CN-116609773-B - Laser radar ranging capability evaluation method and device, measuring device and electronic equipment

CN116609773BCN 116609773 BCN116609773 BCN 116609773BCN-116609773-B

Abstract

The application provides a laser radar ranging capability assessment method, a laser radar ranging capability assessment device, a laser radar ranging capability assessment measuring device and electronic equipment, and relates to the technical field of laser radars. The method comprises the steps of obtaining a first amplitude value of an echo signal obtained after a laser signal emitted by a target laser radar is subjected to an attenuation function of an optical attenuation subsystem with adjustable attenuation, receiving the echo signal by the target laser radar, obtaining a current first ranging value of the target laser radar according to a first corresponding relation between the amplitude value and a distance which are obtained in advance and the first amplitude value, adjusting the attenuation of the optical attenuation subsystem, obtaining a first ranging value of the target laser radar after the attenuation is adjusted until the attenuation of the optical attenuation subsystem is stopped, and analyzing according to the obtained first ranging value to obtain the ranging capability of the target laser radar. Therefore, the indoor range of the laser radar can be increased by utilizing the attenuation function of the light attenuation subsystem, and the evaluation of the range finding capability of the laser radar can be completed in a smaller experimental field based on the corresponding relation between the amplitude and the distance.

Inventors

LI YAN
WANG ERWEI
ZHANG HAIWU

Assignees

北醒（北京）光子科技有限公司

Dates

Publication Date: 20260512
Application Date: 20230619

Claims (12)

