器，已不可或缺。
激光雷达通过激光器发射光信号，通过探测器接收目标物反射的回波信号并转化为电信号，基于光信号发射时间与回波信号接收时间计算信号的飞行时间(Time of Flight，ToF)，结合光速获知目标物的距离。
自然界中任何物体经受光的照射之后，都会对入射光具有吸收和反射的现象。在入射光相同的情况下，不同物体表面所形成反射光的强度也不相同。反射光强度与物体表面的反射率相关，即物体表面所形成反射光的辐射能与入射至物体表面的总辐射能的比率。如果入射至物体表面的能量被完全吸收，没有任何返回，则该物体表面的反射率为0％；如果入射至物体表面的能量被完全反射，没有任何吸收，则该物体表面的反射率为100％；反射率越大，表示物体表面的反射能力越强。
激光雷达除了能够进行距离测量，还能够获得目标物表面的反射 率。激光雷达能够基于回波信号所转化的电信号的信号特征表征回波信号的强度，根据回波信号的强度和按距离衰减后的等效发射光强度得到反射率。
激光雷达所能探测的最远距离受到目标物表面反射率的影响。不同厂商的激光雷达产品通常会标明在某反射率下的测距能力，如200m@10％。这个参数是指在0～200m内，反射率大于10％的物体反射回来的能量足以产生一次回波，而对于反射率小于等于10％的物体，当距离大于200m时，由于反射的能量在大气传输中衰减等原因，造成回波能量较低，激光雷达探测到回波的概率非常小，所以激光雷达对应的最远探测距离为200m。
为保证激光雷达应用到无人驾驶等领域的安全性，需要对激光雷达的探测能力进行评估，以判断激光雷达能否有效地发挥功能。反射率性能参数是反映激光雷达探测能力的重要指标，但目前不存在统一的反射率性能参数测量方法，以对激光雷达的探测能力进行评估。
发明内容
鉴于此，本发明提供一种激光雷达的检测方法及其检测系统、激光雷达，以提高对激光雷达反射率性能参数评估的准确性。
本发明提供一种激光雷达的检测方法，包括：
进行反射接收操作，使待测通道的探测器接收到目标板反射的多个回波信号，以获得所述激光雷达给出的所述待测通道对所述目标板的多个反射率测量值，其中所述待测通道为所述激光雷达的探测通道；根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
可选的，所述反射接收操作包括：使所述待测通道至少1次扫过所述目标板；所述待测通道每次扫过所述目标板获得至少1个反射点 的反射率测量值。
可选的，所述目标板具有预设的反射率标准值；获得所述待测通道的反射率参数的步骤包括：根据所述反射率标准值和所述多个反射率测量值，获得所述待测通道的反射率准度；根据所述多个反射率测量值，获得所述待测通道的反射率精度。
可选的，所述反射接收操作还包括：确定所述待测通道。
可选的，进行所述反射接收操作的步骤中，每次针对1个所述待测通道进行所述反射接收操作。
可选的，确定所述待测通道的步骤包括：调节所述激光雷达与所述目标板的相对位姿，以使所述待测通道发出的激光束按照预设角度入射至所述目标板。
可选的，所述反射接收操作还包括：调整所述目标板和所述激光雷达之间的测量距离；进行反射接收操作的步骤中，在所述测量距离下，进行反射接收操作以获得所述测量距离下的多个反射率测量值；获得所述待测通道的反射率参数的步骤中，获得所述测量距离下，所述待测通道的反射率参数。
可选的，确定所述待测通道之前，调整所述目标板和所述激光雷达之间的测量距离。
可选的，所述反射接收操作还包括：调整所述目标板的反射率标准值；进行反射接收操作的步骤中，获得所述测量距离下，针对所述反射率标准值的目标板的多个反射率测量值；获得所述待测通道的反射率参数的步骤中，获得所述测量距离下，针对所述反射率标准值的目标板，所述待测通道的反射率参数。
可选的，确定所述目标板和所述激光雷达之间的测量距离之前，调整所述目标板的反射率标准值。
可选的，调整所述目标板的反射率标准值的步骤包括：更换目标 板，不同的目标板具有不同的反射率标准值。
可选的，还包括：获得所述待测通道的反射率参数的步骤之后，获得所述激光雷达的反射率参数，所述激光雷达的反射率参数包括：至少一个测量距离下，针对至少一个反射率标准值的目标板，所述激光雷达每个探测通道的反射率参数。
相应的，本发明还提供一种激光雷达的检测系统，包括：
检测装置，所述检测装置适宜于实施本发明的检测方法以获得所述激光雷达中待测通道的反射率参数。
此外，本发明还提供一种激光雷达的检测系统，包括：
反射接收操作模块，所述反射接收操作模块适宜于进行反射接收操作，使待测通道的探测器接收到目标板反射的多个回波信号，以获得所述待测通道对所述目标板的多个反射率测量值，其中所述待测通道为所述激光雷达的探测通道；评估模块，所述评估模块适宜于根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
可选的，所述反射接收操作模块包括：机械单元，所述机械单元适宜于固定和调整所述激光雷达及所述目标板；控制单元，所述控制单元适宜于控制所述激光雷达进行所述反射接收操作；读取单元，所述读取单元适宜于读取点云数据；所述控制单元使所述待测通道至少1次扫过所述目标板；所述待测通道每次扫过所述目标板，所述读取单元获得至少1个反射点的反射率测量值。
可选的，所述控制单元还适宜于确定所述待测通道。
可选的，每次所述反射接收操作，所述控制单元确定1个所述待测通道。
可选的，进行反射接收操作之前，所述控制单元通过所述机械单 元调整所述激光雷达与所述目标板的相对位姿，以使所述待测通道发出的激光束按照预设角度入射至所述目标板。
可选的，所述激光雷达和所述目标板中至少一个可移动地固定于所述机械单元上；所述机械单元还包括：测量元件，所述测量元件适宜于获得所述目标板和所述激光雷达之间的测量距离。
