WO2023054883A1

WO2023054883A1 - Method and apparatus for evaluating performance with respect to lidar apparatus

Info

Publication number: WO2023054883A1
Application number: PCT/KR2022/011654
Authority: WO
Inventors: 정종규; 류주완; 윤여민; 이재권; 민대홍; 정필현; 서재원
Original assignee: 주식회사 에스오에스랩
Priority date: 2021-09-29
Filing date: 2022-08-05
Publication date: 2023-04-06

Abstract

A LIDAR performance evaluating apparatus of the present invention comprises: a first assembly for positioning a LIDAR to be measured; a second assembly comprising a reflective target mount to which at least one reflective target is attached; a distance adjustment driving portion which is operatively connected to at least one of the first assembly and the second assembly and transfers a driving force to at least one of the first assembly and the second assembly; and a passage guide portion to which at least one of the first assembly and the second assembly is attached and which guides and restricts a movement path of at least one of the first assembly and the second assembly.

Description

Performance evaluation method for lidar device and performance evaluation device for lidar device

The present invention relates to a method for evaluating the performance of a lidar device for obtaining distance information of an object using a laser and an apparatus for evaluating the performance.

LiDAR (Light Detecting And Ranging) is a device that uses a laser to detect a distance to an object. In addition, the LIDAR device is a device capable of obtaining location information on objects existing in the vicinity by generating a point cloud using a laser. In addition, research on weather observation using LIDAR devices, 3D mapping, self-driving vehicles, self-driving drones, and unmanned robot sensors is also being actively conducted.

Such a lidar device has a field of view, vertical field of view, horizontal field of view, angular accuracy, vertical angular accuracy, horizontal angular accuracy, angular resolution, vertical angular resolution, horizontal angular resolution, measurement distance, minimum measurement distance, maximum measurement distance, detection distance, It will be manufactured to have various performance such as minimum detection distance, maximum detection distance, laser angle resolution, laser vertical angle resolution, laser horizontal angle resolution, laser angle accuracy, laser vertical angle accuracy, laser horizontal angle accuracy, laser size, laser divergence angle, etc. can

However, the performance under the conditions designed by the lidar manufacturer and the performance of the actual product may differ for various reasons.

Therefore, there is a need for a performance evaluation method and performance evaluation device for lidar that can calculate evaluation indicators for various performances of target lidar and ensure quality, but research and activities on this are still lacking.

One object of the present invention is to provide a lidar performance evaluation device for evaluating the performance of a target lidar to be measured using at least one reflective target.

Another object of the present invention is to provide a method for evaluating the performance of a target lidar device.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and problems not mentioned can be clearly understood by those skilled in the art from this specification and the accompanying drawings. will be.

A lidar performance evaluation apparatus according to an embodiment includes a first assembly for positioning a lidar to be measured, a second assembly including a reflective target mount on which the at least one reflective target is mounted, the first assembly and the second assembly. a distance adjusting driving unit operatively connected to at least one of the assemblies to transmit a driving force to at least one of the first assembly and the second assembly and at least one of the first assembly and the second assembly are mounted; A path guide unit for guiding and limiting a movement path of at least one of the assembly and the second assembly, wherein a relative distance between the first assembly and the second assembly is changed by a driving force transmitted by the distance adjustment driving unit. , The first assembly includes a lidar mount for mounting the lidar to be measured, a first driving unit for rotating and moving the lidar mount based on at least the first axis and the second axis, and the lidar mount on the third axis. , a second driving unit that moves in parallel to the fourth and fifth axes; the origin of rotation of the first driving unit is defined as a point where the first and second axes intersect, and the second driving unit The relative position of the lidar to be measured with respect to the rotation origin may be changed according to the parallel movement of the lidar mount by the.

LiDAR performance evaluation device according to another embodiment is a lidar mount for mounting a lidar to be measured, a first driving unit for rotating and moving the lidar mount based on at least a first axis and a second axis - at this time, the The first drive unit has a rotation origin at which the first axis and the second axis intersect-, a second drive unit for parallelly moving the lidar mount to the third axis, the fourth axis, and the fifth axis, of the rotation origin Storage for storing first and second image acquisition units and first and second reference data for aligning the optical origin of the measurement target lidar with the rotation origin and the first image acquisition unit and the second image acquisition unit disposed so that the position is included in the viewing angle Including a unit, but when the measurement target lidar is mounted on the lidar mount, the first image acquisition unit obtains first image data for the measurement target lidar, and the second image acquisition unit obtains the measurement target radar Acquire second image data for the ida, and the relative position of the measurement target lidar with respect to the rotation origin is changed according to the parallel movement of the lidar mount by the second drive unit, and the operation of the second drive unit In order to guide, the first image data, the first reference data, the second image data and the second reference data may be provided.

A method for evaluating performance of a target lidar device according to another embodiment includes locating the target lidar device at a first location, moving the location of the target lidar device from the first location to a second location. Step - At this time, when the target lidar device is in the second position, the optical origin for the target lidar device is aligned with a predetermined position - the distance between the reflection target and the predetermined position is a reference Positioning the reflective target at a third position so that the target lidar device is at least one axis in a state in which the relative positional relationship between the optical origin of the target lidar device and the predetermined position is fixed. A plurality of lidar data corresponding to a plurality of viewpoints from the target lidar device and a plurality of rotation angles corresponding to the plurality of viewpoints from the target lidar device while rotating the target lidar device based on the at least one axis. Obtaining, based on at least one of the reference distance, the plurality of lidar data, and the plurality of rotation angles, a vertical viewing angle, a horizontal viewing angle, a vertical angle accuracy, a horizontal angle accuracy, a vertical angle resolution, Calculating an evaluation index for at least one of a horizontal angular resolution and a minimum detection distance may be included.

A method for evaluating performance of a target lidar device according to another embodiment includes locating the target lidar device at a first location, moving the location of the target lidar device from the first location to a second location. Step - At this time, when the target lidar device is in the second position, the optical origin for the target lidar device is aligned with a predetermined position - the distance between the reflection target and the predetermined position is a reference Positioning the reflective target at a third position so that the target lidar device is at least one axis in a state in which the relative positional relationship between the optical origin of the target lidar device and the predetermined position is fixed. Rotating at first to Nth rotational angles, laser sets output from the target lidar device and reflected by the reflection target while the target lidar device is located at the first to Nth rotational angles, respectively. Obtaining first to N th image sets for , Laser vertical angular resolution, laser horizontal angular resolution, laser vertical angular accuracy of the target lidar device based on at least one of the first to N th image sets, Calculating an evaluation index for at least one of laser horizontal angle accuracy, laser size, and laser divergence angle may be included.

The solutions to the problems of the present invention are not limited to the above-described solutions, and solutions not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings. You will be able to.

According to one embodiment of the present invention, a lidar performance evaluation apparatus for evaluating the performance of a target lidar to be measured using at least one reflective target may be provided.

According to one embodiment of the present invention, a method for evaluating the performance of a target lidar device may be provided.

The effects of the present invention are not limited to the above-mentioned effects, and effects not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings.

1 is a diagram for explaining a lidar device according to an embodiment.

Figure 2 is a diagram for explaining the operation of the lidar device and lidar data according to an embodiment.

3 is a flowchart illustrating a method of evaluating the performance of a target lidar device according to an embodiment.

4 is a diagram for explaining part of a method for evaluating the performance of a target lidar device according to an embodiment.

5 is a diagram for explaining part of a method for evaluating the performance of a target lidar device according to an embodiment.

6 is a diagram for explaining part of a method for evaluating the performance of a target lidar device according to an embodiment.

7 is a diagram for explaining part of a method for evaluating the performance of a target lidar device according to an embodiment.

8 to 14 are diagrams for explaining a part of a method for evaluating the performance of a target lidar device according to an embodiment.

15 to 19 are diagrams for explaining a part of a method for evaluating the performance of a target lidar device according to an embodiment.

20 to 21 are diagrams for explaining a part of a method for evaluating the performance of a target lidar device according to an embodiment.

22 to 26 are diagrams for explaining a part of a method for evaluating the performance of a target lidar device according to an embodiment.

27 is a flowchart for explaining a method of evaluating the performance of a target lidar device according to an embodiment.

28 is a diagram for explaining part of a method for evaluating the performance of a target lidar device according to an embodiment.

29 is a diagram for explaining part of a method for evaluating the performance of a lidar device according to an embodiment.

30 is a diagram for explaining part of a method for evaluating the performance of a lidar device according to an embodiment.

31 is a diagram for explaining part of a method for evaluating the performance of a lidar device according to an embodiment.

32 is a diagram for explaining part of a method for evaluating the performance of a lidar device according to an embodiment.

33 to 35 are block diagrams of a performance evaluation device for a target lidar device according to an embodiment.

36 and 37 are views for explaining a first assembly according to an exemplary embodiment.

38 is a diagram for explaining a performance evaluation device for a target lidar device according to an embodiment.

The embodiments described in this specification are intended to clearly explain the spirit of the present invention to those skilled in the art distribution to which the present invention belongs, so the present invention is not limited to the embodiments described in this specification, and the The scope should be construed to include modifications or variations that do not depart from the spirit of the invention.

The terms used in this specification have been selected as general terms that are currently widely used as much as possible in consideration of the functions in the present invention, but these may vary depending on the intention of those skilled in the art, precedents, or the emergence of new technologies to which the present invention belongs. can However, in the case where a specific term is defined and used in an arbitrary meaning, the meaning of the term will be separately described. Therefore, the terms used in this specification should be interpreted based on the actual meaning of the term and the overall content of this specification, not the simple name of the term.

The drawings accompanying this specification are intended to easily explain the present invention, and the shapes shown in the drawings may be exaggerated as necessary to aid understanding of the present invention, so the present invention is not limited by the drawings.

If it is determined that a detailed description of a known configuration or function related to the present invention in this specification may obscure the gist of the present invention, a detailed description thereof will be omitted if necessary.

According to one embodiment, as a lidar performance evaluation device for evaluating the performance of a target lidar to be measured using at least one reflective target, a first assembly for positioning the target lidar to be measured, the at least one reflective target A second assembly including a mounted reflection target mount, and a distance adjusting driving unit operatively connected to at least one of the first assembly and the second assembly to transmit a driving force to at least one of the first assembly and the second assembly. and a path guide unit to which at least one of the first assembly and the second assembly is mounted and guiding and limiting a movement path of at least one of the first assembly and the second assembly, wherein the transmission is transmitted by the distance adjusting driving unit. The relative distance between the first assembly and the second assembly is changed by a driving force, and the first assembly includes a lidar mount for mounting the lidar to be measured, and the lidar mount to at least a first shaft and A first driving unit for rotationally moving with respect to the second axis, and a second driving unit for parallel moving the lidar mount to the third, fourth and fifth axes; and the rotation origin of the first driving unit is It is defined as a point where axis 1 and the second axis intersect, and the lidar performance evaluation in which the relative position of the lidar to be measured with respect to the rotation origin is changed according to the parallel movement of the lidar mount by the second drive unit A device may be provided.

Here, the lidar to be measured may be aligned with the first assembly by driving the second driving unit.

Here, when the measurement target lidar is aligned with the first assembly, the rotation origin may be located inside the measurement target lidar.

Here, when the measurement target lidar is aligned with the first assembly, the optical origin of the measurement target lidar may be aligned with the rotation origin.

Here, the first and second driving units may be coupled so that the first driving unit rotates the second driving unit and the second driving unit does not move the first driving unit in parallel.

Here, the first driving unit includes a first mount, and the second driving unit may be coupled to the first mount of the first driving unit.

Here, the second driving unit may be operatively subordinate to the first driving unit.

Here, the first drive unit, the first shaft rotation drive for rotating the lidar mount relative to the first axis and the second shaft rotation drive for rotating the lidar mount relative to the second axis Including, wherein the first shaft rotation drive unit and the second shaft rotation drive unit rotate the second shaft rotation drive unit to rotate the first shaft rotation drive unit, but the first shaft rotation drive unit rotates the second shaft rotation drive unit Can be combined so as not to move.

Here, the first shaft rotation drive unit may be operatively subordinate to the second shaft rotation drive unit.

Here, the first axis may be a horizontal axis, and the second axis may be a vertical axis.

Here, the first axis may be a vertical axis, and the second axis may be a horizontal axis.

According to another embodiment, as a lidar performance evaluation device for evaluating the performance of a lidar to be measured using at least one reflective target, a lidar mount for mounting the lidar to be measured, the lidar mount at least A first driving unit for rotationally moving the first and second axes - At this time, the first driving unit has a rotation origin at which the first axis and the second axis intersect -, the lidar mount to the third axis , 　The second driving unit for parallel movement in the 4th and 5th axes, the first image acquisition unit and the second image acquisition unit disposed so that the position of the rotation origin is included in the viewing angle, and the optical origin of the measurement target lidar A storage unit for storing first reference data and second reference data for aligning with the origin of rotation, wherein when the lidar to be measured is mounted on the lidar mount, the first image acquisition unit is the lidar to be measured Obtains first image data for, and the second image acquisition unit obtains second image data for the measurement target lidar, and moves to the rotation origin according to the parallel movement of the lidar mount by the second driving unit. The relative position of the lidar to be measured is changed, and the first image data, the first reference data, the second image data, and the second reference data are provided to guide the operation of the second drive unit. A performance evaluation device may be provided.