1. A method for evaluating range-finding capability of a lidar, the method being applied to a measurement device, the measurement device comprising an attenuation-adjustable optical attenuation subsystem, the method comprising: Obtaining a first amplitude of an echo signal obtained after a laser signal emitted by a target laser radar passes through the attenuation function of the optical attenuation subsystem, wherein the echo signal is received by the target laser radar; Obtaining a current first ranging value of the target laser radar according to a first corresponding relation between a pre-obtained amplitude value and a distance and the first amplitude value; the attenuation of the optical attenuation subsystem is adjusted, and a first ranging value of the target laser radar after the attenuation is adjusted is obtained until the adjustment of the attenuation of the optical attenuation subsystem is stopped; analyzing and obtaining the ranging capability of the target laser radar according to the obtained first ranging value; When the first correspondence is obtained, the measuring device further includes a light source and a receiving module, the light attenuation subsystem includes at least one fixed light attenuation unit, the fixed light attenuation unit includes an attenuation sheet frame and a plurality of attenuation sheets disposed on the attenuation sheet frame, and the method further includes: The method comprises the steps of receiving a first laser signal from a light source, controlling the light source to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target laser radar, obtaining the light power and the amplitude of a second laser signal received by a receiving module under different attenuation actions, and obtaining the distance corresponding to the light power of the second laser signal so as to obtain the first corresponding relation, wherein the different attenuation actions are realized by adjusting the number of fixed light attenuation units in the measuring device and/or attenuation sheets used on an optical path.
2. The method of claim 1, further comprising an ambient light simulation unit in the measurement device, wherein prior to the obtaining the first amplitude of the echo signal obtained after the attenuation of the laser signal emitted by the target lidar by the optical attenuation subsystem, the method further comprises: And controlling the ambient light simulation unit according to a preset ambient light requirement to simulate corresponding ambient light by using the ambient light simulation unit, wherein the echo signal is a signal obtained under the ambient light simulated by the ambient light simulation unit.
3. The method of claim 1 or 2, wherein upon obtaining the first correspondence, the measurement device further comprises an electrically tunable optical attenuator located between the light source and the optical attenuation subsystem, the method further comprising: obtaining a second corresponding relation between the attenuation value of the electrically tunable optical attenuator and the optical power of a third laser signal output by the electrically tunable optical attenuator; the obtaining the optical power of the second laser signal received by the receiving module under different attenuation effects includes: Under various attenuation scenes, according to the current attenuation value of the electric adjustable optical attenuator and the second corresponding relation, the optical power of the laser signal currently output by the electric adjustable optical attenuator is obtained, and according to the optical power of the laser signal currently output by the electric adjustable optical attenuator and the attenuation amount currently provided by the optical attenuation subsystem, the optical power of the second laser signal is obtained through calculation.
4. A method according to claim 3, wherein in obtaining the second correspondence, the measuring device further comprises an optical power meter disposed between the electrically tunable optical attenuator and the optical attenuation subsystem, the obtaining the second correspondence of the attenuation value of the electrically tunable optical attenuator to the optical power of the third laser signal output by the electrically tunable optical attenuator comprising: The attenuation value of the electrically adjustable optical attenuator is adjusted to be minimum, and the optical power of the current third laser signal is obtained through the optical power meter; Sequentially increasing the attenuation value of the electrically tunable optical attenuator, and obtaining the optical power of the third laser signal output after the attenuation value of the electrically tunable optical attenuator is increased through the optical power meter until the attenuation value of the electrically tunable optical attenuator is adjusted to the maximum.
5. The method of claim 3, wherein obtaining the optical power and the amplitude of the second laser signal received by the receiving module under different attenuation effects comprises: Adjusting a fixed light attenuation unit in the light attenuation subsystem until the amplitude of the laser signal received by the receiving module is a preset amplitude, wherein the preset amplitude is set based on the amplitude corresponding to the maximum ranging value of the target laser radar; under the condition that the current attenuation amount is maintained by the optical attenuation subsystem, gradually increasing the attenuation value of the electrically-operated variable optical attenuator, and recording the optical power and the waveform of the second laser signal received by the receiving module after each increase until the attenuation value of the electrically-operated variable optical attenuator is adjusted to be maximum; And adjusting the attenuation amount of the optical attenuation subsystem according to a preset amplitude adjustment requirement, gradually increasing the attenuation value of the electrically-driven adjustable optical attenuator again under the condition that the current attenuation amount is maintained by the optical attenuation subsystem, and recording the optical power and the waveform of the second laser signal received by the receiving module after each increase until the optical power of the second laser signal received by the receiving module reaches the maximum.
6. The method of claim 1, wherein the first correspondence includes a first sub-correspondence corresponding to different bias voltages, and before the obtaining the optical power and the amplitude of the second laser signal received by the receiving module under different attenuation actions and obtaining the distance corresponding to the optical power of the second laser signal, the method further includes: The bias voltage used by the receiving module is adjusted to obtain first sub-corresponding relations corresponding to different bias voltages, wherein the first sub-corresponding relations comprise corresponding relations between the amplitude and the distance of the second laser signals received by the receiving module under the corresponding bias voltage; The obtaining a current first ranging value of the target laser radar according to a first corresponding relation between a pre-obtained amplitude and a distance and the first amplitude comprises the following steps: And determining the first ranging value according to a first sub-corresponding relation corresponding to different bias voltages, the bias voltage currently used by the target laser radar and a first amplitude value.
7. A measuring device, characterized in that the measuring device comprises an optical attenuation subsystem with adjustable attenuation, a light source, a receiving module and a processing unit, wherein the optical attenuation subsystem is arranged between the light source and the receiving module, and the measuring device is used for realizing the laser radar ranging capability assessment method according to any one of claims 1-6; The light source is used for sending out a first laser signal, wherein the sending power used by the light source for sending out the first laser signal is equal to the target sending power of the target laser radar to be subjected to ranging capability assessment; The receiving module is used for obtaining the optical power of the second laser signal received under different attenuation actions, wherein the different attenuation actions are realized by adjusting the optical attenuation subsystem; The processing unit is configured to obtain magnitudes of second laser signals received under different attenuation effects, and obtain a distance corresponding to optical power of the second laser signals, so as to obtain a first correspondence between magnitudes and distances, where the first correspondence is used to determine a corresponding first ranging value based on a first magnitude of an echo signal obtained during evaluation when performing laser radar ranging capability evaluation by using the optical attenuation subsystem.
8. The measurement device of claim 7 further comprising an electrically tunable optical attenuator positioned between the light source and the optical attenuation subsystem, the optical attenuation subsystem comprising at least one fixed optical attenuation unit comprising an attenuation sheet mount and a plurality of attenuation sheets disposed on the attenuation sheet mount, The electrically tunable optical attenuator is configured to cooperate with the optical attenuation subsystem to provide different attenuation effects when the first correspondence is obtained.
9. The measuring device according to claim 7 or 8, further comprising an ambient light simulation unit, The environment light simulation unit is used for simulating corresponding environment light according to preset environment light requirements when the laser radar ranging capability is evaluated.
10. A lidar ranging capability assessment device, which is used to implement the lidar ranging capability assessment method of any of claims 1-6, and is applied to a measurement device, where the measurement device includes an optical attenuation subsystem with adjustable attenuation, and the lidar ranging capability assessment device includes: The processing module is used for obtaining a first amplitude value of an echo signal obtained after a laser signal emitted by the target laser radar passes through the attenuation function of the optical attenuation subsystem, wherein the echo signal is received by the target laser radar; the processing module is further used for obtaining a current first ranging value of the target laser radar according to a first corresponding relation between the amplitude and the distance, which are obtained in advance, and the first amplitude; the processing module is used for further adjusting the attenuation of the optical attenuation subsystem and obtaining a first ranging value of the target laser radar after the attenuation is adjusted until the attenuation of the optical attenuation subsystem is stopped being adjusted; And the analysis module is used for analyzing and obtaining the ranging capability of the target laser radar according to the obtained first ranging value.
11. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the lidar ranging capability assessment method of any of claims 1-6.
12. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the lidar ranging capability assessment method according to any of claims 1 to 6.