可选的，所述目标板的数量为多个，不同的目标板具有不同的反射率标准值。
可选的，所述评估模块包括：整合单元，所述整合单元适宜于获得所述激光雷达的反射率参数，所述激光雷达的反射率参数包括：至少一个测量距离下，针对至少一个反射率标准值的目标板，所述激光雷达至少一个探测通道的反射率参数。
另外，本发明还提供一种激光雷达，所述激光雷达的反射率准度范围为-40％～40％，其中，所述激光雷达的反射率准度通过本发明的检测方法获得。
本发明还提供一种激光雷达，所述激光雷达的反射率精度范围为0～40％，其中，所述激光雷达的反射率精度通过本发明的检测方法获得。
与现有技术相比，本发明的技术方案具有以下优点：
本发明技术方案中，在预设环境条件下，使用预设反射率的目标板，在激光雷达与目标板相距预设距离的条件下，能够利用激光雷达获得多个反射率测量值，在此基础上，统计激光雷达对其视场范围内物体探测的反射率准度和精度，从而获得激光雷达各个通道反射率测量的一致性以及激光雷达整机的反射率测量准度，适用于任何类型的激光雷达，如机械式激光雷达、固态激光雷达等，以提高对激光雷达反射率性能评估的准确性。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明激光雷达的检测方法一实施例的流程示意图；
图2是图1所示激光雷达的检测方法实施例中反射接收操作步骤所使用检测系统的结构示意图；
图3是朗伯体反射原理的示意图；
图4是是图1所示激光雷达的检测方法实施例中反射接收操作步骤过程中的光路示意图；
图5是本发明一实施例中激光雷达探测通道发出的激光束在垂直视场的局部分布示意图；
图6是本发明一实施例中激光雷达待测通道发出的激光束在目标板上形成的反射点分布示意图。
具体实施方式
由背景技术可知，目前还没有统一的反射率性能参数测量方法，用以对激光雷达的探测能力进行评估。
为解决所述技术问题，本发明提供一种激光雷达的检测方法，包括：
进行反射接收操作，使待测通道的探测器接收到目标板反射的多个回波信号，以获得所述激光雷达给出的所述待测通道对所述目标板的多个反射率测量值，其中所述待测通道为所述激光雷达的探测通道；根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其 中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
本发明技术方案，所述检测方法能够获得激光雷达各个通道反射率测量的一致性以及激光雷达整机的反射率测量准度，适用范围广泛，适用于任何类型的激光雷达，如机械式激光雷达、固态激光雷达等，从而可以对市售激光雷达的反射率性能进行直观比较和有效测评，以提高对激光雷达反射率性能评估的准确性。
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例作详细的说明。
参考图1，示出了本发明激光雷达的检测方法一实施例的流程示意图。
所述检测方法包括：执行步骤S110，进行反射接收操作，使待测通道的探测器接收到目标板102(如图2所示)反射的多个回波信号，以获得所述激光雷达给出的所述待测通道对所述目标板102的多个反射率测量值，其中所述待测通道为所述激光雷达101(如图2所示)的探测通道；执行步骤S120，根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
需要说明的是，执行步骤S110，进行反射接收操作之前，所述检测方法还包括：执行步骤S101，搭建检测系统。所述检测系统用以进行反射接收操作。
结合参考图2，示出了图1所示激光雷达101的检测方法实施例中反射接收操作步骤所使用检测系统的结构示意图。
本发明一些实施例中，所述检测系统包括：机械单元(图中未标示)，所述机械单元适宜于固定和调整所述激光雷达101及所述目标板102；所述激光雷达101和所述目标板102中至少一个可移动地固 定于所述机械单元上。
如图2所示，所述机械单元包括转台111，所述激光雷达101固定于所述转台111的台面上。所述转台111为二维转台，即所述转台111具有两个转轴，其中一个转轴垂直于所述转台111的台面，另一个转轴平行于所述转台111的台面。对于机械旋转式激光雷达和转镜式激光雷达，所述转台111用于承载所述激光雷达和调节所述激光雷达的姿态；对于固态激光雷达，所述转台111还能带动所述激光雷达旋转。
本发明一些实施例中，所述转台111的高度可以根据所述目标板102的尺寸进行调整，以使所述激光雷达101的测距中心与所述目标板102的中心位于同一高度。
本发明一些实施例中，所述激光雷达101具有垂直视场(垂直FOV)和水平视场(水平FOV)。将所述激光雷达101固定于所述转台111的台面上，基于所述激光雷达的垂直视场和水平视场，调整所述转台的高度、所述目标板的尺寸以及所述激光雷达和所述目标板之间的距离，能够实现对所述激光雷达101的每个方位角的反射率都进行检测。
其中，所述目标板102为朗伯体，即如图3所示，当入射能量在所有方向均匀反射，即入射能量以入射点为中心，在整个半球空间内向四周各向同性的反射能量的现象，称为漫反射，也称各向同性反射，一个完全的漫射体称为朗伯体。一个理想的漫射面，应是遵循朗伯定律的，即不管入射光来自何方，各方向漫射光的发光强度总与cosθ(θ为漫射光的反射方向与反射面法线的夹角)成正比。
具体的，如图2所示实施例中，所述目标板102的高度为0.5m～3m、宽度为0.5m～3m，所述目标板102为反射率标准值经过标定的朗伯体。