Here, the lidar performance evaluation apparatus may further include a display for displaying the first and second image data and the first and second reference data.

Here, the first image acquisition unit and the second image acquisition unit may be disposed so that an axis along the center of the viewing angle of the first image acquisition unit and an axis along the center of the viewing angle of the second image acquisition unit are not parallel.

Here, the first reference data and the second reference data may correspond to the rotation origin.

Here, the first reference data may correspond to the position of the origin of rotation in the first image data, and the second reference data may correspond to the position of the origin of rotation in the second image data.

According to another embodiment, a method for evaluating the performance of a target lidar device is provided, the step of locating the target lidar device at a first location, and changing the location of the target lidar device from the first location to a second location. Moving - At this time, when the target lidar device is in the second position, the optical origin for the target lidar device is aligned with a predetermined position -, the distance between the reflection target and the predetermined position Positioning the reflective target at a third position so that is a reference distance, setting the target lidar device to at least one Rotating the target lidar device based on the at least one axis, rotating the target lidar device based on the at least one axis, and a plurality of lidar data corresponding to a plurality of viewpoints from the target lidar device and a plurality of rotations corresponding to the plurality of viewpoints Obtaining an angle, a vertical viewing angle, a horizontal viewing angle, a vertical angle accuracy, a horizontal angle accuracy, and a vertical angle of the target lidar device based on at least one of the reference distance, the plurality of lidar data, and the plurality of rotation angles. A method for evaluating the performance of a target lidar device including calculating an evaluation index for at least one of resolution, horizontal angular resolution, and minimum sensing distance may be provided.

Here, the obtaining of a plurality of lidar data corresponding to the plurality of viewpoints and a plurality of rotation angles corresponding to the plurality of viewpoints obtains first angle information and first lidar data corresponding to the first angle information. obtaining second angle information and second lidar data corresponding to the second angle information; acquiring third angle information and third lidar data corresponding to the third angle information; and Acquiring 4 angle information and fourth lidar data corresponding to the fourth angle information, wherein calculating the evaluation index includes the first to fourth angle information and the first to fourth lidar data. The method may include calculating an evaluation index for a vertical viewing angle or a horizontal viewing angle of the target lidar based on at least one of the data.

Here, the laser output in the first direction from the target lidar at a rotation angle corresponding to the first angle information is reflected from the reflection target, but the laser is reflected from the target lidar at a rotation angle corresponding to the second angle information. The laser output in the first direction is not reflected from the reflection target, and the laser output from the target lidar in the second direction is reflected from the reflection target at a rotation angle corresponding to the third angle information. At a rotation angle corresponding to the angle information, the laser output from the target lidar in the second direction may not be reflected from the reflective target.

Here, the first direction may be the uppermost direction of the center of the viewing angle of the target lidar, and the second direction may be the lowermost direction of the center of the viewing angle of the target lidar.

Here, the laser output in the first direction from the target lidar at a rotation angle corresponding to the first angle information is reflected from the lower end of the reflective target, and the target lidar at a rotation angle corresponding to the third angle information. A laser output from IDA in the second direction may be reflected from an upper end of the reflective target.

Here, the first direction may be a left center direction of the viewing angle of the target lidar, and the second direction may be a right center direction of the viewing angle of the target lidar.

Here, the laser output from the target lidar in the first direction at a rotation angle corresponding to the first angle information is reflected from the right side of the reflective target, and the laser is reflected from the target lidar at a rotation angle corresponding to the third angle information. A laser output from IDA in the second direction may be reflected from the left side of the reflective target.

Here, it corresponds to the first point data included in the first lidar data, and the distance value of the second point data included in the second lidar data is different from the distance value of the first point data, and the 3 Corresponds to third point data included in lidar data, and a distance value of the fourth point data included in the fourth lidar data may be different from a distance value of the third point data.

Here, the distance value of the first point data and the distance value of the third point data may correspond to the reference distance.

Here, an evaluation index for a vertical or horizontal viewing angle of the target lidar may be calculated based on the first angle information, the third angle information, and the offset angle information.

Here, the offset angle information may be calculated based on the distance between the predetermined position and the reflection target and the size of the reflection target.

Here, the obtaining of a plurality of lidar data corresponding to the plurality of viewpoints and a plurality of rotation angles corresponding to the plurality of viewpoints obtains first angle information and first lidar data corresponding to the first angle information. The step of obtaining second angle information and second lidar data corresponding to the second angle information, and calculating the evaluation index include the first and second angle information and the first and second lidar data. Calculating an evaluation index for angular accuracy of the target lidar based on at least one of the lidar data may be included.

Here, the angle corresponding to the first angle information may be a preset angle.

Here, the angle corresponding to the first angle information may be an angle calculated so that the reflective target is positioned at a reference position of a viewing angle according to a design condition of the target lidar device.

Here, the angle corresponding to the second angle information may be an angle at which a point data group for the reflective target is located at a reference position in the second lidar data.

Here, the obtaining of a plurality of lidar data corresponding to the plurality of viewpoints and a plurality of rotation angles corresponding to the plurality of viewpoints obtains first angle information and first lidar data corresponding to the first angle information. obtaining second angle information and second lidar data corresponding to the second angle information; acquiring third angle information and third lidar data corresponding to the third angle information; and Acquiring 4 angle information and fourth lidar data corresponding to the fourth angle information, wherein calculating the evaluation index includes the first to fourth angle information and the first to fourth lidar data. It may include calculating an evaluation index for the angular resolution of the target lidar based on at least one of the data.

According to another embodiment, a method for evaluating the performance of a target lidar device is provided, the step of locating the target lidar device at a first location, and changing the location of the target lidar device from the first location to a second location. Moving - At this time, when the target lidar device is in the second position, the optical origin for the target lidar device is aligned with a predetermined position -, the distance between the reflection target and the predetermined position Positioning the reflective target at a third position so that is a reference distance, setting the target lidar device to at least one Rotating the target lidar device at first to Nth rotational angles based on an axis, the laser output from the target lidar device and reflected by the reflection target while the target lidar device is located at the first to Nth rotational angles, respectively Acquiring first to Nth image sets of the sets, based on at least one of the first to Nth image sets, laser vertical angle resolution, laser horizontal angle resolution, and laser vertical angle of the target lidar device A method for evaluating the performance of a target lidar device may be provided, including calculating an evaluation index for at least one of accuracy, laser horizontal angle accuracy, laser size, and laser divergence angle.

Here, the number of image data included in the first to Nth image sets may be at least partially different.

Here, first to Nth composite image data may be obtained based on the first to Nth image sets.

Here, in order to calculate an evaluation index for the laser vertical angular resolution and the laser horizontal angular resolution of the target lidar device, distance values between adjacent laser images included in each of the first to N th composite image data are used. can

Here, the laser vertical angular resolution of the target lidar device is a distance value between vertically adjacent laser images included in each of the first to Nth synthesized image data and a distance between the reflection target and the target lidar device. value, and the laser horizontal angular resolution of the target lidar device is a distance value between horizontally adjacent laser images included in each of the first to Nth composite image data, the reflection target and the target laser. It can be calculated based on the distance value between the devices.

Here, laser images and reference laser images included in each of the first to Nth synthesized image data may be used to calculate an evaluation index for horizontal angle accuracy and vertical angle accuracy of the target lidar device.

Here, the vertical angle accuracy of the target lidar device is the laser images included in each of the first to N th composite image data and the distance value in the vertical direction of the reference laser images corresponding to each laser image and the reflection target It is calculated based on the distance value between the target lidar devices, and the horizontal angle accuracy of the target lidar device corresponds to laser images included in each of the first to Nth composite image data and each laser image. It can be calculated based on the distance value of the reference laser images in the horizontal direction and the distance value between the reflection target and the target lidar device.

1. lidar device

A lidar device is a device for detecting a distance to and a position of an object by using a laser. For example, the lidar device may output a laser, and when the output laser is reflected from the object, the reflected laser may be received to measure the distance between the object and the lidar device and the position of the object. In this case, the distance and location of the object may be expressed through a coordinate system. For example, the object's distance and location are in spherical coordinates.

(R,

,

) can be expressed as However, it is not limited thereto, and a Cartesian coordinate system (X, Y, Z) or a cylindrical coordinate system (R,

,Z) and so on.

In addition, the lidar device may use laser output from the lidar device and reflected from the object to measure the distance of the object.

A lidar device according to an embodiment may use time of flight (TOF) of a laser from output to detection to measure a distance of an object. For example, the LIDAR device may measure the distance of the object by using a difference between a time value based on the output time of the laser beam and a time value based on the detected time of the laser reflected from the object and detected.

In addition, the lidar device according to an embodiment may use a triangulation method, an interferometry method, a phase shift measurement method, and the like in addition to the flight time to measure the distance of the object, Not limited to this.

LiDAR device according to an embodiment may be installed in a vehicle. For example, the lidar device may be installed on the roof, hood, headlamp or bumper of a vehicle.

In addition, a plurality of lidar devices according to an embodiment may be installed in a vehicle. For example, when two lidar devices are installed on the roof of a vehicle, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. Also, for example, when two lidar devices are installed on the roof of a vehicle, one lidar device may be for observing the left side and the other may be for observing the right side, but is not limited thereto.

In addition, a lidar device according to an embodiment may be installed in a vehicle. For example, when a lidar device is installed inside a vehicle, it may be for recognizing a driver's gesture while driving, but is not limited thereto. Also, for example, when the lidar device is installed inside or outside the vehicle, it may be for recognizing the driver's face, but is not limited thereto.

LiDAR device according to an embodiment may be installed in an unmanned aerial vehicle. For example, lidar devices include UAV Systems, Drones, Remote Piloted Vehicles (RPVs), Unmanned Aerial Vehicle Systems (UAVs), Unmanned Aircraft Systems (UAS), and Remote Piloted Air/Aerials (RPAVs). Vehicle) or RPAS (Remote Piloted Aircraft System).

In addition, a plurality of LiDAR devices according to an embodiment may be installed in an unmanned aerial vehicle. For example, when two lidar devices are installed in an unmanned aerial vehicle, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. Also, for example, when two lidar devices are installed in an unmanned aerial vehicle, one lidar device may be for observing the left side and the other may be for observing the right side, but is not limited thereto.

A lidar device according to an embodiment may be installed in a robot. For example, lidar devices may be installed in personal robots, professional robots, public service robots, other industrial robots, or manufacturing robots.

In addition, a plurality of lidar devices according to an embodiment may be installed in the robot. For example, when two lidar devices are installed in the robot, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. Also, for example, when two lidar devices are installed in the robot, one lidar device may be for observing the left side and the other one may be for observing the right side, but is not limited thereto.

In addition, a lidar device according to an embodiment may be installed in a robot. For example, when a lidar device is installed in a robot, it may be for recognizing a human face, but is not limited thereto.

In addition, the lidar device according to one embodiment may be installed for industrial security. For example, LiDAR devices can be installed in smart factories for industrial security.

In addition, a plurality of lidar devices according to an embodiment may be installed in a smart factory for industrial security. For example, when two lidar devices are installed in a smart factory, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. Also, for example, when two lidar devices are installed in a smart factory, one lidar device may be for observing the left side and the other may be for observing the right side, but is not limited thereto.

In addition, a lidar device according to an embodiment may be installed for industrial security. For example, when a lidar device is installed for industrial security, it may be for recognizing a human face, but is not limited thereto.

1 is a diagram for explaining a lidar device according to an embodiment.

Referring to FIG. 1 , a lidar apparatus 1000 according to an embodiment may include a laser output unit 100.

At this time, the laser output unit 100 according to an embodiment may emit a laser.

Also, the laser output unit 100 may include one or more laser output devices. For example, the laser output unit 100 may include a single laser output device, may include a plurality of laser output devices, or in the case of including a plurality of laser output devices, the plurality of laser output devices may be a single laser output device. Arrays can be formed.

In addition, the laser output unit 100 includes a laser diode (LD), a solid-state laser, a high power laser, a light entitling diode (LED), a vertical cavity surface emitting laser (VCSEL), and an external cavity diode laser (ECDL) etc., but is not limited thereto.

In addition, the laser output unit 100 may output laser of a certain wavelength. For example, the laser output unit 100 may output a 905 nm band laser or a 1550 nm band laser. Also, for example, the laser output unit 100 may output a laser of a 940 nm band. Also, for example, the laser output unit 100 may output lasers including a plurality of wavelengths between 800 nm and 1000 nm. In addition, when the laser output unit 100 includes a plurality of laser output devices, some of the plurality of laser output devices may output lasers in the 905 nm band and other parts may output lasers in the 1500 nm band.

Referring back to FIG. 1 , a lidar device 1000 according to an embodiment may include an optic unit 200 .

In the description of the present invention, the optic unit may be variously expressed as a steering unit, a scanning unit, etc., but is not limited thereto.

At this time, the optical unit 200 according to an embodiment may change the flight path of the laser. For example, the optic unit 200 may change the flight path of the laser beam emitted from the laser output unit 100 toward the scan area. Also, for example, a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.

