CN-122017802-A - Test method, test system, and computer-readable storage medium

Abstract

The present disclosure provides a test method, a test system, and a computer-readable storage medium for a lidar. The testing method comprises the steps of determining a ranging value according to points in the laser radar point cloud, determining a distance calibration value according to a first distance from a first measuring point to a target plate and a second distance from a second measuring point to the target plate, and determining a ranging error of the laser radar according to the ranging value and the distance calibration value. According to the testing method, the distance calibration value can be accurately determined according to the first distance from the first measuring point to the target plate and the second distance from the second measuring point to the target plate, and the accuracy of measuring the range error of the laser radar can be improved according to the accurate distance calibration value.

Inventors

• HUANG MEITAO
• Shao Baineng
• WANG WEISONG

Assignees

• 上海禾赛科技有限公司

Dates

Publication Date

20260512

Application Date

20241112

Claims (12)

1. 1. A method of testing for a lidar, comprising: determining a ranging value according to points in the laser radar point cloud; Determining a distance calibration value based on a first distance from a first measurement point to a target plate and a second distance from a second measurement point to the target plate, and And determining the range error of the laser radar according to the range value and the range calibration value.
2. 2. The test method of claim 1, wherein the determining the distance calibration value comprises: determining a drop foot distance between the lidar and the drop foot of the target plate based on the first distance and the second distance, and And determining the distance calibration value according to the drop foot distance and the included angle, wherein the included angle is an included angle between the direction vector of the point and the direction vector of the drop foot.
3. 3. The method of testing according to claim 2, wherein said determining a drop distance between the lidar and the drop of the target plate comprises: And determining the drop foot distance according to the first distance, the second distance and a third distance, wherein the third distance is the distance between the first measuring point and the second measuring point.
4. 4. The test method of claim 2, further comprising: determining the included angle includes: determining a first coordinate value of the point in a laser radar coordinate system; determining a second coordinate value of the foot in the lidar coordinate system, and And determining the included angle according to the first coordinate value and the second coordinate value.
5. 5. The method of testing according to claim 1, wherein the lidar includes a detection channel, the point cloud includes points corresponding to the detection channel, and the determining the range error of the lidar includes: And determining the ranging error of the detection channel.
6. 6. The method according to claim 5, wherein the point cloud includes a plurality of points corresponding to the probe channel, and the determining the ranging error of the probe channel includes: determining average value and/or mean square error of difference values of distance measurement values and distance calibration values of the plurality of points corresponding to the detection channel, and And determining the ranging error of the detection channel according to the average value and/or the mean square error.
7. 7. The method of testing of claim 6, wherein said lidar includes a plurality of said probe channels, and wherein said determining a range error for said probe channels includes determining a range error for a plurality of said probe channels.
8. 8. The test method of any one of claims 1-7, further comprising: and determining performance parameters of the laser radar according to the range error, wherein the performance parameters comprise at least one of range accuracy or range accuracy.
9. 9. The test method of any one of claims 1-7, further comprising: measuring the first distance by a first distance meter with the light emitting direction parallel to the positive emitting direction of the laser radar, and And measuring the second distance by a second range finder with the light emitting direction parallel to the positive emitting direction of the laser radar.
10. 10. The method of claim 9, wherein the first range finder and the second range finder are symmetrically disposed on both sides of the lidar.
11. 11. A test system for a lidar, comprising: the target plate is positioned in the light emitting direction of the laser radar; A range finder arranged on the side surface of the laser radar, and A controller configured to perform the test method of any one of claims 1-10.
12. 12. A computer readable storage medium comprising computer executable instructions stored thereon, which when executed by a processor, implement the test method of any of claims 1-10.

Description

Test method, test system, and computer-readable storage medium Technical Field The present disclosure relates to the field of lidar, and more particularly, to a testing method, a testing system, and a computer-readable storage medium. Background The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting laser beams, and is an advanced detection mode combining laser technology and photoelectric detection technology. The laser radar is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicle, intelligent robot, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like. Before the laser radar leaves the factory, the laser radar can be tested for distance accuracy, which is a test for judging whether the performance of the laser radar reaches the use standard. If the used range accuracy testing scheme has deviation, the judgment result of the range accuracy performance of the laser radar can be directly affected. Therefore, a more reliable laser radar ranging accuracy test scheme is needed. The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field. Disclosure of Invention In view of one or more of the problems of the prior art, the present disclosure provides a test method for a lidar, comprising determining a ranging value from points in the lidar point cloud, determining a ranging calibration value from a first distance of a first measurement point to a target plate and a second distance of a second measurement point to the target plate, and determining a ranging error of the lidar from the ranging value and the ranging calibration value. Optionally, the determining the distance calibration value comprises determining a drop foot distance between the laser radar and the drop foot of the target board according to the first distance and the second distance, and determining the distance calibration value according to the drop foot distance and an included angle, wherein the included angle is an included angle between a direction vector of the point and a direction vector of the drop foot. Optionally, determining the drop foot distance between the laser radar and the drop foot of the target board includes determining the drop foot distance according to the first distance, the second distance and a third distance, wherein the third distance is the distance between the first measurement point and the second measurement point. Optionally, the testing method further comprises determining the included angle, wherein the method comprises the steps of determining a first coordinate value of the point in a laser radar coordinate system, determining a second coordinate value of the foot in the laser radar coordinate system, and determining the included angle according to the first coordinate value and the second coordinate value. Optionally, the laser radar comprises a detection channel, the point cloud comprises points corresponding to the detection channel, and the determining the range error of the laser radar comprises determining the range error of the detection channel. Optionally, the point cloud comprises a plurality of points corresponding to the detection channel, and the determining of the ranging error of the detection channel comprises determining an average value and/or a mean square error of differences between the ranging values and the distance calibration values of the plurality of points corresponding to the detection channel, and determining the ranging error of the detection channel according to the average value and/or the mean square error. Optionally, the lidar comprises a plurality of detection channels, and the determining the range error of the detection channels comprises determining the range error of the plurality of detection channels. Optionally, the testing method further comprises determining a performance parameter of the lidar based on the range error, the performance parameter comprising at least one of range accuracy or range accuracy. Optionally, the testing method further comprises the steps of measuring the first distance through a first range finder with the light emitting direction parallel to the front emitting direction of the laser radar, and measuring the second distance through a second range finder with the light emitting direction parallel to the front emitting direction of the laser radar. Optionally, the first range finder and the second range finder are symmetrically arranged at two sides of the laser radar. The disclosure also provides a test system for a laser radar, comprising a target plate positioned in the light emitting direction of the laser radar, a range finder arranged on the side surface of the laser radar, and a controller