具体的，所述目标板102具有预设的反射率标准值，如10％、50％、90％。本发明一些实施例中，所述目标板102的尺寸满足在预设距离 下，使目标板102能够覆盖所述激光雷达101的视场范围，该预设距离可以设置的很小，例如0.3m，0.5m，1m等。
如图2所示，所述目标板102固定于所述激光雷达101的视场范围内，所述目标板102竖直放置，所述激光雷达的测距中心和所述目标板的几何中心的连线垂直于所述目标板的表面。
需要说明的是，本发明一些实施例中，所述目标板102的数量为多个，不同的目标板102具有不同的反射率标准值。通过更换所述目标板102，能够实现所述激光雷达对不同反射率目标的反射率性能参数检测。
此外，本发明一些实施例中，所述机械单元还包括：测量元件(图中未示出)，所述测量元件适宜于获得所述目标板102和所述激光雷达101之间的测量距离d。通过所述测量距离d的获得，从而得到不同测量距离d下所述激光雷达的反射率性能参数。一些实施例中，所述激光雷达101和所述目标板102之间的测量距离d可以为0.5m，1m，3m，5m。
另外，本发明一些实施例中，所述检测系统还包括：外置光源103，所述外置光源103符合CIE标准，可以采用两个外置光源，对称设置在所述目标板102的顶部和底部，所述外置光源103适宜于照亮所述目标板102，从而设置所述目标板102单位面积上受到的光通量，进而控制所述目标板102的光照度，从而模拟激光雷达101在使用过程中的环境光。所述外置光源103的设置，能够实现预设光照强度环境的模拟(例如光照度可以是10～150lux)。
如图2所示，本发明一些实施例中，所述检测系统还包括：读取单元120，所述读取单元120适宜于读取、展示所述激光雷达101获得的点云数据，所述读取单元与所述激光雷达通信连接，读取单元包括存储介质以及处理器，存储介质存储有至少一个指令集，当所述激光雷达工作时，用于读取所述激光雷达的点云数据，处理器与读取单元通信，用于获取并展示所述激光雷达101的点云数据。可以根据实 际检测到的点云数据，选取并记录各个有效反射点的反射率测量值。具体的，所述读取单元120可以是点云可视化设备。
需要说明的是，所述激光雷达的点云数据包括：每个反射点的位置坐标以及每个反射点的反射率测量值。通过所述读取单元120可以提取所述点云数据中所有反射点的反射率测量值，进而获得各个有效反射点的反射率测量值。
继续参考图1，执行步骤S101，搭建检测系统之后，执行步骤S110，进行反射接收操作，所述反射接收操作用以获得激光雷达给出的待测通道的反射率测量值。
本发明一些实施例中，所述反射接收操作包括：使所述待测通道至少1次扫过所述目标板102；所述待测通道每次扫过所述目标板102获得至少1个反射点的反射率测量值。
需要说明的是，所述激光雷达101包括多个激光器和多个探测器，至少一个激光器与至少一个探测器构成一个探测通道，多个激光器和多个探测器构成多个探测通道。
需要说明的是，本发明一些实施例中，进行所述反射接收操作的步骤中，每次针对1个所述待测通道进行所述反射接收操作。本发明一些实施例中，所述激光雷达101为多线激光雷达101，即所述激光雷达101具有多个探测通道，因此所述反射接收操作还包括：确定所述待测通道，即从多个探测通道内选择至少一个通道作为待测通道。
需要说明的是，本发明一些实施例中，每次进行所述反射接收操作的过程中，所述待测通道的数量为1个。本发明其他实施例中，每次进行所述反射接收操作的过程中，所述待测通道的数量也可以为多个。
具体的，一些实施例中，确定所述待测通道的步骤包括：调节所述激光雷达101与所述目标板102的相对位姿，以使所述待测通道发出的激光束沿水平方向入射至竖直放置的所述目标板102。
具体的，本发明一些实施例中，可以基于所述激光雷达101的内部参数，调整所述激光雷达101的俯仰角，使所述待测通道发出的激光束按照预设角度入射至所述目标板102。所述激光雷达101的内部参数包括：所述激光雷达101中各个激光器的垂直方向角。
如图4所示，可以通过所述转台111，调节所述激光雷达101与所述目标板102的相对位姿，从而使所述待测通道发出的激光束沿水平方向入射至竖直放置的所述目标板102。
需要说明的是，在一些实施例中，在由一个激光器和一个探测器组成的探测通道中，每个探测通道负责一个垂直角度方向的探测。参考图5，示出了40个通道/线束，垂直视场(FOV，field of view)为-16°～7°，由所有激光器的垂直探测角度共同构成。其中，最上面的激光器的垂直方向角为7°，也即负责7°方位的距离探测，最下面的激光器的垂直方向角为-16°，也即负责-16°方位的距离探测。也即处于同一探测通道的发射单元发出的光信号在遇到障碍物被反射且回到激光雷达后，可被该探测通道的探测单元收到。所有的探测通道的子视场共同构成整个激光雷达的垂直视场的扫描区间。通过获取激光雷达的内部参数，可以得到各个激光器的垂直方向角。如确定待测通道为最上面的激光器对应的探测通道，可以将所述激光雷达沿垂直方向下调整7°，以使所述激光雷达最上面的激光器光束可以沿水平方向入射至所述目标板。对于多线激光雷达，可以通过不断调节所述激光雷达与所述目标板的相对位姿，使所述激光雷达各通道发出的激光束依次按预设角度入射至所述目标板。
具体的，通过所述转台111，调整所述激光雷达101的俯仰角以及所述激光雷达101的方向，使所述待测通道发出的激光束沿水平方向入射至竖直放置的所述目标板102。确定所述待测通道、调整所述激光雷达101的相对位姿之后，启动激光雷达101进行扫描。
参考图6，示出了本发明一实施例中激光雷达启动扫描后，待测通道发出的激光束在目标板上形成的反射点分布示意图。