In addition, the optic unit 200 according to an embodiment may change the flight path of the laser by reflecting the laser. For example, the optic unit 200 may reflect the laser emitted from the laser output unit 100 and change the flight path of the laser to direct the laser to the scan area. Also, for example, a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.

Also, the optic unit 200 according to an exemplary embodiment may include various optical means to reflect the laser beam. For example, the optic unit 200 may include a mirror, a resonance scanner, a MEMS mirror, a voice coil motor (VCM), a polygonal mirror, a rotating mirror, or A galvano mirror or the like may be included, but is not limited thereto.

Also, the optic unit 200 according to an embodiment may change the flight path of the laser by refracting the laser. For example, the optic unit 200 may refract the laser emitted from the laser output unit 100 to change the flight path of the laser to direct the laser to the scan area. Also, for example, a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.

Also, the optic unit 200 according to an exemplary embodiment may include various optical means to refract the laser beam. For example, the optic unit 200 may include a lens, a prism, a micro lens, or a microfluidie lens, but is not limited thereto.

In addition, the optic unit 200 according to an embodiment may change the flight path of the laser by changing the phase of the laser. For example, the optic unit 200 may change the phase of the laser emitted from the laser output unit 100 to change the flight path of the laser to direct the laser to the scan area. Also, for example, a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.

In addition, the optic unit 200 according to an embodiment may include various optical means to change the phase of the laser. For example, the optic unit 200 may include, but is not limited to, an optical phased array (OPA), a meta lens, or a metasurface.

Also, the optic unit 200 according to an exemplary embodiment may include one or more optical means. Also, for example, the optic unit 200 may include a plurality of optical means.

Referring back to FIG. 1 , the lidar apparatus 100 according to an embodiment may include a detector unit 300.

The detector unit may be variously expressed as a light receiving unit or a receiving unit in the description of the present invention, but is not limited thereto.

At this time, the detector unit 300 according to an embodiment may detect the laser. For example, the detector unit may detect laser reflected from an object located within the scan area.

Also, the detector unit 300 according to an embodiment may receive a laser beam and generate an electrical signal based on the received laser beam. For example, the detector unit 300 may receive a laser reflected from an object located within a scan area and generate an electrical signal based on the received laser beam. Also, for example, the detector unit 300 may receive a laser reflected from an object located within the scan area through one or more optical means, and generate an electrical signal based thereon. Also, for example, the detector unit 300 may receive laser reflected from an object located within the scan area through an optical filter and generate an electrical signal based on the received laser beam.

Also, the detector unit 300 according to an embodiment may detect the laser based on the generated electrical signal. For example, the detector unit 300 may detect the laser by comparing a predetermined threshold value with the magnitude of the generated electrical signal, but is not limited thereto. Also, for example, the detector unit 300 may detect laser by comparing a predetermined threshold with a rising edge, a falling edge, or a median value of a rising edge and a falling edge of a generated electrical signal, but is not limited thereto. Also, for example, the detector unit 300 may detect laser by comparing a predetermined threshold value with a peak value of the generated electrical signal, but is not limited thereto.

Also, the detector unit 300 according to an embodiment may include various sensor elements. For example, the detector unit 300 may include a PN photodiode, a phototransistor, a PIN photodiode, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultipliers (SiPM), a time to digital converter (TDC), A comparator, a complementary metal-oxide-semiconductor (CMOS) or a charge coupled device (CCD) may be included, but is not limited thereto.

For example, the detector unit 300 may be a 2D SPAD array, but is not limited thereto. Also, for example, a SPAD array may include a plurality of SPAD units, and a SPAD unit may include a plurality of SPADs (pixels).

At this time, the detector unit 300 may accumulate N number of histograms using a 2D SPAD array. For example, the detector unit 300 may use a histogram to detect a light reception time of a laser beam reflected from an object and received light.

For example, the detector unit 300 may use a histogram to detect a peak point of the histogram as a light reception point of a laser beam reflected from an object and received, but is not limited thereto. Also, for example, the detector unit 300 may use a histogram to detect a point where the histogram is equal to or greater than a predetermined value as a light reception point of a laser beam reflected from an object and received, but is not limited thereto.

Also, the detector unit 300 according to an embodiment may include one or more sensor elements. For example, the detector unit 300 may include a single sensor element or may include a plurality of sensor elements.

Also, the detector unit 300 according to an embodiment may include one or more optical elements. For example, the detector unit 300 may include an aperture, a micro lens, a converging lens, or a diffuser, but is not limited thereto.

* Also, the detector unit 300 according to an embodiment may include one or more optical filters. The detector unit 300 may receive the laser reflected from the target object through an optical filter. For example, the detector unit 300 may include a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, a wedge filter, and the like, but is not limited thereto.

Referring back to FIG. 1 , the lidar apparatus 1000 according to an embodiment may include a control unit 400.

The control unit may be variously expressed as a controller or the like in the description of the present invention, but is not limited thereto.

In this case, the controller 400 according to an embodiment may control the operation of the laser output unit 100, the optic unit 200, or the detector unit 300.

Also, the controller 400 according to an embodiment may control the operation of the laser output unit 100 .

For example, the control unit 400 may control the output timing of the laser output from the laser output unit 100 . Also, the control unit 400 may control the power of the laser output from the laser output unit 100 . Also, the control unit 400 may control the pulse width of the laser output from the laser output unit 100 . Also, the control unit 400 may control the cycle of the laser output from the laser output unit 100 . Also, when the laser output unit 100 includes a plurality of laser output devices, the controller 400 may control the laser output unit 100 to operate some of the plurality of laser output devices.

Also, the controller 400 according to an embodiment may control the operation of the optical unit 200 .

For example, the controller 400 may control the operating speed of the optical unit 200 . Specifically, when the optic unit 200 includes a rotation mirror, the rotation speed of the rotation mirror can be controlled, and when the optic unit 200 includes a MEMS mirror, the repetition period of the MEMS mirror can be controlled. may, but is not limited thereto.

Also, for example, the controller 400 may control the degree of operation of the optical unit 200 . Specifically, when the optic unit 200 includes the MEMS mirror, the operating angle of the MEMS mirror may be controlled, but is not limited thereto.

Also, the controller 400 according to an embodiment may control the operation of the detector unit 300 .

For example, the controller 400 may control the sensitivity of the detector unit 300 . Specifically, the controller 400 may control the sensitivity of the detector unit 300 by adjusting a predetermined threshold value, but is not limited thereto.

Also, for example, the controller 400 may control the operation of the detector unit 300 . Specifically, the controller 400 can control On/Off of the detector unit 300, and when the controller 300 includes a plurality of sensor elements, the detector unit operates some of the sensor elements among the plurality of sensor elements. The operation of 300 can be controlled.

Also, the controller 400 according to an embodiment may determine a distance from the lidar device 1000 to an object located within the scan area based on the laser detected by the detector unit 300 .

For example, the controller 400 may determine the distance to an object located within the scan area based on the time when the laser is output from the laser output unit 100 and the time when the laser is sensed by the detector 300. . In addition, for example, the controller 400 controls the time when the laser is output from the laser output unit 100 and the laser is detected by the detector unit 300 directly without passing through the object, and the laser reflected from the object is detected by the detector unit 300. A distance to an object located in the scan area may be determined based on a viewpoint detected at .

There may be a difference between the time when the lidar device 1000 sends a trigger signal for emitting a laser beam by the control unit 400 and the actual time when the laser beam is output from the laser output device. Since the laser beam is not actually output between the time point of the trigger signal and the time point of actual light emission, accuracy may decrease when included in the laser flight time.

In order to improve precision in measuring the time-of-flight of the laser beam, the actual light emission point of the laser beam may be used. However, it may be difficult to determine the actual emission time point of the laser beam. Therefore, the laser beam output from the laser output device must be directly transmitted to the detector unit 300 without passing through the target object immediately or after being output.

For example, since an optic is disposed above the laser output device, the laser beam output from the laser output device by the optic can be directly sensed by the detector unit 300 without passing through the target object. The optic may be a mirror, lens, prism, metasurface, etc., but is not limited thereto. The optic may be one, but may be plural.

Also, for example, since the detector unit 300 is disposed above the laser output device, the laser beam output from the laser output device may be directly sensed by the detector unit 300 without passing through the target object. The detector unit 300 may be separated from the laser output device at a distance of 1 mm, 1 um, 1 nm, etc., but is not limited thereto. Alternatively, the detector unit 300 may be disposed adjacent to the laser output device without being spaced apart from it. An optic may be present between the detector unit 300 and the laser output device, but is not limited thereto.

Specifically, the laser output unit 100 may output a laser, the control unit 400 may obtain a time point at which the laser is output from the laser output unit 100, and the laser output unit 100 may output the laser. When is reflected from an object located within the scan area, the detector unit 300 can detect the laser reflected from the object, and the controller 400 can obtain a time point at which the laser was detected by the detector unit 300, The controller 400 may determine the distance to the object located in the scan area based on the output time and detection time of the laser.

In addition, in detail, the laser output unit 100 can output a laser, and the laser output from the laser output unit 100 can be directly detected by the detector unit 300 without passing through an object located in the scan area. and the controller 400 may obtain a point in time at which the laser that did not pass through the object was detected. When the laser output from the laser output unit 100 is reflected from an object located within the scan area, the detector unit 300 can detect the laser reflected from the object, and the controller 400 can detect the laser reflected from the detector unit 300. The point of time at which L is detected may be obtained, and the controller 400 may determine the distance to the object located within the scan area based on the point of time of detecting the laser that has not passed through the object and the point of time of detecting the laser reflected from the object.

Referring to FIG. 2, the lidar device 1000 according to an embodiment includes a laser output unit for outputting a laser and a detector unit for detecting the laser, and descriptions of the laser output unit and the detector unit are described above. As such, redundant descriptions are omitted.

Also, referring to FIG. 2 , the data processing unit according to an embodiment may acquire lidar data 1200 based on the laser sensed by the lidar device 1000 .

At this time, the data processing unit may be included in the lidar device 1000, and may be included in the control unit of the above-described lidar device 1000, but is not limited thereto, and the lidar device 1000 and at least one It may be connected through a communication method of and positioned to obtain a signal generated from the detector unit included in the lidar device 1000.

In addition, referring to FIG. 2, the lidar apparatus 1000 according to an embodiment may irradiate a laser to form a field of view 1100, and the laser reflected within the field of view 1100 LiDAR data 1200 may be acquired by sensing.

At this time, the viewing angle 1100 of the lidar device 1000 may mean an area where a laser is irradiated or an area where a laser can be sensed, but is not limited thereto.

In addition, the lidar data 1200 may mean various types of data obtained from the lidar device 1000, for example, point data obtained from the lidar device 1000 , point cloud, frame data, etc., but is not limited thereto.

In this case, the point data may be data including distance information, location information, and the like, and the point cloud may mean cluster data of the point data, but is not limited thereto.

Also, the frame data may mean a group of the point data, but is not limited thereto.

In addition, the viewing angle 1100 of the lidar device 1000 may include a horizontal viewing angle 1110 for a horizontal scan range and a vertical viewing angle 1120 for a vertical scan range.

Also, the horizontal viewing angle 1110 and the vertical viewing angle 1120 may be defined by the irradiated laser.

For example, the horizontal viewing angle 1110 of the lidar device 1000 may be defined by a first laser 1111 irradiated at a first angle and a second laser 1112 irradiated at a second angle, , More specifically, it may be defined as a difference between the first angle at which the first laser 1111 is irradiated and the second angle at which the second laser 1112 is irradiated, but is not limited thereto.

Also, for example, the vertical viewing angle 1120 of the lidar device 1000 may be defined by a third laser 1121 irradiated at a third angle and a fourth laser 1122 irradiated at a fourth angle. More specifically, it may be defined as a difference between the third angle at which the third laser 1121 is irradiated and the second angle at which the fourth laser 1122 is reflected, but is not limited thereto.

However, the definition of the horizontal viewing angle 1110 and the vertical viewing angle 1120 of the lidar device 1000 is not limited to the above-described example, and represents an area where the laser is irradiated from the lidar device 1000. It can be defined by various methods for

Also, the horizontal viewing angle 1110 and the vertical viewing angle 1120 may be defined by the sensed laser. More specifically, the horizontal viewing angle 1110 and the vertical viewing angle 1120 may be defined by point data generated by a detected laser.

For example, the horizontal viewing angle 1110 of the lidar device 1000 may be defined by first point data 1210 and second point data 1220, and more specifically, the first point data It may be defined by the irradiation angle of the laser corresponding to 1210 and the irradiation angle of the laser corresponding to the second point data 1220, but is not limited thereto.

Also, for example, the vertical viewing angle 1120 of the lidar device 1000 may be defined by the third point data 1230 and the fourth point data 1240, and more specifically, the third point data 1230. It may be defined by the irradiation angle of the laser corresponding to the point data 1230 and the irradiation angle of the laser corresponding to the fourth point data 1240, but is not limited thereto.

However, the definition of the horizontal viewing angle 1110 and the vertical viewing angle 1120 of the lidar device 1000 is not limited to the above example, and the area in which the lidar device 1000 can sense the laser It can be defined by various methods for expressing .

