CN112394341A - Vehicle-mounted laser radar range measurement testing system and method - Google Patents
Vehicle-mounted laser radar range measurement testing system and method Download PDFInfo
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- CN112394341A CN112394341A CN202011349957.9A CN202011349957A CN112394341A CN 112394341 A CN112394341 A CN 112394341A CN 202011349957 A CN202011349957 A CN 202011349957A CN 112394341 A CN112394341 A CN 112394341A
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- 238000012360 testing method Methods 0.000 title claims abstract description 52
- 238000005259 measurement Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 18
- 239000013307 optical fiber Substances 0.000 claims abstract description 42
- 238000002474 experimental method Methods 0.000 claims description 9
- 239000000835 fiber Substances 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000000691 measurement method Methods 0.000 claims 2
- 230000007547 defect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
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- 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
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a vehicle-mounted laser radar range measurement testing system and method, wherein the system comprises a test bench, a laser radar and a reference laser range finder are arranged on the test bench, a telescope receiving subsystem, a first diaphragm, a second diaphragm and an optical fiber coupler are coaxially arranged on the test bench, the optical fiber coupler is connected with a collimation subsystem through an optical fiber, and the range measurement precision of the laser radar is obtained by taking the value measured by the reference laser range finder as the reference and comparing the value measured by the laser radar with the reference value. Compared with the prior art, the method has the advantages of simplicity, science, accuracy, easy operation, great convenience for measuring the range of the laser radar to be detected, realization of measuring the range of the laser radars to be detected in different sizes and models, and the like.
Description
Technical Field
The invention relates to the technical field of unmanned automobile sensors, in particular to a vehicle-mounted laser radar range finding metering test system and method.
Background
Vehicle-mounted laser radar (LiDAR) is an important sensor for advanced driving assistance, automatic driving to carry out environment three-dimensional reconstruction, obstacle detection and automobile positioning, and is widely used by unmanned automobile companies. The principle is that the distance is determined through measuring the time difference of laser signals and the phase difference, the angle is measured through horizontal rotation scanning or phase control scanning, a two-dimensional polar coordinate system is established according to the two data, the third-dimensional height information is obtained through acquiring signals of different pitching angles, the detection distance of the current vehicle-mounted laser radar reaches about 150 meters, the precision is smaller than 2 centimeters, the ranging precision is important to the positioning and obstacle avoidance of automatic driving, and how to accurately calibrate and measure the ranging precision of the laser radar becomes the problem to be solved urgently in the industry.
At present, there are two main ways for measuring the range of laser radar. The first mode is an open field actual test, namely, a set target is tested by using a high-precision reference laser range finder, then the same target is tested by using a laser radar, and the test results of the set target and the laser radar are compared, so that the ranging precision of the radar is measured. The method has the defects of large testing space requirement and serious environmental restriction. The second method is to use a laser echo simulator for testing, as shown in fig. 1, the measurement principle is to use a laser delay generator, after receiving the signal of the laser radar, the simulator emits laser again after a certain time delay, after the laser radar receives the laser emitted by the simulator, the tested distance is compared with the product of the delay time and the speed of light, and then the ranging precision of the radar is measured. The method has the defects that the callback simulator has certain response time for receiving laser and transmitting the laser, the theoretical precision is more than 10 cm, and the radar cannot be accurately measured.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a vehicle-mounted laser radar range finding metering test system and a vehicle-mounted laser radar range finding metering test method.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a vehicle-mounted laser radar range finding measurement test system, this system includes the laboratory bench, be provided with laser radar and benchmark laser range finder on the laboratory bench, telescope receiving subsystem, first diaphragm, second diaphragm and fiber coupler have still coaxially placed on the laboratory bench, fiber coupler still is connected with the collimation subsystem through optic fibre.
Furthermore, the reference laser range finder adopts a reference laser range finder with the precision less than 3 mm.
Furthermore, the optical fiber adopts a multimode graded optical fiber.
Furthermore, the first diaphragm and the second diaphragm both adopt aperture diaphragms.