本发明一些实施例中，所述反射接收操作包括：使所述待测通道至少1次扫过所述目标板102；所述待测通道每次扫过所述目标板102获得至少1个反射点的反射率测量值。
在本发明一些实施例中，所述反射接收操作中，所述有效反射点的数量大于等于200。所述激光雷达101的单帧有效点数量可以为几个、几十个或上百个；所以，所述反射接收操作中，可以使所述待测通道至少多次扫过所述目标板102，从而获得大于等于200个的有效反射点的反射率测量值。具体的，通过所述读取单元120，即所述点云可视化设备读取并记录所述多个有效反射点的反射率测量值。
进行所述反射接收操作之后，执行步骤S120，根据所述反射接收操作的结果，获得所述待测通道的反射率参数。
本发明一些实施例中，所述目标板102具有预设的反射率标准值，所以获得所述待测通道的反射率参数的步骤包括：根据所述反射率标准值和所述多个反射率测量值，获得所述待测通道的反射率准度；根据所述多个反射率测量值，获得所述待测通道的反射率精度。
反射率准度可以反映激光雷达101得到的反射率测量值和反射率标准值之间的差距，反射率准度越高表示所述激光雷达101反射率的测量结果与真实数据符合程度越高。
具体的，获得所述待测通道的反射率准度的步骤包括：根据所述多个反射率测量值的平均值，获得平均测量值；根据所述平均测量值和所述反射率标准值之间的差值，获得所述待测通道的反射率准度：
Figure PCTCN2022120779-appb-000001
其中，μ表示所述激光雷达101的反射率准度；
Figure PCTCN2022120779-appb-000002
表示所述平均测量值；R表示所述目标板102的反射率标准值。
具体的，获得所述待测通道的反射率准度的步骤还可以包括：根据所述多个反射率测量值的平均值，获得平均测量值；根据所述平均测量值和所述反射率标准值的比值，获得所述待测通道的反射率准度。
反射率精度可以反映对同一距离下的目标板102进行所述反射接收操作所获得的多个反射率测量值之间的一致程度。反射率精度越高表示所述激光雷达101反射率测量的随机误差越小。
具体的，获得所述待测通道的反射率精度的步骤包括：根据所述多个反射率测量值的标准差，获得所述待测通道的反射率精度：
Figure PCTCN2022120779-appb-000003
其中，
Figure PCTCN2022120779-appb-000004
表示所述平均测量值；Ri表示第i个反射率测量值，N表示反射率测量值的数量。
需要说明的是，本发明一些实施例中，所述激光雷达101为多线激光雷达，即所述激光雷达101包括：多个探测通道。因此获得一个所述待测通道的反射率参数之后，需要再次确定待测通道，从所述多个探测通道中选择另一个通道作为所述待测通道，重复执行步骤S110，进行所述反射接收操作和执行步骤S120，获得再次确定的所述待测通道的反射率参数，直至获得所有探测通道各自的反射率参数。
具体的，调整激光雷达101的相对位姿，依次使每次所确定的待测通道沿水平方向入射至所述目标板102，每次获得多个有效反射点的反射率测量值，进而计算每个探测通道的反射率参数。基于每个探测通道的反射率参数，可以计算各个探测通道反射率参数的标准差，获得所述激光雷达的反射率精度，用以评估激光雷达各个探测通道的反射率测量一致性；基于每个探测通道的反射率准度，可以计算各个探测通道反射率准度的平均值，获得所述激光雷达的反射率准度，用以评估激光雷达整机的反射率测量准度。
继续参考图1和图2，本发明一些实施例中，所述反射接收操作还包括：执行步骤S130，调整所述目标板102和所述激光雷达101之间的测量距离d；进行反射接收操作的步骤中，在所述测量距离d下，进行反射接收操作以获得所述测量距离d下的多个反射率测量值； 获得所述待测通道的反射率参数的步骤中，获得所述测量距离d下，所述待测通道的反射率参数。
具体的，本发明一些实施例中，确定所述待测通道之前，调整所述目标板102和所述激光雷达101之间的测量距离d。
所以，在预设探测距离下，对所有探测通道进行反射接收操作以获得预设探测距离下所有待测通道的反射率参数之后，利用所述测量元件，调整所述测量距离d，再次获得调整后的测量距离d下，每个探测通道的反射率参数。每次调整所述测量距离d，均获得调整后的测量距离d下的每个探测通道的反射率参数。
需要说明的是，所述有效反射点的选择与所述测量距离d相关。所述激光雷达101与所述目标板102之间的测量距离d越近，所述目标板102相对于所述激光雷达101测距中心的圆周角越大，因此所述目标板102边缘位置的反射强度较小。为了保证检测的一致性，当所述目标板102和所述激光雷达101之间的检测距离小于预设值时，所选择的有效反射点位于所述目标板102的中心区域。
所以，本发明一些实施例，所述反射接收操作还包括：调整所述目标板102和所述激光雷达101之间的测量距离d之前，判断所述目标板102是位于近场测量范围还是位于远场测量范围；所述目标板102位于近场测量范围时，任一所述有效反射点与所述目标板102边缘之间的距离大于10cm。
具体的，判断所述目标板102是位于近场测量范围还是位于远场测量范围的步骤中，根据所述测量距离d或所述目标板102相对所述激光雷达101测距中心的圆心角，判断所述目标板102是位于近场测量范围还是位于远场测量范围。
继续参考图1，本发明一些实施例中，所述反射接收操作还包括：执行步骤S140，调整所述目标板102的反射率标准值；进行反射接收操作的步骤中，获得所述测量距离d下，针对所述反射率标准值的 目标板102的多个反射率测量值；获得所述待测通道的反射率参数的步骤中，获得所述测量距离d下，针对所述反射率标准值的目标板102，所述待测通道的反射率参数。