Also, referring to FIG. 2 , the laser forming the viewing angle 1100 of the lidar device 1000 according to an embodiment may be irradiated to have angular resolution.

In this case, the angular resolution may include a horizontal angular resolution for the resolution in the horizontal direction and a vertical angular resolution for the resolution in the vertical direction.

Also, the horizontal angular resolution and the vertical angular resolution may be defined by irradiated laser.

For example, the horizontal angular resolution of the lidar device 1000 may be defined by a fifth laser 1131 irradiated at a fifth angle and a sixth laser 1132 irradiated at a sixth angle, Specifically, it may be defined as a difference between the fifth angle at which the fifth laser 1131 is irradiated and the sixth angle at which the sixth laser 1132 is irradiated, but is not limited thereto.

In addition, for example, the vertical angular resolution of the lidar device 1000 may be defined by a seventh laser 1141 irradiated at a seventh angle and an eighth laser 1142 irradiated at an eighth angle, , More specifically, it may be defined as a difference between the seventh angle at which the seventh laser 1141 is irradiated and the eighth angle at which the eighth laser 1142 is irradiated, but is not limited thereto.

However, the definition of the horizontal angular resolution and the vertical angular resolution of the lidar device 1000 is not limited to the above-described example, and may be defined by various methods for expressing the angular resolution capable of distinguishing the object to be detected. can

Also, referring to FIG. 2 , lidar data 1200 obtained from the lidar apparatus 1000 according to an embodiment may include point data having angular resolution.

Also, the horizontal angular resolution and the vertical angular resolution may be defined by the sensed laser. More specifically, the horizontal angular resolution and the vertical angular resolution may be defined by point data generated by a detected laser.

For example, the horizontal angular resolution of the lidar device 1000 may be defined by the fifth point data 1250 and the sixth point data 1260, and more specifically, the fifth point data 1250 ) and the laser irradiation angle corresponding to the sixth point data 1260, but is not limited thereto.

Also, for example, the vertical angular resolution of the lidar device 1000 may be defined by the seventh point data 1270 and the eighth point data 1280, and more specifically, the seventh point data ( 1270) and the laser irradiation angle corresponding to the eighth point data 1280, but is not limited thereto.

In addition, the laser irradiated from the lidar device 1000 may have a size and a divergence angle, respectively.

For example, each laser irradiated from the lidar device 1000 may have a major axis length and a minor axis length, and may have a divergence angle, but is not limited thereto.

In addition, each point data included in the lidar data 1200 may include distance information.

In addition, an optical origin 1300 may be defined for the lidar device 1000 .

At this time, the optical origin 1300 may mean the origin of a coordinate system for expressing the aforementioned LIDAR data.

In addition, the optical origin 1300 may mean an origin defined when it is assumed that the laser irradiated from the LIDAR device 1000 is output from one point.

Also, the optical origin 1300 may mean an origin of distance measurement for measuring a distance using a laser in the LIDAR device 1000 .

Also, the optical origin 1300 may mean an origin for describing point data obtained from the LIDAR device 1000 .

In addition, the optical origin 1300 may mean a physically derived optical origin, but is not limited thereto, and may mean an optical origin artificially given to the lidar device 1000, but is not limited thereto. don't

2. Performance evaluation method for target lidar device

Referring to FIG. 3 , a method for evaluating the performance of a target lidar device according to an embodiment includes locating the target lidar device at a first location (S2010), and positioning the target lidar device at the first location. Moving the reflector to a second position (S2020), positioning the reflector at a third position (S2030), rotating the target lidar device about at least one axis (S2040), a plurality of points corresponding to a plurality of viewpoints At least one of acquiring lidar data of and a plurality of rotation angles corresponding to the plurality of viewpoints (S2050) and calculating at least one evaluation index (S2060) may be included.

In the present specification, the step of locating the target lidar device in the first position (S2010) and the step of moving the target lidar device from the first position to the second position (S2020) are described below through FIG. to be described in detail.

Further, in the present specification, the step of positioning the reflector in the third position (S2030) will be described in detail below with reference to FIG. 5 .

In addition, in the present specification, the step (S2040) of rotating the target lidar device based on at least one axis will be described in detail below with reference to FIG. 6.

In addition, in this specification, the step of obtaining a plurality of lidar data corresponding to the plurality of viewpoints and a plurality of rotation angles corresponding to the plurality of viewpoints (S2050) will be described in detail below through FIG. 7 do.

In addition, in this specification, the step of calculating the at least one evaluation index (S2060) will be described in detail with reference to FIGS. 8 to 26.

More specifically, FIG. 4 (a) is a diagram for explaining the step (S2010) of locating the above-described target lidar device in the first position, and FIG. It is a diagram for explaining the step of moving (S2020) from the first position to the second position.

In (a) of FIG. 4, a target lidar device 2100, an optical origin 2110 of the target lidar device 2100, and a predetermined position 2120 are displayed.

Here, the target lidar device 2100 may be a lidar device that is a target of at least one performance evaluation, and the target lidar device 2100 is a spinning type or a mechanical type. It can be various types of lidar devices that measure distances using lasers, such as , solid-state type, etc., or ToF (Time of Flight) cameras that measure distances using lasers. , but not limited thereto.

In addition, the above-described contents may be applied to the optical origin 2110 of the target lidar device 2100, and the optical origin 2110 is physically derived, artificially assigned, calculated, or set with respect to the target lidar device 2100. It may correspond to the origin 2110.

In addition, the predetermined location 2120 may mean a location for guiding the location of the target lidar device 2100 for evaluating the performance of the target lidar device 2100, and the target lidar device 2100 It may refer to a location defined by the hardware configuration of performance evaluation equipment for evaluating performance, pre-determined, or pre-set, but is not limited thereto.

Referring to (a) of FIG. 4 , the target lidar device 2100 may be located in a first position.

In this case, the first location may be a location where the distance from the predetermined location 2120 to the target lidar device 2100 is within the first distance.

Also, at this time, the first position may be a position where a distance from the predetermined position 2120 to the optical origin 2110 of the target lidar device 2100 is within the first distance.

In addition, the first distance may mean a distance within a range defined by hardware configuration of performance evaluation equipment for evaluating the performance of a target lidar device, pre-determined, or set in advance, but is not limited thereto. .

In (b) of FIG. 4, a target lidar device 2100, an optical origin 2110 of the target lidar device 2100, and a predetermined position 2120 are displayed.

Referring to (b) of FIG. 4 , the location of the target lidar device 2100 may be moved to a second location.

At this time, when the target lidar device 2100 is in the second position, the optical origin 2110 of the target lidar device 2100 may be aligned with the predetermined position 2120 .

For example, when the target lidar device 2100 is in the second position, the optical origin 2110 of the target lidar device 2100 may be located at the predetermined position 2120, Not limited to this.

In addition, for example, when the target lidar device 2100 is in the second position, the distance from the predetermined position 2120 to the optical origin 2110 of the target lidar device 2100 is 2 distance, but is not limited thereto.

Also, the second distance may be smaller than the first distance, but is not limited thereto.

More specifically, FIG. 5 is a view for explaining the step (S2030) of locating the above-described reflector at the third position.

5 shows a target lidar device 2100, an optical origin 2110 of the target lidar device 2100, a predetermined position 2120, and a reflector 2130.

Here, since the above contents can be applied to the target lidar device 2100, the optical origin 2110 of the target lidar device 2100, and the predetermined position 2120, overlapping descriptions will be omitted. .

In addition, here, the reflector 2130 may mean a material for reflecting the laser output from the target lidar device 2100 in order to evaluate the performance of the target lidar device 2100 .

In addition, the reflector 2130 may be provided with various materials.

For example, the reflector 2130 has a reflectance of 1%, 2%, 3%, 4%, 5%, 6%, 7%, 8%, 9%, 10%, 20%, 30%, 40% , 50%, 60%, 70%, 80%, 90%, 100%, etc. may be provided as a material having various reflectivities, but is not limited thereto.

In addition, for example, the reflector 2130 may be provided with various materials such as a diffuse reflection material, a regular reflection material, and a retroreflective material, but is not limited thereto.

In addition, the reflector 2130 may be provided with a different material depending on the performance to be evaluated.

For example, the reflector 2130 may be provided with a high reflectance or a retroreflective material when the performance to be evaluated is the viewing angle, angular accuracy, angular resolution, etc. of the target lidar device 2100, but is limited thereto. It doesn't work.

In addition, for example, the reflector 2130 may be provided with a material having a low reflectance or a diffuse reflection material when the performance to be evaluated is related to a measurement distance such as a maximum measurement distance and a minimum measurement distance of the target lidar device 2100. However, it is not limited thereto.

However, the above-described examples are only described according to an embodiment according to the present invention, but are not limited thereto, and even when the performance to be evaluated is the viewing angle, angular accuracy, angular resolution, etc. of the target lidar device 2100, the reflectance is low. Or it may be provided with a material that is a diffuse reflection material, and even when the performance to be evaluated is related to the measurement distance such as the maximum measurement distance and the minimum measurement distance of the target lidar device 2100, it can be provided with a material with high reflectivity or a retroreflective material. can

Referring to FIG. 5 , the reflector 2130 may be located in a third position.

In this case, the third position may be a position at which a distance from the predetermined position 2120 to the reflector 2130 is a reference distance.

For example, when the reference distance is 5 m, the third position may be a distance 5 m away from the predetermined position 2120, but is not limited thereto.

Also, the third position may be a position at which a distance from the optical origin 2110 of the LIDAR device 2100 to the reflector 2130 is a reference distance.

For example, when the reference distance is 5 m, the third position may be a distance 5 m away from the optical origin 2110 of the LIDAR device 2100, but is not limited thereto.

Also, the reference distance may include various distances.

For example, the reference distance is 0.1m, 0.2m, 0.3m, 0.4m, 0.5m, 0.6m 0.7m, 0.8m, 0.9m, 1m, 2m, 3m, 4m, 5m, 6m, 7m, 8m, 9m , 10 m, 20 m, 30 m, 40 m, 50 m, etc. may include various distances.

In addition, the reference distance may be different according to the evaluation target performance.

For example, the reference distance may be 5 m when the performance to be evaluated is the viewing angle, angular accuracy, and angular resolution of the target lidar device 2100, but is not limited thereto.

In addition, for example, the reference distance may include a plurality of distances dividing the distance from 5m to 0m in units of 0.01m when the evaluation target performance is the minimum measurement distance of the target lidar device 2100, but accordingly Not limited.

More specifically, FIG. 6 is a diagram for explaining the step (S2040) of rotating the above-described target lidar device based on at least one axis.

6 shows a target lidar device 2100, an optical origin 2110 of the target lidar device 2100, a predetermined position 2120, and a reflector 2130.

At this time, a solid line in the drawing may indicate a state in which the target lidar device 2100 is rotated at a first angle, and a dotted line may indicate a state in which the target lidar device 2100 is rotated at a second angle.

In addition, FIG. 6 may be understood as a view along at least one axis for rotating the target lidar device 2100.

In addition, in FIG. 6, for convenience of description, the viewing angle of the target lidar device 2100 is schematically shown.

In addition, since the above contents may be applied to the target lidar device 2100, the optical origin 2110 of the target lidar device 2100, the predetermined position 2120, and the reflector 2130, overlapping descriptions are omitted.

Referring to FIG. 6 , the target lidar device 2100 may be rotated about at least one axis to be rotated at a first angle or rotated at a second angle.

In this case, the at least one axis may be an axis parallel to the reflector 2130 .

For example, the at least one axis may be an axis that rotates along the vertical viewing angle direction of the target lidar device 2100 in parallel with the reflector 2130, and the horizontal viewing angle direction of the target lidar device 2100. It may be an axis that rotates along, but is not limited thereto.

In addition, according to an embodiment, when the target lidar device 2100 is rotated based on at least one axis, between the optical origin 2110 of the target lidar device 2100 and the predetermined position 2120 The relative position of may be fixed.

For example, when the target lidar device 2100 is rotated about at least one axis, the distance between the optical origin 2110 of the target lidar device 2100 and the predetermined position 2120 does not change. may not be

Also, according to an embodiment, the optical origin 2110 of the target lidar device 2100 may be located on the at least one axis.

At this time, the fact that the optical origin 2110 of the target lidar device 2100 is located on the at least one axis means that the at least one axis is the optical origin of the target lidar device 2100 ( 2110), but is not limited thereto.

Also, according to an embodiment, the predetermined location 2120 may be located on the at least one axis.

In this case, the meaning that the predetermined position 2120 is located on the at least one axis may be understood as the at least one axis passing through the predetermined position 2120, but is not limited thereto.

In addition, according to an embodiment, even if the target lidar device 2100 is rotated based on the at least one axis, the position of the optical origin 2110 of the target lidar device 2100 may not be moved.

At this time, the meaning that the position of the optical origin 2110 is not moved may include the meaning that it is not substantially moved even if it is slightly physically moved.

In addition, as described above, in a state in which the relative position between the optical origin 2110 of the target lidar device 2100 and the predetermined position 2120 is fixed, the target lidar device 2100 is set to the at least one When rotating based on the axis of , the distance between the reflector 2130 and the optical origin 2110 of the target lidar device 2100 may be fixed as the reference distance, so that the target lidar device 2100 A basis for more accurate evaluation of the performance of can be provided.