Description

Laser radar ranging capability evaluation method and device, measuring device and electronic equipment Technical Field The application relates to the technical field of laser radars, in particular to a laser radar ranging capability assessment method, a laser radar ranging capability assessment device, a laser radar ranging capability measurement device and electronic equipment. Background The laser radar has been widely used in the fields of automatic driving, robots, security monitoring, surveying and mapping, smart cities and the like by virtue of the advantages of ranging capability of hundreds of meters and even kilometers, ultra-high resolution, large field angle and the like. Among them, the ranging capability of the lidar is widely focused as a core important index. The ranging capability of the laser radar needs to be calibrated to meet factory requirements, and the actual detection distance needs to be a wider field. The large experimental field brings about the cost of research, development and test, and how to equivalent hundred meters and even kilometer distance measurement capability in the laboratory field (10 m) becomes a problem to be solved by the technicians in the field. Disclosure of Invention The embodiment of the application provides a laser radar ranging capability assessment method, a device, a measuring device, electronic equipment and a readable storage medium, which can increase the indoor ranging range of a laser radar by utilizing the attenuation effect of a light attenuation subsystem and complete the assessment of the laser radar ranging capability in a smaller experimental field based on the corresponding relation between amplitude and distance. Embodiments of the application may be implemented as follows: In a first aspect, an embodiment of the present application provides a method for evaluating a ranging capability of a lidar, which is applied to a measurement device, where the measurement device includes an optical attenuation subsystem with an adjustable attenuation, and the method includes: Obtaining a first amplitude of an echo signal obtained after a laser signal emitted by a target laser radar passes through the attenuation function of the optical attenuation subsystem, wherein the echo signal is received by the target laser radar; Obtaining a current first ranging value of the target laser radar according to a first corresponding relation between a pre-obtained amplitude value and a distance and the first amplitude value; the attenuation of the optical attenuation subsystem is adjusted, and a first ranging value of the target laser radar after the attenuation is adjusted is obtained until the adjustment of the attenuation of the optical attenuation subsystem is stopped; and analyzing and obtaining the ranging capability of the target laser radar according to the obtained first ranging value. In an alternative embodiment, the measuring device further includes an ambient light simulation unit, and before the obtaining the first amplitude of the echo signal obtained after the attenuation of the laser signal emitted by the target lidar by the optical attenuation subsystem, the method further includes: And controlling the ambient light simulation unit according to a preset ambient light requirement to simulate corresponding ambient light by using the ambient light simulation unit, wherein the echo signal is a signal obtained under the ambient light simulated by the ambient light simulation unit. In an optional embodiment, when the first correspondence is obtained, the measuring device further includes a light source and a receiving module, the light attenuation subsystem includes at least one fixed light attenuation unit, the fixed light attenuation unit includes an attenuation sheet frame and a plurality of attenuation sheets disposed on the attenuation sheet frame, and the method further includes: controlling the light source to emit a first laser signal, wherein the emission power used by the light source to emit the first laser signal is equal to the target emission power of the target laser radar; Obtaining the optical power and the amplitude of the second laser signal received by the receiving module under different attenuation actions, and obtaining the distance corresponding to the optical power of the second laser signal so as to obtain the first corresponding relation, wherein the different attenuation actions are realized by adjusting the number of fixed light attenuation units in the measuring device and/or attenuation sheets used on an optical path. In an alternative embodiment, when the first correspondence is obtained, the measurement device further comprises an electrically tunable optical attenuator located between the light source and the optical attenuation subsystem, the method further comprising: obtaining a second corresponding relation between the attenuation value of the electrically tunable optical attenuator and the optical power of a third las