具体的，本发明一些实施例中，确定所述目标板102和所述激光雷达101之间的测量距离d之前，调整所述目标板102的反射率标准值。
所述目标板102具有预设的反射率标准值，因此本发明一些实施例中，调整所述目标板102的反射率标准值的步骤包括：更换目标板102，不同的目标板102具有不同的反射率标准值。具体的，更换目标板102后，在不同测量距离d下，对所述激光雷达101对每个探测通道重复执行步骤S110和步骤S120。
继续参考图2，本发明一些实施例中，获得所述待测通道的反射率参数的步骤之后，执行步骤S150，获得所述激光雷达101的反射率参数，所述激光雷达101的反射率参数包括：至少一个测量距离d下，针对至少一个反射率标准值的目标板102，所述激光雷达101每个探测通道的反射率参数。
具体的，将各个测量距离d下，针对所有反射率标准值的目标板102，所述激光雷达101所有待测通道的反射率参数汇总。
具体的，针对一个测量距离d和一个反射率标准值的目标板102，基于每个探测通道的反射率参数，可以计算各个探测通道反射率参数的标准差，获得所述激光雷达的反射率精度，用以评估激光雷达各个探测通道的反射率测量一致性；基于每个探测通道的反射率准度，可以计算各个探测通道反射率准度的平均值，获得所述激光雷达的反射率准度，用以评估激光雷达整机的反射率测量准度。
相应的，本发明还提供一种激光雷达的检测系统。
所述检测系统包括检测装置，所述检测装置适宜于实施本发明的检测方法以获得所述激光雷达中待测通道的反射率参数。
所述检测装置实施的是本发明的检测方法，因此所述检测装置的具体技术方案参考前述检测方法的实施例，本发明在此不再赘述。
此外，本发明还提供一种激光雷达101的检测系统。
参考图2，示出了本发明激光雷达101的检测系统一实施例的结构示意图。
所述激光雷达101的检测系统包括：反射接收操作模块，所述反射接收操作模块适宜于进行反射接收操作，使待测通道的探测器接收到目标板102反射的多个回波信号，以获得所述激光雷达给出的所述待测通道对所述目标板102的多个反射率测量值，其中所述待测通道为所述激光雷达101的探测通道；评估模块130，所述评估模块130适宜于根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
所述反射接收操作模块适宜于进行反射接收操作以获得反射率测量值。
如图2所示，所述反射接收操作模块包括：机械单元(图中未标示)，所述机械单元适宜于固定和调整所述激光雷达101及所述目标板102；控制单元110，所述控制单元110适宜于控制所述激光雷达101进行所述反射接收操作；读取单元120，所述读取单元120适宜于读取点云数据。
其中，所述机械单元包括转台111，所述激光雷达101固定于所述转台111的台面上。转台高度可以根据所述目标板的尺寸进行调整。所述转台111为二维转台，即所述转台111具有两个转轴，其中一个转轴垂直于所述转台111的台面，另一个转轴平行于所述转台111的台面。对于机械旋转式激光雷达和转镜式激光雷达，所述转台111用于承载所述激光雷达和调节所述激光雷达的姿态；对于固态激光雷达，所述转台111还能带动所述激光雷达旋转。
本发明一些实施例中，所述转台111的高度可以根据所述目标板102的尺寸进行调整，以使所述激光雷达101的测距中心与所述目标板102的中心位于同一高度。
本发明一些实施例中，所述激光雷达101具有垂直视场(垂直FOV)和水平视场(水平FOV)。将所述激光雷达101固定于所述转台111的台面上，基于所述激光雷达的垂直视场和水平视场，调整所述转台的高度、所述目标板的尺寸以及所述激光雷达和所述目标板之间的距离，能够实现对所述激光雷达101的每个方位角的反射率都进行检测。
本发明一实施例中，所述目标板102的高度为0.5～3m、宽度为0.5～3m，所述目标板102为反射率标准值经过标定的朗伯体。
所述目标板102具有预设的反射率标准值，如10％、50％、90％。本发明一些实施例中，所述目标板102的尺寸满足在预设距离下，使目标板尽可能够覆盖所述激光雷达101的视场范围，该预设距离可以设置的很小，例如0.3m，0.5m，1m等。如图2所示，所述目标板102固定于所述激光雷达101的视场范围内，所述目标板102竖直放置，所述激光雷达的测距中心和所述目标板的几何中心的连线垂直于所述目标板的表面。
需要说明的是，本发明一些实施例中，所述目标板102的数量为多个，不同的目标板102具有不同的反射率标准值。通过更换所述目标板102，能够实现所述激光雷达对不同反射率目标的反射率性能参数检测。
此外，本发明一些实施例中，所述激光雷达101和所述目标板102中至少一个可移动的固定于所述机械单元上；所述机械单元还包括：测量元件，所述测量元件适宜于获得所述目标板102和所述激光雷达101之间的测量距离d。通过所述测量距离d的获得，从而得到不同测量距离d下所述激光雷达的反射率性能参数。一些实施例中，所述激光雷达101和所述目标板102之间的测量距离d为0.5m，1m， 3m，5m。
另外，本发明一些实施例中，所述检测系统还包括：外置光源103，所述外置光源103符合CIE标准，可以采用两个外置光源，对称设置在所述目标板102的顶部和底部，所述外置光源103适宜于照亮所述目标板102，从而设置所述目标板102单位面积上受到的光通量，进而控制所述目标板102的光照度，从而模拟激光雷达101在使用过程中的环境光。所述外置光源103的设置，能够实现预设光照强度环境的模拟(例如光照度可以是100lux)。