More specifically, FIG. 7 is a diagram for explaining the step of obtaining (S2050) a plurality of lidar data corresponding to the plurality of viewpoints and a plurality of rotation angles corresponding to the plurality of viewpoints.

7 shows a target lidar device 2100, an optical origin 2110 of the target lidar device 2100, a predetermined position 2120, and a reflector 2130.

In addition, FIG. 7 may be understood as a view along at least one axis for rotating the target lidar device 2100.

In addition, in FIG. 7, for convenience of description, the viewing angle of the target lidar device 2100 is schematically shown.

Referring to FIG. 7 , a plurality of lidar data corresponding to a plurality of viewpoints may be obtained from the target lidar apparatus 2100 while rotating the target lidar apparatus 2100 based on the at least one axis.

For example, while rotating the target lidar device 2100 based on the at least one axis, first frame data corresponding to a first viewpoint may be obtained, and second frame data corresponding to a second viewpoint may be obtained. It can be obtained, but is not limited thereto.

In this case, the first and second frame data may include at least one piece of point data.

In addition, referring to FIG. 7 , a plurality of rotation angles corresponding to the plurality of viewpoints may be obtained while rotating the target lidar device 2100 based on the at least one axis.

At this time, the plurality of rotation angles may be obtained from a physical configuration for rotating the target lidar device 2100, but is not limited thereto.

Also, the plurality of rotation angles may be obtained to correspond to the plurality of viewpoints.

For example, the first angle may be a rotation angle corresponding to the first time point corresponding to the time point at which the first frame data is acquired, and the second angle may be the rotation angle corresponding to the time point at which the second frame data is obtained. It may be a rotation angle corresponding to the second viewpoint, but is not limited thereto.

In addition, in the step of obtaining a plurality of lidar data and a plurality of rotation angles corresponding to the plurality of viewpoints while rotating the target lidar apparatus 2100 based on the at least one axis, the target lidar apparatus 2100 ) can be continuously rotated.

For example, the target lidar device 2100 may be rotated at a preset angular velocity from a first preset angle to a second preset angle, and from the first preset angle to the second preset angle. A plurality of lidar data and a plurality of rotation angles corresponding to a plurality of viewpoints may be obtained while rotating at a set angular velocity, but are not limited thereto.

In addition, in the step of obtaining a plurality of lidar data and a plurality of rotation angles corresponding to the plurality of viewpoints while rotating the target lidar apparatus 2100 based on the at least one axis, the target lidar apparatus 2100 ) can be rotated discontinuously.

* For example, in a state in which the target lidar device 2100 is rotated at a first angle, at least one or more lidar data and first angle information corresponding to at least one viewpoint are obtained, and the target lidar device ( 2100) is rotated at the second angle, at least one or more LIDAR data and second angle information corresponding to at least one viewpoint may be acquired, but is not limited thereto.

As described above, obtaining frame data corresponding to a plurality of viewpoints and rotation angles corresponding to a plurality of viewpoints matches each frame data with the rotation angle of the target lidar device 2100, thereby obtaining the target lidar While rotating the device 2100, the performance of the target lidar device 2100 can be evaluated.

In the step of calculating the at least one evaluation index described in detail with reference to FIGS. 8 to 26 (S2060), the at least one evaluation index is the vertical viewing angle, horizontal viewing angle, vertical angle accuracy, and horizontal angle accuracy of the target lidar device. , vertical angular resolution, horizontal angular resolution, and at least one of a minimum detection distance, but is not limited thereto.

Various methods may be used to calculate each of the above-described evaluation indicators, and hereinafter, a method of calculating each evaluation indicator according to an embodiment among the various methods will be described in more detail.

However, the specific details described below describe one embodiment of various methods, and the contents of the present invention are not limited to the specific contents described below.

More specifically, FIGS. 8, 9, 10, and 11 are diagrams for explaining a method of calculating an evaluation index for a vertical viewing angle of a target lidar device.

8, 12, 13, and 14 are diagrams for explaining a method of calculating an evaluation index for a horizontal viewing angle of a target lidar device.

Referring to FIG. 8 , a method for calculating an evaluation index for a viewing angle of a target lidar device includes obtaining first angle information and first lidar data corresponding to the first angle information (S2210), a second angle Obtaining information and second lidar data corresponding to the second angle information (S2220), obtaining third angle information and third lidar data corresponding to the third angle information (S2230), Acquiring 4 angle information and fourth lidar data corresponding to the fourth angle information (S2240) and evaluating a viewing angle based on the first to fourth angle information and the first to fourth lidar data A step of calculating an indicator (S2250) may be included.

In this case, each of the first to fourth LiDAR data may include at least one point data.

Acquiring first angle information and first lidar data corresponding to the first angle information (S2210), obtaining second angle information and second lidar data corresponding to the second angle information (S2220) ), obtaining third angle information and third lidar data corresponding to the third angle information (S2230) and obtaining fourth angle information and fourth lidar data corresponding to the fourth angle information (S2240) will be described in more detail through FIG. 9 or FIG. 12.

In addition, the step of calculating an evaluation index for the viewing angle based on the first to fourth angle information and the first to fourth lidar data (S2250) will be described in more detail with reference to FIG. 10 or FIG. 13 .

9(a) is a diagram for explaining an assumed situational condition for describing a method of calculating an evaluation index for a viewing angle of a target lidar device described above.

In (a) of FIG. 9, for convenience of description, a 3D coordinate system, a target lidar device 2300, and a reflector 2310 are shown.

At this time, for convenience of explanation, the direction from the target lidar device 2300 to the reflector 2310 may be defined as the x-axis direction, and the y-axis direction and the z-axis direction perpendicular to the x-axis direction, respectively this can be defined.

In addition, the y-axis direction may be understood as a direction along the horizontal viewing angle of the target lidar device 2300, and the z-axis direction may be understood as a direction along the vertical viewing angle of the target lidar device 2300 However, it is not limited thereto.

In addition, (b) to (e) of FIG. 9 to be described below may be understood as views viewed along the y-axis.

(b) of FIG. 9 is a diagram for explaining the step of obtaining (S2210) the above-described first angle information and first lidar data corresponding to the first angle information.

At this time, when the target lidar device 2300 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 2300 is reflected by the reflector 2310. can

For example, when the target lidar device 2300 is located at a rotation angle corresponding to the first angle information, among the lasers output from the target lidar device 2300, the horizontal direction is the central direction (y = 0). ), but the laser irradiated in the uppermost direction (z=+) in the vertical direction may be reflected by the reflector 2310.

In addition, when the target lidar device 2300 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 2300 is emitted from the lower end (z) of the reflector 2310 =-) can be reflected.

For example, when the target lidar device 2300 is located at a rotation angle corresponding to the first angle information, among the lasers output from the target lidar device 2300, the horizontal direction is the central direction (y = 0). ), but the laser irradiated in the uppermost direction (z+) in the vertical direction may be reflected at the lower end of the reflector 2310.

In addition, the first lidar data 2321 corresponding to the first angle information may include at least one piece of point data.

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 2321 obtained from the target lidar device 2300 is It may include 1 point data, and the first point data may be point data corresponding to a laser irradiated in a central direction (y = 0) in a horizontal direction and in an uppermost direction (z = +) in a vertical direction.

In addition, the first lidar data 2321 corresponding to the first angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 2321 obtained from the target lidar device 2300 is It may include 1 point data, and the first point data may have a distance value corresponding to the reference distance.

In addition, in (b) of FIG. 9, it is expressed as having one point data for the first lidar data 2321, but this is simply expressed for convenience of explanation, and actually the first lidar data ( 2321) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

(c) of FIG. 9 is a diagram for explaining the step of acquiring the above-described second angle information and second lidar data corresponding to the second angle information (S2220).

At this time, when the target lidar device 2300 is positioned at a rotation angle corresponding to the second angle information, the laser output from the target lidar device 2300 may not be reflected by the reflector 2310. .

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the second angle information, lasers output from the target lidar device 2300 may not reach the reflector 2310. there is.

In addition, in (c) of FIG. 9, it is expressed as having 0 point data for the second lidar data 2322, but this is simply expressed for convenience of explanation, and actually the second lidar data ( 2322) may include at least one point data.

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the second angle information, the second lidar data 2322 obtained from the target lidar device 2300 may include a plurality of It may include two point data, and the plurality of point data may have a distance value different from a reference distance value.

At this time, the reference distance value may be a distance corresponding to the distance from the target lidar device 2300 to the reflector 2310, and the plurality of point data included in the second lidar data 2322 Having a distance value different from the reference distance value may mean that the laser output from the target lidar device 2300 is not reflected by the reflector.

In addition, when the target lidar device 2300 is positioned at a rotation angle corresponding to the second angle information, point data having the reference distance value may not start to be acquired.

For example, when the target lidar device 2300 is rotated from a rotation angle corresponding to the first angle information described in (b) of FIG. 9 to a rotation angle corresponding to the second angle information, the first The first point data having the reference distance value included in the first lidar data 2321 corresponding to angle information rotates the target lidar device 2300 at a rotation angle corresponding to the second angle information. It may not be obtained from when it is.

9(d) is a diagram for explaining the step of acquiring the above-described third angle information and third lidar data corresponding to the third angle information (S2230).

At this time, when the target lidar device 2300 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 2300 is reflected by the reflector 2310. can

For example, among lasers output from the target lidar device 2300 when the target lidar device 2300 is positioned at a rotation angle corresponding to the third angle information, the central direction (y=0) is the horizontal direction among lasers output from the target lidar device 2300. ), but the laser irradiated in the lowermost direction (z=-) in the vertical direction may be reflected by the reflector 2310.

In addition, when the target lidar device 2300 is located at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 2300 is emitted from the upper end (z) of the reflector 2310 =+) can be reflected.

For example, among lasers output from the target lidar device 2300 when the target lidar device 2300 is positioned at a rotation angle corresponding to the third angle information, the central direction (y=0) is the horizontal direction among lasers output from the target lidar device 2300. ), but the laser irradiated in the lowermost direction (z-) in the vertical direction may be reflected from the top of the reflector 2310.

In addition, the third lidar data 2323 corresponding to the third angle information may include at least one point data.

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the third angle information, the third lidar data 2323 obtained from the target lidar device 2300 is It may include 3 point data, and the third point data may be point data corresponding to a laser irradiated in a center direction (y = 0) in a horizontal direction and a lowermost direction (z = -) in a vertical direction.

In addition, the third lidar data 2323 corresponding to the third angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the third angle information, the third lidar data 2323 obtained from the target lidar device 2300 is It may include 3 point data, and the third point data may have a distance value corresponding to the reference distance.

In addition, in (d) of FIG. 9, it is expressed as having one point data for the third lidar data 2323, but this is simply expressed for convenience of explanation, and actually the third lidar data ( 2323) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

9(e) is a diagram for explaining the step of acquiring the above-described fourth angle information and fourth lidar data corresponding to the fourth angle information (S2240).

In this case, when the target lidar device 2300 is positioned at a rotation angle corresponding to the fourth angle information, the laser output from the target lidar device 2300 may not be reflected by the reflector 2310. .

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the fourth angle information, lasers output from the target lidar device 2300 may not reach the reflector 2310. there is.

In addition, in (e) of FIG. 9, it is expressed as having 0 point data for the fourth lidar data 2324, but this is simply expressed for convenience of explanation, and actually the fourth lidar data ( 2324) may include at least one point data.

For example, when the target lidar device 2300 is positioned at a rotation angle corresponding to the fourth angle information, the fourth lidar data 2324 obtained from the target lidar device 2300 may include a plurality of It may include two point data, and the plurality of point data may have a distance value different from a reference distance value.

At this time, the reference distance value may be a distance corresponding to the distance from the target lidar device 2300 to the reflector 2310, and the plurality of point data included in the fourth lidar data 2324 Having a distance value different from the reference distance value may mean that the laser output from the target lidar device 2300 is not reflected by the reflector.

In addition, when the target lidar device 2300 is located at a rotation angle corresponding to the fourth angle information, point data having the reference distance value may not start to be obtained.

For example, when the target lidar device 2300 is rotated from a rotation angle corresponding to the third angle information described in (d) of FIG. 9 to a rotation angle corresponding to the fourth angle information, the third angle information is rotated. The third point data having the reference distance value included in the third lidar data 2323 corresponding to angle information rotates the target lidar device 2300 at a rotation angle corresponding to the fourth angle information. It may not be obtained from when it is.

The above description with reference to FIG. 9 is merely a description of a method for obtaining data for measuring a viewing angle using lidar data obtained at a rotation angle at which point data having a reference distance value is acquired and at a rotation angle at which point data is not acquired. The present invention is not limited to the above, and obtains data for measuring the viewing angle in various ways, such as measuring the viewing angle using a change in the distance value of two point data located at the upper and lower ends of the viewing angle, respectively This can be sufficiently derived from the above information.