Further, the collimation subsystem adopts an optical collimator or a laser collimator.
The invention also provides a measuring distance measuring method adopting the vehicle-mounted laser radar measuring distance measuring test system, which comprises the following steps:
step 1: placing the reference laser range finder on the experiment table and starting the experiment table to enable the range finding laser emitted by the reference laser range finder to be coaxial with the telescope receiving subsystem, the first diaphragm, the second diaphragm and the optical fiber coupler, wherein the range finding laser is collected by the telescope receiving subsystem, is aligned by the first diaphragm and the second diaphragm, passes through the optical fiber coupler, enters the optical fiber, is emitted by the collimation subsystem and is received by the reference laser range finder, and the test value of the reference laser range finder is recorded;
step 2: closing and moving away the reference laser range finder, placing the laser radar at the original position of the reference laser range finder on the experiment table, enabling the transmitting end face of the laser radar and the transmitting end face of the reference laser range finder to be at the same position and then opening for testing, enabling the ranging laser of the laser radar to be coaxial with the telescope receiving subsystem, the first diaphragm, the second diaphragm and the optical fiber coupler, and finally obtaining the test value of the laser radar;
and step 3: and calculating the difference between the respective test values of the reference laser range finder and the laser radar, and adding the precision of the reference laser range finder to 3mm to obtain the distance testing precision of the vehicle-mounted laser radar.
Further, in the measuring distance measuring method, the reference laser distance meter adopts a reference laser distance meter with the precision less than 3 mm.
Furthermore, in the measuring distance measuring method, the optical fiber adopts multimode graded optical fiber.
Further, in the measuring distance measuring method, the first diaphragm and the second diaphragm both adopt aperture diaphragms.
Further, in the measuring distance measuring method, the collimation subsystem adopts an optical collimator or a laser collimator.
Compared with the prior art, the invention has the following advantages:
(1) the vehicle-mounted laser radar range finding metering test system provided by the invention comprises a test bench, wherein a laser radar and a reference laser range finder are arranged on the test bench, a telescope receiving subsystem, a first diaphragm, a second diaphragm and an optical fiber coupler are coaxially arranged on the test bench, and the optical fiber coupler is also connected with a collimation subsystem through optical fibers.
(2) The method for measuring and testing the vehicle-mounted laser radar range finding measurement comprises the following steps: step 1: placing a reference laser range finder on an experiment table and starting the experiment table to enable the range finding laser emitted by the reference laser range finder to be coaxial with a telescope receiving subsystem, a first diaphragm, a second diaphragm and an optical fiber coupler, wherein the range finding laser is collected by the telescope receiving subsystem, is straightened by the first diaphragm and the second diaphragm, enters an optical fiber through the optical fiber coupler, is emitted by a collimation subsystem and is received by the reference laser range finder, and a test value of the reference laser range finder is recorded; step 2: closing and moving away the reference laser range finder, placing the laser radar at the original position of the reference laser range finder on the experiment table, enabling the transmitting end face of the laser radar and the transmitting end face of the reference laser range finder to be at the same position, then opening the laser radar for testing, enabling the ranging laser of the laser radar to be coaxial with the telescope receiving subsystem, the first diaphragm, the second diaphragm and the optical fiber coupler, and finally obtaining the test value of the laser radar; and step 3: and calculating the difference between the respective test values of the reference laser range finder and the laser radar, namely measuring the distance precision of the vehicle-mounted laser radar, wherein the range measurement precision of the laser radar depends on the reference laser range finder, the influence of a measuring and testing system is small, and the measuring and testing precision is high.