本发明一些实施例中，所述检测系统还包括：读取单元120，所述读取单元120适宜于读取、展示所述激光雷达101获得的点云数据，所述读取单元与所述激光雷达通信连接，读取单元包括存储介质以及处理器，存储介质存储有至少一个指令集，当所述激光雷达工作时，用于读取所述激光雷达的点云数据，处理器与读取单元通信，用于获取并展示所述激光雷达101的点云数据。可以根据实际检测到的点云数据，选取并记录各个有效反射点的反射率测量值。具体的，所述读取单元120可以是点云可视化设备。
需要说明的是，所述激光雷达的点云数据包括：每个反射点的位置坐标以及每个反射点的反射率测量值。所述读取单元120可以提取所述点云数据中所有反射点的反射率测量值，进而获得各个有效反射点的反射率测量值。
如图2所示，所述控制单元110使所述待测通道至少1次扫过所述目标板102；所述待测通道每次扫过所述目标板102，所述读取单元120获得至少1个反射点的反射率测量值。
本发明一些实施例中，所述激光雷达101为多线激光雷达101，即所述激光雷达101具有多个探测通道，因此，所述控制单元110还适宜于确定所述待测通道，即从多个探测通道内选择至少一个通道作为待测通道。具体的，每次所述反射接收操作，所述控制单元110确定1个所述待测通道。
本发明一些实施例中，每次进行所述反射接收操作的过程中，所述待测通道的数量为1个。本发明其他实施例中，每次进行所述反射接收操作的过程中，所述待测通道的数量也可以为多个。
进行反射接收操作之前，所述控制单元110基于所述激光雷达101的内部参数，通过所述机械单元调整所述激光雷达101的相对位姿，以使所述待测通道发出的激光束沿水平方向入射至所述目标板102。
结合参考图4，所述控制单元110从所述激光雷达101获得所述激光雷达101的内部参数，所述激光雷达101的内部参数包括：所述激光雷达101中各个激光器的垂直方向角；根据所述激光雷达101的内部参数，所述控制单元110通过所述转台111，调整所述激光雷达101的相对位姿，从而使所述待测通道发出的激光束沿水平方向入射至所述目标板102。
具体的，所述控制单元110通过所述转台111，调整所述激光雷达101的俯仰角以及所述激光雷达101的方向，使所述待测通道沿水平方向入射至所述目标板102。确定所述待测通道、调整所述激光雷达101的相对位姿之后，所述控制单元110启动激光雷达101进行扫描。
所述控制单元110启动所述激光雷达101之后，所述待测通道至少1次扫过所述目标板102；所述待测通道每次扫过所述目标板102获得至少1个反射点的反射率测量值。
所述反射接收操作中，所述有效反射点的数量大于等于200。所述激光雷达101的单帧有效点数量可以为几个、几十个或上百个；所以，所述待测通道至少多次扫过所述目标板102，从而获得大于等于200个的有效反射点的反射率测量值。具体的，所述读取单元120，即所述点云可视化设备读取并记录所述多个有效反射点的反射率测量值。
继续参考图2，所述评估模块130适宜于获得所述待测通道的反射率参数。所述评估模块130包括：通信单元，所述通信单元适宜于获得所述激光雷达给出的反射率测量值；处理单元，所述处理单元适宜于根据通信单元获得所述待测通道的反射率参数。
本发明一些实施例中，所述目标板102具有预设的反射率标准值，所以所述评估模块130根据所述反射率标准值和所述多个反射率测量值，获得所述待测通道的反射率准度；所述评估模块130还根据所述多个反射率测量值，获得所述待测通道的反射率精度。
反射率准度反映激光雷达101得到的反射率测量值和反射率标准值之间的差距，反射率准度越高表示所述激光雷达101反射率的测量结果与真实数据符合程度越高。
具体的，所述评估模块130根据所述多个反射率测量值的平均值，获得平均测量值；根据所述平均测量值和所述反射率标准值之间的差值，获得所述待测通道的反射率准度：
Figure PCTCN2022120779-appb-000005
其中，μ表示所述激光雷达101的反射率准度；
Figure PCTCN2022120779-appb-000006
表示所述平均测量值；R表示所述目标板102的反射率标准值。
具体的，获得所述待测通道的反射率准度的步骤还可以包括：根据所述多个反射率测量值的平均值，获得平均测量值；根据所述平均测量值和所述反射率标准值的比值，获得所述待测通道的反射率准度。
反射率精度反映对同一距离下的目标板102进行所述反射接收操作所获得的多个反射率测量值之间的一致程度。反射率精度越高表示所述激光雷达101反射率测量的随机误差越小。
具体的，所述评估模块130根据所述多个反射率测量值的标准差，获得所述待测通道的反射率精度：
其中，μ表示所述激光雷达101的反射率准度；
Figure PCTCN2022120779-appb-000007
表示所述平均 测量值；R表示所述目标板102的反射率标准值。
具体的，获得所述待测通道的反射率准度的步骤还可以包括：根据所述多个反射率测量值的平均值，获得平均测量值；根据所述平均测量值和所述反射率标准值的比值，获得所述待测通道的反射率准度。
反射率精度反映对同一距离下的目标板102进行所述反射接收操作所获得的多个反射率测量值之间的一致程度。反射率精度越高表示所述激光雷达101反射率测量的随机误差越小。
具体的，所述评估模块130根据所述多个反射率测量值的标准差，获得所述待测通道的反射率精度：
Figure PCTCN2022120779-appb-000008
其中，
Figure PCTCN2022120779-appb-000009
表示所述平均测量值；Ri表示第i个反射率测量值。