In FIG. 10, lasers 2331 output from the target lidar device 2300 are simply displayed when the target lidar device 2300 described above is positioned at a rotation angle corresponding to the first angle information, , When the aforementioned target lidar device 2300 is located at a rotation angle corresponding to the third angle information, the lasers 2333 output from the target lidar device 2300 are simply displayed, and the A first angle 2341 and the third angle 2343 are indicated, and a first offset angle 2351 and a second offset angle 2353 are indicated.

The vertical viewing angle of the target lidar device 2300 may be calculated using the first angle 2341, the third angle 2343, the first offset angle 2351, and the second offset angle 2353. there is.

For example, when the first offset angle 2351 is subtracted from the first angle 2341, a part of the vertical viewing angle of the target lidar device 2300 may be calculated, and the third angle 2343 When the second offset angle 2353 is subtracted, another part of the vertical viewing angle of the target lidar device 2300 may be calculated.

For a more specific example, when the first offset angle 2351 is subtracted from the first angle 2341, half of the vertical viewing angle of the target lidar device 2300 may be calculated, and the third angle 2343 When the second offset angle 2353 is subtracted from ), the other half of the vertical viewing angle of the target lidar device 2300 may be calculated, but is not limited thereto.

Therefore, among the lasers output from the target lidar device 2300, the laser irradiated in the center direction (y = 0) in the horizontal direction and in the uppermost direction (z = +) in the vertical direction is reflected by the reflector 2310. The first angle 2341 is derived, and among the lasers output from the target lidar device 2300, the horizontal direction is the central direction (y = 0), but the vertical direction is irradiated in the lowermost direction (z = -). When the third angle 2343 at which the reflected laser is reflected by the reflector 2310 is derived, an evaluation index for a vertical viewing angle of the target lidar device 2300 may be calculated.

In this case, the first to fourth lidar data and the first to fourth angle information may be used to specify the first angle 2341 and the third angle 2343 .

For example, if the first lidar data corresponding to the first angle information and the second lidar data corresponding to the second angle information are continuous lidar data, included in the first lidar data When the distance value of the specific point data and the distance value of the specific point data included in the second lidar data change more than a certain amount, the first lidar data or the first angle information may be specified, but is not limited thereto.

In addition, for example, if the third lidar data corresponding to the third angle information and the fourth lidar data corresponding to the fourth angle information are continuous lidar data, the third lidar data When the distance value of specific point data included in the fourth lidar data and the distance value of specific point data included in the fourth lidar data change by more than a certain amount, the third lidar data or the third angle information may be specified, but is not limited thereto. don't

11 shows test areas for performing the above-described method for calculating an evaluation index for a vertical viewing angle of a target lidar device based on the viewing angle of the target lidar device.

Referring to FIG. 11, test areas include a first test area 2361, a second test area 2362, a third test area 2363, a fourth test area 2364, a fifth test area 2365, and a sixth test area 2365. At least one of the test regions 2366 may be included.

Also, referring to FIG. 11 , the first test area 2361 may be located at the upper center of the viewing angle, the second test area 2362 may be located at the lower center of the viewing angle, and the third test area 2362 may be located at the lower center of the viewing angle. Area 2363 may be located at the upper left corner of the viewing angle, the fourth test region 2364 may be located at the lower left corner of the viewing angle, and the fifth test region 2365 may be located at the upper right corner of the viewing angle. The sixth test area 2366 may be located at the right lower end of the viewing angle, but is not limited thereto.

At this time, the method described with reference to FIGS. 8 to 10 may be performed in the first test region 2361 and the second test region 2362 .

For example, it can be understood that (b) and (c) of FIG. 9 are performed for the first test region 2361, and (d) and (e) of FIG. 9 are the second test region ( 2362), but is not limited thereto.

In addition, when the method described with reference to FIGS. 8 to 10 is performed in the third to sixth test domains 2363 to 2366, the above-described contents may be similarly applied, and therefore, redundant descriptions will be omitted.

In addition, when calculating the evaluation index for the vertical viewing angle of the target lidar device in a plurality of test areas as shown in FIG. 11, higher accuracy is obtained when the evaluation index for the vertical viewing angle of the target lidar device is calculated in a small test area. can

In addition, the first to sixth test regions 2361 to 2366 indicated in FIG. 11 are merely indicated according to an embodiment of the present invention, and the present invention may be implemented in various embodiments that are not limited thereto.

In addition, as shown in FIG. 11, when the evaluation index for the vertical viewing angle of the target lidar device is calculated using the first to sixth test regions 2361 to 2366, the left vertical viewing angle, the right vertical viewing angle, and the center vertical viewing angle, respectively. A separate evaluation index may be calculated, and an integrated evaluation index may be calculated with the entire vertical viewing angle, but is not limited thereto.

12(a) is a diagram for explaining an assumed situational condition for explaining a method of calculating an evaluation index for a viewing angle of a target lidar device described above.

* In (a) of FIG. 12, a 3D coordinate system used for convenience of description, a target lidar device 2400, and a reflector 2410 are displayed.

At this time, for convenience of description, the direction from the target lidar device 2400 to the reflector 2310 may be defined as the x-axis direction, and the y-axis direction and the z-axis direction perpendicular to the x-axis direction, respectively this can be defined.

In addition, the y-axis direction may be understood as a direction along the horizontal viewing angle of the target lidar device 2400, and the z-axis direction may be understood as a direction along the vertical viewing angle of the target lidar device 2400 However, it is not limited thereto.

In addition, (b) to (e) of FIG. 12 to be described below may be understood as views viewed along the z-axis.

12(b) is a diagram for explaining the step of acquiring the above-described first angle information and first lidar data corresponding to the first angle information (S2210).

At this time, when the target lidar device 2400 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 2400 is reflected by the reflector 2410. can

For example, when the target lidar device 2400 is located at a rotation angle corresponding to the first angle information, among lasers output from the target lidar device 2400, the center direction (z=0) is the vertical direction. ), but the laser irradiated in the left end direction (y=-) in the horizontal direction may be reflected by the reflector 2410.

In addition, when the target lidar device 2400 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 2400 is directed to the right end of the reflector 2410 ( It can be reflected at y=+).

For example, when the target lidar device 2400 is located at a rotation angle corresponding to the first angle information, among lasers output from the target lidar device 2400, the center direction (z=0) is the vertical direction. ), but the laser irradiated in the left end direction (y=-) in the horizontal direction may be reflected from the right end of the reflector 2410.

In addition, the first lidar data 2421 corresponding to the first angle information may include at least one piece of point data.

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 2421 obtained from the target lidar device 2400 is It may include 1 point data, and the first point data may be point data corresponding to the laser irradiated in the center direction (z = 0) in the vertical direction and in the left end direction (y = -) in the horizontal direction. .

In addition, the first lidar data 2421 corresponding to the first angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 2421 obtained from the target lidar device 2400 is It may include 1 point data, and the first point data may have a distance value corresponding to the reference distance.

In addition, in (b) of FIG. 12, it is expressed as having one point data for the first lidar data 2421, but this is simply expressed for convenience of explanation, and actually the first lidar data ( 2421) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

12(c) is a diagram for explaining the step of acquiring the above-described second angle information and second lidar data corresponding to the second angle information (S2220).

In this case, when the target lidar device 2400 is positioned at a rotation angle corresponding to the second angle information, the laser output from the target lidar device 2400 may not be reflected by the reflector 2410. .

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the second angle information, lasers output from the target lidar device 2400 may not reach the reflector 2410. there is.

In addition, in (c) of FIG. 12, it is expressed as having 0 point data for the second lidar data 2422, but this is simply expressed for convenience of explanation, and actually the second lidar data ( 2422) may include at least one point data.

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the second angle information, the second lidar data 2422 obtained from the target lidar device 2400 may include a plurality of It may include two point data, and the plurality of point data may have a distance value different from a reference distance value.

At this time, the reference distance value may be a distance corresponding to the distance from the target lidar device 2400 to the reflector 2410, and the plurality of point data included in the second lidar data 2422 Having a distance value different from the reference distance value may mean that the laser output from the target lidar device 2400 is not reflected by the reflector.

In addition, when the target lidar device 2400 is positioned at a rotation angle corresponding to the second angle information, point data having the reference distance value may not start to be acquired.

For example, when the target lidar device 2400 is rotated from a rotation angle corresponding to the first angle information described in (b) of FIG. 12 to a rotation angle corresponding to the second angle information, the first The first point data having the reference distance value included in the first lidar data 2421 corresponding to angle information rotates the target lidar device 2400 at a rotation angle corresponding to the second angle information. It may not be obtained from when it is.

12(d) is a diagram for explaining the step of acquiring the above-described third angle information and third lidar data corresponding to the third angle information (S2230).

At this time, when the target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 2400 is reflected by the reflector 2410. can

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, among the lasers output from the target lidar device 2400, the center direction (z=0) is the vertical direction. ), but the laser irradiated in the right end direction (y=+) in the horizontal direction may be reflected by the reflector 2410.

In addition, when the target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 2400 is directed to the right end of the reflector 2410 ( It can be reflected at y=+).

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, among the lasers output from the target lidar device 2400, the center direction (z=0) is the vertical direction. ), but the laser irradiated in the right end direction (y=+) in the horizontal direction may be reflected from the left end of the reflector 2410.

In addition, the third lidar data 2423 corresponding to the third angle information may include at least one point data.

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, the third lidar data 2423 obtained from the target lidar device 2400 is It may include 3 point data, and the third point data may be point data corresponding to the laser irradiated in the center direction (z = 0) in the vertical direction and in the right end direction (y = +) in the horizontal direction. .

In addition, the third lidar data 2423 corresponding to the third angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, the third lidar data 2423 obtained from the target lidar device 2400 is It may include 3 point data, and the third point data may have a distance value corresponding to the reference distance.

In addition, in (d) of FIG. 12, it is expressed as having one point data for the third lidar data 2423, but this is simply expressed for convenience of explanation, and actually the third lidar data ( 2423) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

12(e) is a diagram for explaining the step of acquiring the above-described fourth angle information and fourth lidar data corresponding to the fourth angle information (S2240).

In this case, when the target lidar device 2400 is positioned at a rotation angle corresponding to the fourth angle information, the laser output from the target lidar device 2400 may not be reflected by the reflector 2410. .

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the fourth angle information, lasers output from the target lidar device 2400 may not reach the reflector 2410. there is.

In addition, in (e) of FIG. 12, it is expressed as having 0 point data for the fourth lidar data 2424, but this is simply expressed for convenience of explanation, and actually the fourth lidar data ( 2424) may include at least one point data.

For example, when the target lidar device 2400 is positioned at a rotation angle corresponding to the fourth angle information, the fourth lidar data 2424 obtained from the target lidar device 2400 may include a plurality of It may include two point data, and the plurality of point data may have a distance value different from a reference distance value.

At this time, the reference distance value may be a distance corresponding to the distance from the target lidar device 2400 to the reflector 2410, and the plurality of point data included in the fourth lidar data 2424 Having a distance value different from the reference distance value may mean that the laser output from the target lidar device 2400 is not reflected by the reflector.

In addition, when the target lidar device 2400 is located at a rotation angle corresponding to the fourth angle information, point data having the reference distance value may not start to be obtained.

For example, when the target lidar device 2400 is rotated from a rotation angle corresponding to the third angle information described in (d) of FIG. 9 to a rotation angle corresponding to the fourth angle information, the third The third point data having the reference distance value included in the third lidar data 2423 corresponding to angle information rotates the target lidar device 2400 at a rotation angle corresponding to the fourth angle information. It may not be obtained from when it is.

The above description with reference to FIG. 12 is merely a description of a method for obtaining data for measuring a viewing angle using lidar data obtained at a rotation angle at which point data having a reference distance value is obtained and at a rotation angle at which point data is not acquired. The present invention is not limited to the above, and obtains data for measuring the viewing angle in various ways, such as measuring the viewing angle using a change in the distance value of two point data located at the upper and lower ends of the viewing angle, respectively This can be sufficiently derived from the above information.

13 simply displays lasers 2431 output from the target lidar device 2400 when the above-described target lidar device 2400 is positioned at a rotation angle corresponding to the first angle information, , When the aforementioned target lidar device 2400 is positioned at a rotation angle corresponding to the third angle information, lasers 2433 output from the target lidar device 2400 are simply displayed, and the A first angle 2441 and the third angle 2443 are indicated, and a first offset angle 2451 and a second offset angle 2453 are indicated.

The horizontal viewing angle of the target lidar device 2400 may be calculated using the first angle 2441, the third angle 2443, the first offset angle 2451, and the second offset angle 2453. there is.

For example, when the first offset angle 2451 is subtracted from the first angle 2441, a part of the horizontal viewing angle of the target lidar device 2400 may be calculated, and the third angle 2443 When the second offset angle 2453 is subtracted, another part of the horizontal viewing angle of the target lidar device 2400 may be calculated.

For a more specific example, when the first offset angle 2451 is subtracted from the first angle 2441, half of the horizontal viewing angle of the target lidar device 2400 may be calculated, and the third angle 2443 When the second offset angle 2453 is subtracted from ), the other half of the horizontal viewing angle of the target lidar device 2400 may be calculated, but is not limited thereto.