Drawings
FIG. 1 is a schematic diagram of a testing method of an echo simulator in the prior art;
FIG. 2 is a schematic structural diagram of a vehicle-mounted laser radar range finding measurement test system of the present invention;
in the figure, 1 is a laboratory table, 2 is a laser radar, 3 is a telescope receiving subsystem, 4 is a first diaphragm, 5 is a second diaphragm, 6 is an optical fiber coupler, 7 is an optical fiber, and 8 is a collimation subsystem.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As shown in figure 2, the invention provides a vehicle-mounted laser radar range finding metering test system which comprises a laboratory table 1, a telescope receiving subsystem 2, two diaphragms, an optical fiber coupler 6, an optical fiber 7 and a collimation subsystem 8 which are integrated together, wherein central axes of the telescope receiving subsystem 2, the two diaphragms and the optical fiber coupler 6 are aligned through adjustment, and the aim of solving the problem of accurate metering of the vehicle-mounted laser radar range finding precision is achieved.
The optical fiber 7 is a multimode graded optical fiber, the optical fiber coupler 6, the optical fiber 7 and the collimation subsystem 8 are integrated into a whole, the optical axes of the optical fiber coupler and the optical fiber coupler are coaxial, and the double diaphragms reduce and collimate the light velocity diameter so as to ensure that the incident half cone angle is smaller than the incident critical angle of the optical fiber.
The method for measuring and testing the range of the vehicle-mounted laser radar matched with the invention comprises the following steps: the method comprises the steps of placing a reference laser range finder with the precision of less than 3 millimeters on an experiment table, starting the reference laser range finder, enabling the range finding laser to be coaxial with a telescope receiving subsystem 3, a first diaphragm 4, a second diaphragm 5 and an optical fiber coupler 6, collecting the range finding laser by the telescope receiving subsystem 3, straightening the beam diameter of the range finding laser by the first diaphragm 4 and the second diaphragm 5, entering an optical fiber 7 through the optical fiber coupler 6, emitting the laser by a collimation subsystem 8, receiving the laser by the range finder, recording a test value, closing and removing the laser tester. And then placing the laser radar 2 at the same position to ensure that the transmitting end face of the laser radar 2 and the transmitting end face of the laser tester are at the same position, starting the laser radar 2 to test, enabling the ranging laser to be coaxial with the telescope receiving subsystem 3, the first diaphragm 4, the second diaphragm 5 and the optical fiber coupler 6, and recording a test value. And (4) measuring the difference between the two values, and adding the precision of the reference laser range finder to 3mm to obtain the precision of the distance measured by the vehicle-mounted laser radar.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a vehicle-mounted laser radar range finding measurement test system, its characterized in that, this system includes laboratory bench (1), be provided with laser radar (2) and benchmark laser range finder on laboratory bench (1), telescope receiving subsystem (3), first diaphragm (4), second diaphragm (5) and fiber coupler (6) have still coaxially placed on laboratory bench (1), fiber coupler (6) still are connected with collimation subsystem (8) through optic fibre (7).
2. The vehicle-mounted lidar ranging measurement and testing system according to claim 1, wherein the reference laser range finder is a reference laser range finder with a precision of less than 3 mm.
3. The vehicle-mounted lidar ranging measurement and testing system according to claim 1, wherein the optical fiber (7) is a multimode graded optical fiber.
4. The vehicle-mounted lidar ranging measurement and testing system according to claim 1, wherein the first diaphragm (4) and the second diaphragm (5) are both aperture diaphragms.
5. The vehicle-mounted lidar ranging measurement and testing system according to claim 1, wherein the collimation subsystem (8) employs an optical collimator or a laser collimator.
6. A odometry method using the on-board lidar odometry testing system of claim 1, comprising the steps of:
step 1: the reference laser range finder is placed on the experiment table (1) and opened, so that ranging laser emitted by the reference laser range finder is coaxial with the telescope receiving subsystem (3), the first diaphragm (4), the second diaphragm (5) and the optical fiber coupler (6), the ranging laser is collected by the telescope receiving subsystem (3), is aligned by the first diaphragm (4) and the second diaphragm (5), enters the optical fiber (7) through the optical fiber coupler (6), is emitted by the collimation subsystem (8) and is received by the reference laser range finder, and a test value of the reference laser range finder is recorded;
step 2: closing and moving away the reference laser range finder, placing the laser radar (2) at the original position of the reference laser range finder on the experiment table (1), and starting to test after the transmitting end face of the laser radar (2) and the transmitting end face of the reference laser range finder are at the same position, so that the ranging laser of the laser radar (2) is coaxial with the telescope receiving subsystem (3), the first diaphragm (4), the second diaphragm (5) and the optical fiber coupler (6), and finally obtaining the test value of the laser radar (2);
and step 3: and calculating the difference between the respective test values of the reference laser range finder and the laser radar (2), and adding the precision of the reference laser range finder to 3mm to obtain the vehicle-mounted laser radar test distance precision.