需要说明的是，本发明一些实施例中，所述激光雷达101为多线激光雷达101，即所述激光雷达101包括：多个探测通道；所述评估模块130获得的反射率参数为所述待测通道的反射率参数。因此获得所述待测通道的反射率参数之后，所述反射接收操作模块再次确定待测通道，从所述多个探测通道中选择另一个通道作为所述待测通道，之后再次进行所述反射接收操作，所述评估模块130获得再次确定的所述待测通道的反射率参数，直至获得所有探测通道各自的反射率参数。
本发明一些实施例中，所述评估模块还适于：基于每个探测通道的反射率参数，可以计算各个探测通道反射率参数的标准差，获得所述激光雷达的反射率精度，用以评估激光雷达各个探测通道的反射率测量一致性；基于每个探测通道的反射率准度，可以计算各个探测通道反射率准度的平均值，获得所述激光雷达的反射率准度，用以评估激光雷达整机的反射率测量准度。
具体的，所述控制单元110多次调整激光雷达101的相对位姿，依次使每次所确定的待测通道沿水平方向入射至所述目标板102，每次获取多个有效反射点的反射率测量值，进而所述评估模块130计算每个探测通道的反射率参数，即所述控制单元110再次调整所述激光雷达101的俯仰角，每次调整所述激光雷达101的俯仰角以使作为待测通道的一个探测通道沿水平方向入射至所述目标板102，读取单元120每次记录多个有效反射点的反射率测量值。
继续参考图1，本发明一些实施例中，所述控制单元110还依据测量元件，调整所述目标板102和所述激光雷达101之间的测量距离d；在所述测量距离d下，反射接收操作模块进行反射接收操作以获得所述测量距离d下的多个反射率测量值；评估模块130获得所述测量距离d下，所述待测通道的反射率参数。
具体的，本发明一些实施例中，确定所述待测通道之前，所述控制单元110调整所述目标板102和所述激光雷达101之间的测量距离d。
所以，在预设探测距离下，所述反射接收操作模块对所有探测通道进行反射接收操作，所述评估模块130获得预设探测距离下所有待测通道的反射率参数之后，利用所述测量元件，所述反射接收操作模块调整所述测量距离d，所述评估模块130再次获得调整后的测量距离d下，每个探测通道的反射率参数。所述反射接收操作模块每次调整所述测量距离d，所述评估模块130均获得调整后的测量距离d下的每个探测通道的反射率参数。
需要说明的是，所述有效反射点的选择与所述测量距离d相关。所述激光雷达101与所述目标板102之间的测量距离d越近，所述目标板102相对于所述激光雷达101测距中心的圆周角越大，因此所述目标板102边缘位置的反射强度较小。为了保证检测的一致性，当所述目标板102和所述激光雷达101之间的检测距离小于预设值时，所选择的有效反射点位于所述目标板102的中心区域。
本发明一些实施例，所述反射接收操作模块还包括：区域判断单元(图中未示出)，所述区域判断单元适宜于判断所述目标板102是位于近场测量范围还是位于远场测量范围；所述区域判断单元判断所述目标板102位于近场测量范围时，任一所述有效反射点与所述目标板102边缘之间的距离大于10cm。
具体的，所述区域判断单元根据所述测量距离d或所述目标板102相对所述激光雷达101测距中心的圆心角，判断所述目标板102是位于近场测量范围还是位于远场测量范围。
本发明一些实施例中，所述目标板102可拆卸的固定于所述机械单元，而且所述目标板102的数量为多个，不同目标板102的反射率标准值并不相同。因此更换不同的目标板102，所述检测系统能够获得针对不同反射率标准值，所述激光雷达101的反射率参数。
需要说明的是，本发明一些实施例中，所述评估模块130还包括：整合单元(图中未示出)，所述整合单元适宜于获得所述激光雷达101的反射率参数，所述激光雷达101的反射率参数包括：至少一个测量距离d下，针对至少一个反射率标准值的目标板102，所述激光雷达101至少一个探测通道的反射率参数。
具体的，所述整合单元还适宜于：针对一个测量距离d和一个反射率标准值的目标板102，基于每个探测通道的反射率参数，获得所述激光雷达的反射率精度；基于每个探测通道的反射率准度，获得所述激光雷达的反射率准度。
此外，本发明还提供一种激光雷达。
所述激光雷达的反射率准度范围为-40％～40％，其中，所述激光雷达的反射率准度通过本发明的检测方法获得。
所述激光雷达的反射率准度通过本发明的检测方法获得，因此所述激光雷达的具体技术方案参考前述检测方法的实施例，本发明在此不再赘述。
另外，本发明还提供一种激光雷达。
所述激光雷达的反射率精度范围为0～40％，其中，所述激光雷达的反射率精度通过本发明的检测方法获得。
所述激光雷达的反射率精度通过本发明的检测方法获得，因此所述激光雷达的具体技术方案参考前述检测方法的实施例，本发明在此不再赘述。
综上，在预设环境条件下，使用预设反射率的目标板，在激光雷达与目标板相距预设距离的条件下，统计激光雷达垂直或水平方位角内物体探测的反射率准度和精度，从而获得激光雷达各个通道测量反射率的一致性以及与目标实际反射率的偏差，适用于任何类型的激光雷达，如机械式激光雷达、固态激光雷达等，从而可以对市售激光雷达的反射率性能进行直观比较和有效测评，以提高对激光雷达反射率性能评估的准确性。
虽然本发明披露如上，但本发明并非限定于此。任何本领域技术人员，在不脱离本发明的精神和范围内，均可作各种更动与修改，因此本发明的保护范围应当以权利要求所限定的范围为准。

Claims (23)

  1. 一种激光雷达的检测方法，其特征在于，包括：
    进行反射接收操作，使待测通道的探测器接收到目标板反射的多个回波信号，以获得所述待测通道对所述目标板的多个反射率测量值，其中所述待测通道为所述激光雷达的探测通道；