Therefore, among the lasers output from the target lidar device 2400, the laser irradiated in the center direction (z = 0) in the vertical direction and in the left end direction (y = -) in the horizontal direction is applied to the reflector 2410. The reflected first angle 2441 is derived, and among the lasers output from the target lidar device 2400, the center (z = 0) in the vertical direction, but the right end direction (y = +) in the horizontal direction When the third angle 2443 at which the irradiated laser is reflected by the reflector 2410 is derived, an evaluation index for a horizontal viewing angle of the target lidar device 2400 may be calculated.

In this case, the first to fourth lidar data and the first to fourth angle information may be used to specify the first angle 2441 and the third angle 2443 .

14 shows test areas for performing the method of calculating the evaluation index for the horizontal viewing angle of the lidar device described above based on the viewing angle of the lidar device.

Referring to FIG. 14 , test areas include a first test area 2461 , a second test area 2462 , a third test area 2463 , a fourth test area 2464 , a fifth test area 2465 , and a sixth test area 2465 . At least one of the test regions 2466 may be included.

Also, referring to FIG. 14 , the first test area 2461 may be positioned at the center left of the viewing angle, the second test area 2462 may be positioned at the center right of the viewing angle, and the third test area 2462 may be positioned at the center right of the viewing angle. Area 2463 may be located at the upper left corner of the viewing angle, the fourth test region 2464 may be located at the upper right corner of the viewing angle, and the fifth test region 2465 may be located at the lower left corner of the viewing angle. The sixth test area 2466 may be positioned at the right lower end of the viewing angle, but is not limited thereto.

At this time, the method described with reference to FIGS. 8, 12, and 13 may be performed in the first test region 2461 and the second test region 2462.

For example, it can be understood that (b) and (c) of FIG. 12 are performed for the first test area 2461, and (d) and (e) of FIG. 12 are the second test area ( 2462), but is not limited thereto.

In addition, when the method described with reference to FIGS. 8, 12, and 13 is performed in the third to sixth test domains 2463 to 2466, the above-described contents may be similarly applied, so duplicate descriptions will be omitted.

In addition, when the evaluation index for the horizontal viewing angle of the target lidar device is calculated in a plurality of test areas as shown in FIG. 14, higher accuracy is obtained when the evaluation index for the horizontal viewing angle of the target lidar device is calculated in a smaller test area. can

In addition, the first to sixth test regions 2461 to 2466 indicated in FIG. 14 are merely indicated according to an embodiment of the present invention, and the present invention may be implemented in various embodiments that are not limited thereto.

In addition, as shown in FIG. 14, when the evaluation index for the horizontal viewing angle of the target lidar device is calculated using the first to sixth test regions 2461 to 2466, the left horizontal viewing angle, the right horizontal viewing angle, and the center horizontal viewing angle, respectively. A separate evaluation index for may be calculated, and an integrated evaluation index may be calculated with the entire horizontal viewing angle, but is not limited thereto.

More specifically, FIGS. 15, 16, and 17 are diagrams for explaining a method of calculating an evaluation index for vertical angle accuracy of a target lidar device, and FIGS. 15, 18, and 19 are diagrams of a target lidar device. These are drawings for explaining a method of calculating an evaluation index for horizontal angle accuracy.

Referring to FIG. 15, a method for calculating an evaluation index for angular accuracy of a target lidar device includes rotating the target lidar device at a first angle (S2510), first angle information and correspondence to the first angle information. Acquiring first lidar data (S2520), rotating the target lidar device at a second angle (S2530), second angle information and second lidar data corresponding to the second angle information Obtaining (S2540) and obtaining an evaluation index for angular accuracy based on the first angle information, the second angle information, the first lidar data, and the second lidar data (S2550). can do.

In this case, each of the first and second lidar data may include at least one point data.

Each of the steps described above will be described in more detail through FIGS. 16 to 19 .

More specifically, a method for obtaining an evaluation index for vertical angle accuracy will be described through FIGS. 16 and 17, and a method for obtaining an evaluation index for horizontal angle accuracy will be described through FIGS. 18 and 19.

16 (a) and (b) are steps of rotating a target lidar device at a first angle (S2510) and obtaining first angle information and first lidar data corresponding to the first angle information It is a diagram for explaining (S2520).

More specifically, FIG. 16 (a) is a diagram illustrating a hypothetical situation for explaining the above steps, and FIG. 16 (b) is a diagram for explaining the first lidar data obtained in the above steps. It is a simplified drawing for

In (a) of FIG. 16, for convenience of description, a reflector 2610, a viewing angle 2620 according to design conditions of the target lidar device, and an actual viewing angle 2630 of the target lidar device are displayed. In (b), the first lidar data 2640 is displayed for convenience of description.

At this time, the viewing angle 2620 according to the design conditions of the target lidar device is the area calculated that the laser will be irradiated in the target lidar device according to the design conditions of the target lidar device, or the area where at least one target can be detected. It can be understood as a viewing angle that a person skilled in the art can derive based on design conditions, such as an area calculated as an area.

In addition, the actual viewing angle 2630 of the target lidar device may mean an area where a laser is actually irradiated or an area where at least one target can be sensed in the target lidar device, which is a performance evaluation target, but is not limited thereto, It can be understood in the range that a person skilled in the art can understand with the viewing angle of the target lidar device.

However, (a) of FIG. 16 schematically shows a hypothetical situation for calculating an evaluation index for angular accuracy, and the present invention is not limited to the specific embodiment of (a) of FIG. 16 .

Referring to (a) of FIG. 16, the target lidar device may be rotated at a first angle.

In this case, the first angle may be a preset angle.

For example, the first angle may be a preset angle determined based on design conditions of the target lidar device, but is not limited thereto.

As a more specific example, the first angle is calculated based on the design conditions of the target lidar device so that the reflector 2610 is located at the reference position of the viewing angle 2620 according to the design conditions of the target lidar device. It may be a preset angle, but is not limited thereto.

At this time, referring to FIG. 16 (a), the reference position may be the upper left corner of the viewing angle 2620 according to the design condition of the target lidar device, but is not limited thereto, and may be various reference positions. .

In addition, when the target lidar device is rotated at the first angle, first angle information may be obtained.

Also, referring to (b) of FIG. 16 , first lidar data 2640 corresponding to the first angle information may be obtained from the target lidar device.

At this time, the first lidar data 2640 may be understood as lidar data obtained when the target lidar device is in a position corresponding to the first angle information, for example, the first angle It may be understood as lidar data having the same time value as the time value corresponding to the information, but is not limited thereto.

In addition, in (b) of FIG. 16, it is expressed as having one point data for the first lidar data 2640, but this is simply expressed for convenience of explanation, and actually the first lidar data ( 2640) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, it can be understood that point data having a reference distance value is displayed in (b) of FIG. 16 .

As described above, since the first angle means the angle at which the reflector 2610 is located at the reference position of the viewing angle 2620 according to the design conditions of the target lidar device, If the viewing angle 2620 and the actual viewing angle 2630 of the target lidar device match, the reflector 2610 includes the first lidar data 2640 corresponding to the first angle information obtained at the first angle. Corresponding point data may have to be obtained.

However, as shown in (b) of FIG. 16, when the point data group corresponding to the reflector 2610 is not obtained at the reference position of the first lidar data 2640, in (a) of FIG. 16 As shown, the viewing angle 2620 according to the design conditions of the target lidar device and the actual viewing angle 2630 of the target lidar device may not match.

In this way, an evaluation index for vertical angle accuracy can be obtained based on the difference between the viewing angle 2620 according to the design condition of the target lidar device and the actual viewing angle 2630 of the target lidar device. In order to derive a difference between the viewing angle 2620 according to the design condition of the device and the actual viewing angle 2630 of the target lidar device, rotating the target lidar device to a second angle (S2530) and the second angle A step of acquiring information and second lidar data corresponding to the second angle information (S2540) may be performed.

16(c) and (d) are steps of rotating a target lidar device at a second angle (S2530) and obtaining second angle information and second lidar data corresponding to the second angle information It is a diagram for explaining (S2540).

More specifically, (c) of FIG. 16 is a diagram illustrating a hypothetical situation for explaining the above steps, and (d) of FIG. 16 is a diagram illustrating the second lidar data obtained in the above steps. It is a simplified drawing for

In (c) of FIG. 16, for convenience of description, a reflector 2660, a viewing angle 2670 according to design conditions of the target lidar device, and an actual viewing angle 2680 of the target lidar device are displayed. In (d), the second lidar data 2690 is displayed for convenience of description.

At this time, the viewing angle 2670 according to the design conditions of the target lidar device is the area where the laser is calculated to be irradiated in the target lidar device according to the design conditions of the target lidar device, or the area where at least one target can be detected. It can be understood as a viewing angle that a person skilled in the art can derive based on design conditions, such as an area calculated as an area.

In addition, the actual viewing angle 2680 of the target lidar device may mean an area where a laser is actually irradiated or an area where at least one target can be sensed in the target lidar device, which is a performance evaluation target, but is not limited thereto, It can be understood in the range that a person skilled in the art can understand with the viewing angle of the target lidar device.

However, (c) of FIG. 16 schematically shows a hypothetical situation to calculate an evaluation index for angular accuracy, and the present invention is not limited to the specific embodiment of (c) of FIG. 16

Referring to (c) of FIG. 16, the target lidar device may be rotated at a second angle.

In this case, the second angle may be an angle calculated based on the first lidar data 2640, but is not limited thereto, and may be any angle rotated from the first angle.

In addition, the second angle may be an angle specified by the second lidar data 2690, but is not limited thereto.

Also, the second angle may be an angle at which the reflector 2660 is located at a reference position of an actual viewing angle 2680 of the target lidar device.

For example, the second angle may be an angle specified that the reflector 2660 is located at a reference position of the actual viewing angle 2680 of the target lidar device, but is not limited thereto.

At this time, referring to (c) of FIG. 16, the reference position may be the upper left corner of the actual viewing angle 2680 of the target lidar device, but is not limited thereto, and may be various reference positions.

In addition, when the target lidar device is rotated at the second angle, second angle information may be obtained.

Also, referring to (d) of FIG. 16 , second lidar data 2690 corresponding to the second angle information may be obtained from the target lidar device.

At this time, the second lidar data 2690 may be understood as lidar data obtained when the target lidar device is in a position corresponding to the second angle information, for example, the second angle It may be understood as lidar data having the same time value as the time value corresponding to the information, but is not limited thereto.

In addition, in (d) of FIG. 16, it is expressed as having 6 point data for the second lidar data 2690, but this is simply expressed for convenience of explanation, and actually the second lidar data ( 2690) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, it can be understood that point data having a reference distance value is displayed in (d) of FIG. 16 .

As described above, since the second angle may refer to an angle at which the reflector 2660 is located at a reference position of an actual viewing angle 2680 of the target lidar device, the second angle corresponds to the second lidar data. (2690).

For example, when a point data group corresponding to the reflector 2660 is acquired as shown in (d) of FIG. 16 in the second lidar data 2690, the second lidar data 2690 Second angle information, which is angle information at the time when is obtained, may be specified, and the specified second angle information is the angle at which the reflector 2660 is located at the reference position of the actual viewing angle 2680 of the target lidar device. can be judged as

Therefore, referring to FIG. 16, the evaluation index for the vertical angle accuracy of the target lidar device is that the reflector 2610 is located at the reference position of the viewing angle 2620 according to the design condition of the target lidar device. It may be calculated or obtained based on the calculated first angle information and second angle information specified that the reflector 2660 is located at the reference position of the actual viewing angle 2680 of the target lidar device, but is limited thereto. It doesn't work.

17 shows test areas for performing the method of calculating the evaluation index for the vertical angle accuracy of the lidar device described above based on the viewing angle of the lidar device.

Referring to FIG. 17, test areas include a first test area 2651, a second test area 2652, a third test area 2653, a fourth test area 2654, a fifth test area 2655, and a sixth test area 2653. At least one of the test region 2656 , the seventh test region 2657 , the eighth test region 2658 , and the ninth test region 2659 may be included.

In addition, referring to FIG. 17 , the first test area 2651 may be located at the top left of the viewing angle, the second test area 2652 may be located at the top center of the viewing angle, and the third test area 2652 may be located at the top of the center of the viewing angle. Area 2653 may be located at the upper right of the viewing angle, the fourth test area 2654 may be located at the left center of the viewing angle, and the fifth test area 2655 may be located at the center of the viewing angle. The sixth test area 2656 may be located at the right center of the viewing angle, the seventh test area 2657 may be located at the lower left of the viewing angle, and the eighth test area 2658 may be located at the viewing angle. , and the ninth test area 2659 may be located at the lower right corner of the viewing angle, but is not limited thereto.

Also, the method described with reference to FIGS. 15 and 16 may be performed in the first test area 2651 .

In addition, when the method described with reference to FIGS. 15 and 16 is performed in the second to ninth test domains 2652 to 2659, the above-described contents may be similarly applied, so redundant descriptions will be omitted.

In addition, when calculating the evaluation index for the vertical angle accuracy of the target lidar device in a plurality of test areas as shown in FIG. 17, higher accuracy than when calculating the evaluation index for the vertical angle accuracy of the target lidar device in a small test area can have

In addition, the first to ninth test regions 2651 to 2659 indicated in FIG. 17 are only indicated according to an embodiment of the present invention, and the present invention may be implemented in various embodiments that are not limited thereto.