7. The range-finding measurement method adopting the vehicle-mounted laser radar range-finding measurement and test system according to claim 6, wherein the reference laser range finder adopts a reference laser range finder with the precision of less than 3 mm.
8. The ranging method adopting the vehicle-mounted laser radar ranging measurement testing system according to claim 6, wherein the optical fiber (7) adopts a multimode graded optical fiber.
9. The on-board lidar ranging measurement method using the on-board lidar ranging measurement test system according to claim 6, wherein the first diaphragm (4) and the second diaphragm (5) both use aperture diaphragms.
10. The on-board lidar ranging measurement and testing system according to claim 6, wherein the collimation subsystem (8) is an optical collimator or a laser collimator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011349957.9A CN112394341A (en) | 2020-11-26 | 2020-11-26 | Vehicle-mounted laser radar range measurement testing system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011349957.9A CN112394341A (en) | 2020-11-26 | 2020-11-26 | Vehicle-mounted laser radar range measurement testing system and method |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561500A (en) * | 2008-04-15 | 2009-10-21 | 中国科学院安徽光学精密机械研究所 | Automatic laser radar collimating system |
| CN103926574A (en) * | 2014-04-29 | 2014-07-16 | 中国科学院上海光学精密机械研究所 | Laser radar optical receiver assembly |
| CN105467399A (en) * | 2015-12-29 | 2016-04-06 | 大连楼兰科技股份有限公司 | Vehicle-mounted laser radar optical system based on Light Tools and working method for same |
| CN208000376U (en) * | 2018-03-01 | 2018-10-23 | 深圳市镭神智能***有限公司 | A kind of mobile lidar |
| CN109188397A (en) * | 2018-08-29 | 2019-01-11 | 上海禾赛光电科技有限公司 | Laser transmitting-receiving device and laser radar |
| CN109917402A (en) * | 2019-04-11 | 2019-06-21 | 西南交通大学 | A kind of mobile lidar emulation module simulation accuracy measuring method and system |
| CN209878985U (en) * | 2019-03-07 | 2019-12-31 | 北京是卓科技有限公司 | Laser radar receives adjusting device |
-
2020
- 2020-11-26 CN CN202011349957.9A patent/CN112394341A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561500A (en) * | 2008-04-15 | 2009-10-21 | 中国科学院安徽光学精密机械研究所 | Automatic laser radar collimating system |
| CN103926574A (en) * | 2014-04-29 | 2014-07-16 | 中国科学院上海光学精密机械研究所 | Laser radar optical receiver assembly |
| CN105467399A (en) * | 2015-12-29 | 2016-04-06 | 大连楼兰科技股份有限公司 | Vehicle-mounted laser radar optical system based on Light Tools and working method for same |
| CN208000376U (en) * | 2018-03-01 | 2018-10-23 | 深圳市镭神智能***有限公司 | A kind of mobile lidar |
| CN109188397A (en) * | 2018-08-29 | 2019-01-11 | 上海禾赛光电科技有限公司 | Laser transmitting-receiving device and laser radar |
| CN209878985U (en) * | 2019-03-07 | 2019-12-31 | 北京是卓科技有限公司 | Laser radar receives adjusting device |
| CN109917402A (en) * | 2019-04-11 | 2019-06-21 | 西南交通大学 | A kind of mobile lidar emulation module simulation accuracy measuring method and system |
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Application publication date: 20210223 |
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