    根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
  2. 如权利要求1所述的检测方法，其特征在于，所述反射接收操作包括：使所述待测通道至少1次扫过所述目标板；
    所述待测通道每次扫过所述目标板获得至少1个反射点的反射率测量值。
  3. 如权利要求1所述的检测方法，其特征在于，所述目标板具有预设的反射率标准值；
    获得所述待测通道的反射率参数的步骤包括：
    根据所述反射率标准值和所述多个反射率测量值，获得所述待测通道的反射率准度；
    根据所述多个反射率测量值，获得所述待测通道的反射率精度。
  4. 如权利要求1所述的检测方法，其特征在于，所述反射接收操作还包括：确定所述待测通道。
  5. 如权利要求1所述的检测方法，其特征在于，进行所述反射接收操作的步骤中，每次针对1个所述待测通道进行所述反射接收操作。
  6. 如权利要求4所述的检测方法，其特征在于，确定所述待测通道的步骤包括：调节所述激光雷达与所述目标板的相对位姿，以使所述待测通道发出的激光束按照预设角度入射至所述目标板。
  7. 如权利要求4所述的检测方法，其特征在于，所述反射接收操作还包括：调整所述目标板和所述激光雷达之间的测量距离；
    进行反射接收操作的步骤中，在所述测量距离下，进行反射接收操作以获得所述测量距离下的多个反射率测量值；
    获得所述待测通道的反射率参数的步骤中，获得所述测量距离下，所述待测通道的反射率参数。
  8. 如权利要求7所述的检测方法，其特征在于，确定所述待测通道之前，调整所述目标板和所述激光雷达之间的测量距离。
  9. 如权利要求7所述的检测方法，其特征在于，所述反射接收操作还包括：调整所述目标板的反射率标准值；
    进行反射接收操作的步骤中，获得所述测量距离下，针对所述反射率标准值的目标板的多个反射率测量值；
    获得所述待测通道的反射率参数的步骤中，获得所述测量距离下，针对所述反射率标准值的目标板，所述待测通道的反射率参数。
  10. 如权利要求7所述的检测方法，其特征在于，确定所述目标板和所述激光雷达之间的测量距离之前，调整所述目标板的反射率标准值。
  11. 如权利要求10所述的检测方法，其特征在于，调整所述目标板的反射率标准值的步骤包括：更换目标板，不同的目标板具有不同的反射率标准值。
  12. 如权利要求10所述的检测方法，其特征在于，还包括：获得所述待测通道的反射率参数的步骤之后，获得所述激光雷达的反射率参数，所述激光雷达的反射率参数包括：至少一个测量距离下，针对至少一个反射率标准值的目标板，所述激光雷达每个探测通道的反射率参数。
  13. 一种激光雷达的检测系统，其特征在于，包括：
    检测装置，所述检测装置适宜于实施权利要求1～12中任一项所述的检测方法以获得所述激光雷达中待测通道的反射率参数。
  14. 一种激光雷达的检测系统，其特征在于，包括：
    反射接收操作模块，所述反射接收操作模块适宜于进行反射接收操作，使待测通道的探测器接收到目标板反射的多个回波信号，以获得所述待测通道对所述目标板的多个反射率测量值，其中所述待测通道为所述激光雷达的探测通道；
    评估模块，所述评估模块适宜于根据所述反射接收操作的结果，获得所述待测通道的反射率参数，其中所述待测通道的反射率参数包括：所述待测通道的反射率准度和所述待测通道的反射率精度中的至少一个。
  15. 如权利要求14所述的检测系统，其特征在于，所述反射接收操作模块包括：
    机械单元，所述机械单元适宜于固定和调整所述激光雷达及所述目标板；
    控制单元，所述控制单元适宜于控制所述激光雷达进行所述反射接收操作；
    读取单元，所述读取单元适宜于读取点云数据；
    所述控制单元使所述待测通道至少1次扫过所述目标板；
    所述待测通道每次扫过所述目标板，所述读取单元获得至少1个反射点的反射率测量值。
  16. 如权利要求15所述的检测系统，其特征在于，所述控制单元还适宜于确定所述待测通道。
  17. 如权利要求16所述的检测系统，其特征在于，每次所述反射接收操作，所述控制单元确定1个所述待测通道。
  18. 如权利要求16所述的检测系统，其特征在于，进行反射接收操作之前，所述控制单元基于所述激光雷达的内部参数，通过所述机械单元调节所述激光雷达与所述目标板的相对位姿，以使所述待测通道发出的激光束按照预设角度入射至所述目标板。
  19. 如权利要求15所述的检测系统，其特征在于，所述激光雷达和所述目标板中至少一个可移动地固定于所述机械单元上；
    所述机械单元还包括：测量元件，所述测量元件适宜于获得所述目标板和所述激光雷达之间的测量距离。
  20. 如权利要求14所述的检测系统，其特征在于，所述目标板的数量为多个，不同的目标板具有不同的反射率标准值。
  21. 如权利要求14所述的检测系统，其特征在于，所述评估模块包括：
    整合单元，所述整合单元适宜于获得所述激光雷达的反射率参数，所述激光雷达的反射率参数包括：至少一个测量距离下，针对至少一个反射率标准值的目标板，所述激光雷达至少一个探测通道的反射率参数。
  22. 一种激光雷达，其特征在于，所述激光雷达的反射率准度范围为-40％～40％，其中，所述激光雷达的反射率准度通过权利要求1～12中任一项所述的检测方法获得。
  23. 一种激光雷达，其特征在于，所述激光雷达的反射率精度范围为0～40％，其中，所述激光雷达的反射率精度通过权利要求1～12中任一项所述的检测方法获得。
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