18(a) and (b) show the steps of rotating the target lidar device at a first angle (S2510) and obtaining the first angle information and first lidar data corresponding to the first angle information. It is a diagram for explaining (S2520).

More specifically, (a) of FIG. 18 is a diagram illustrating a hypothetical situation for explaining the above steps, and (b) of FIG. 18 is a diagram illustrating the first lidar data obtained in the above steps. It is a simplified drawing for

In (a) of FIG. 18, for convenience of description, a reflector 2710, a viewing angle 2720 according to design conditions of the target lidar device, and an actual viewing angle 2730 of the target lidar device are displayed, and FIG. In (b), the first lidar data 2740 is displayed for convenience of description.

At this time, the viewing angle 2720 according to the design conditions of the target lidar device is the area calculated that the laser will be irradiated in the target lidar device according to the design conditions of the target lidar device, or the area where at least one target can be detected. It can be understood as a viewing angle that a person skilled in the art can derive based on design conditions, such as an area calculated as an area.

In addition, the actual viewing angle 2730 of the target lidar device may mean an area where a laser is actually irradiated or an area where at least one target can be sensed in the target lidar device, which is a performance evaluation target, but is not limited thereto, It can be understood in the range that a person skilled in the art can understand with the viewing angle of the target lidar device.

However, FIG. 18(a) only schematically shows a hypothetical situation for calculating an evaluation index for angular accuracy, and the present invention is not limited to the specific embodiment of FIG. 18(a).

Referring to (a) of FIG. 18, the target lidar device may be rotated at a first angle.

In this case, the first angle may be a preset angle.

As a more specific example, the first angle is calculated based on the design conditions of the target lidar device so that the reflector 2710 is located at the reference position of the viewing angle 2720 according to the design conditions of the target lidar device. It may be a preset angle, but is not limited thereto.

At this time, referring to FIG. 18(a), the reference position may be the upper left corner of the viewing angle 2720 according to the design condition of the target lidar device, but is not limited thereto, and may be various reference positions. .

Also, referring to (b) of FIG. 18 , first lidar data 2740 corresponding to the first angle information may be obtained from the target lidar device.

At this time, the first lidar data 2740 may be understood as lidar data obtained when the target lidar device is in a position corresponding to the first angle information, for example, the first angle It may be understood as lidar data having the same time value as the time value corresponding to the information, but is not limited thereto.

In addition, in (b) of FIG. 18, it is expressed as having 0 point data for the first lidar data 2740, but this is simply expressed for convenience of explanation, and actually the first lidar data ( 2740) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

As described above, since the first angle means the angle at which the reflector 2710 is located at the reference position of the viewing angle 2720 according to the design conditions of the target lidar device, If the viewing angle 2720 and the actual viewing angle 2730 of the target lidar device match, the reflector 2710 includes the first lidar data 2740 corresponding to the first angle information obtained at the first angle. Corresponding point data may have to be obtained.

However, as shown in (b) of FIG. 18, when the point data group corresponding to the reflector 2710 is not obtained at the reference position of the first lidar data 2740, in (a) of FIG. 18 As shown, the viewing angle 2720 according to the design conditions of the target lidar device and the actual viewing angle 2730 of the target lidar device may not match.

In this way, an evaluation index for horizontal angle accuracy can be obtained based on the difference between the viewing angle 2720 according to the design condition of the target lidar device and the actual viewing angle 2730 of the target lidar device. In order to derive a difference between the viewing angle 2720 according to the device design condition and the actual viewing angle 2730 of the target lidar device, rotating the target lidar device to a second angle (S2530) and the second angle A step of acquiring information and second lidar data corresponding to the second angle information (S2540) may be performed.

18(c) and (d) show the steps of rotating the target lidar device at a second angle (S2530) and obtaining the second angle information and second lidar data corresponding to the second angle information. It is a diagram for explaining (S2540).

More specifically, FIG. 18(c) is a diagram illustrating a hypothetical situation for explaining the above steps, and FIG. 18(d) is a diagram illustrating the second lidar data obtained in the above steps. It is a simplified drawing for

In (c) of FIG. 18, for convenience of description, a reflector 2760, a viewing angle 2770 according to design conditions of the target lidar device, and an actual viewing angle 2780 of the target lidar device are shown. In (d), the second lidar data 2790 is displayed for convenience of description.

At this time, the viewing angle 2770 according to the design conditions of the target lidar device is the area where the laser is calculated to be irradiated in the target lidar device according to the design conditions of the target lidar device, or the area where at least one target can be detected. It can be understood as a viewing angle that a person skilled in the art can derive based on design conditions, such as an area calculated as an area.

In addition, the actual viewing angle 2780 of the target lidar device may mean an area where a laser is actually irradiated or an area where at least one target can be sensed in the target lidar device, which is a performance evaluation target, but is not limited thereto, It can be understood in the range that a person skilled in the art can understand with the viewing angle of the target lidar device.

However, (c) of FIG. 18 only schematically shows a hypothetical situation to calculate an evaluation index for angular accuracy, and the present invention is not limited to the specific embodiment of (c) of FIG. 18

Referring to (c) of FIG. 18, the target lidar device may be rotated at a second angle.

In this case, the second angle may be an angle calculated based on the first lidar data 2740, but is not limited thereto, and may be any angle rotated from the first angle.

In addition, the second angle may be an angle specified by the second lidar data 2790, but is not limited thereto.

Also, the second angle may be an angle at which the reflector 2760 is located at a reference position of an actual viewing angle 2780 of the target lidar device.

For example, the second angle may be an angle specified that the reflector 2760 is located at a reference position of the actual viewing angle 2780 of the target lidar device, but is not limited thereto.

At this time, referring to (c) of FIG. 18, the reference position may be the upper left corner of the actual viewing angle 2780 of the target lidar device, but is not limited thereto, and may be various reference positions.

Also, referring to (d) of FIG. 18 , second lidar data 2790 corresponding to the second angle information may be obtained from the target lidar device.

At this time, the second lidar data 2790 may be understood as lidar data obtained when the target lidar device is in a position corresponding to the second angle information, for example, the second angle It may be understood as lidar data having the same time value as the time value corresponding to the information, but is not limited thereto.

In addition, in (d) of FIG. 18, it is expressed as having three point data for the second lidar data 2790, but this is simply expressed for convenience of explanation, and actually the second lidar data ( 2790) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, it can be understood that point data having a reference distance value is displayed in (d) of FIG. 18 .

As described above, since the second angle may refer to an angle at which the reflector 2760 is located at a reference position of an actual viewing angle 2780 of the target lidar device, the second angle corresponds to the second lidar data. (2790).

For example, when a point data group corresponding to the reflector 2760 is obtained as shown in (d) of FIG. 18 in the second lidar data 2790, the second lidar data 2790 Second angle information, which is angle information at the time when is obtained, may be specified, and the specified second angle information is the angle at which the reflector 2760 is located at the reference position of the actual viewing angle 2780 of the target lidar device. can be judged as

Therefore, referring to FIG. 18, the evaluation index for the horizontal angle accuracy of the target lidar device is that the reflector 2710 is located at the reference position of the viewing angle 2720 according to the design condition of the target lidar device. It may be calculated or obtained based on the calculated first angle information and second angle information specified that the reflector 2760 is located at the reference position of the actual viewing angle 2780 of the target lidar device, but is limited thereto. It doesn't work.

19 shows test areas for performing the method of calculating the evaluation index for the vertical angle accuracy of the lidar device described above based on the viewing angle of the lidar device.

Referring to FIG. 19, the test areas include a first test area 2751, a second test area 2752, a third test area 2753, a fourth test area 2754, a fifth test area 2755, and a sixth test area 2753. At least one of the test region 2756, the seventh test region 2757, the eighth test region 2758, and the ninth test region 2759 may be included.

Also, referring to FIG. 19 , the first test area 2751 may be located at the top left of the viewing angle, the second test area 2752 may be located at the top center of the viewing angle, and the third test area 2752 may be located at the top center of the viewing angle. Area 2753 may be located at the top right of the viewing angle, the fourth test area 2754 may be located at the left center of the viewing angle, and the fifth test area 2755 may be located at the center of the viewing angle. The sixth test area 2756 may be located at the right center of the viewing angle, the seventh test area 2757 may be located at the lower left of the viewing angle, and the eighth test area 2758 may be located at the viewing angle. , and the ninth test area 2759 may be located at the lower right corner of the viewing angle, but is not limited thereto.

Also, the method described with reference to FIGS. 15 and 18 may be performed in the first test region 2751.

In addition, when the method described with reference to FIGS. 15 and 18 is performed in the second to ninth test domains 2752 to 2759, the above-described contents may be similarly applied, so redundant descriptions will be omitted.

In addition, when calculating the evaluation index for the vertical angle accuracy of the target lidar device in a plurality of test areas as shown in FIG. 19, higher accuracy than when calculating the evaluation index for the vertical angle accuracy of the target lidar device in a small test area can have

In addition, the first to ninth test regions 2751 to 2759 indicated in FIG. 19 are only indicated according to an embodiment of the present invention, and the present invention may be implemented in various embodiments that are not limited thereto.

More specifically, FIGS. 20 and 21 are diagrams for explaining a method of calculating an evaluation index for a measurement distance of a target lidar device at one angle.

Referring to FIG. 20, the method for calculating the evaluation index for the measured distance of the target lidar device includes rotating the target lidar device at a first angle (S2810), and the relative distance between the target lidar device and the reflector is the first. Obtaining a first lidar data group including a plurality of lidar data when the distance (S2820), and a second lidar data group including a plurality of lidar data when the relative distance between the target lidar device and the reflector is a second distance It may include acquiring a lidar data group (S2830) and obtaining an evaluation index for a measured distance based on the first lidar data group and the second lidar data group (S2840).

In this case, each of the aforementioned lidar data may include at least one point data.

21 is a diagram for explaining a method of evaluating performance when a target lidar device is positioned at a first angle, and FIG. 21 (a) shows a situation where the relative distance between the target lidar device and the reflector is the first distance. 21(b) shows the distance distribution of point data included in the first lidar data group including a plurality of lidar data when the relative distance between the target lidar device and the reflector is the first distance 21 (c) is a diagram showing a situation where the relative distance between the target lidar device and the reflector is the second distance, and FIG. 21 (d) is the second distance when the relative distance between the target lidar device and the reflector is It is a graph showing the distance distribution of point data included in the second lidar data group including a plurality of lidar data.

Referring to (a) and (c) of FIG. 21, the distance between the target lidar device 2900 and the reflector 2920 may be a first distance D1 or a second distance D2, at this time, the The distance between the target lidar device 2900 and the reflector 2920 may be calculated as the distance from the optical origin 2910 of the target lidar device 2900 to the reflector 2920, but is not limited thereto.

At this time, the meaning that the relative distance between the target lidar device 2900 and the reflector 2920 is the first distance D1 or the second distance D2 is the preset position and reflector as described with reference to FIG. 5 This may include a case where the reflector is positioned such that the distance between them is the first distance D1 or the second distance D2.

Evaluation indicators for the measurement distance of the target lidar device may include distance accuracy, distance precision, distance detection probability, measurement confidence interval, minimum detection distance, maximum detection distance, and the like.

At this time, it is included in the lidar data group shown in FIG. 21(b) or FIG. 21(d) in order to calculate evaluation indexes such as distance accuracy, distance precision, distance detection probability, and measurement confidence interval. A graph showing distance distribution of point data to be used may be used, but is not limited thereto.

In addition, evaluation indicators such as distance accuracy, distance precision, distance detection probability, and measurement confidence interval may be used to calculate evaluation indicators such as the minimum detection distance and the maximum detection distance.

Referring to (b) of FIG. 21, a distance distribution graph of point data included in the obtained first lidar data group is shown, and a first reference distance 2930 corresponding to the first distance D1, A one-mode distance 2940 is shown.

At this time, in order to calculate the distance accuracy for the first distance D1 of the target lidar device, the first reference distance 2930 and a distance distribution graph of point data included in the first lidar data group are used. can

For example, in order to calculate the distance accuracy for the first distance D1 of the target lidar device, the difference between the first reference distance 2930 and the distance distribution of point data included in the first lidar data group is It may be used, but is not limited thereto.

In addition, the first reference distance 2930 and the first most frequent distance 2940 may be used to calculate the distance accuracy for the first distance D1 of the target lidar device.

For example, a difference value between the first reference distance 2930 and the first most frequent distance 2940 may be used to calculate the distance accuracy for the first distance D1 of the target lidar device. , but not limited thereto.

In addition, various methods other than the above examples may be used to calculate the distance accuracy for the first distance D1 of the target lidar device, and how accurately the distance value is obtained compared to the first reference distance 2930 Various methods may be used to determine whether or not the

In addition, in order to calculate the distance accuracy for the first distance D1 of the target lidar device, the first most frequent distance 2940 and a distance distribution graph of point data included in the first lidar data group may be used. can

For example, the difference between the first most frequent distance 2940 and the distance distribution of point data included in the first lidar data group in order to calculate the distance accuracy for the first distance D1 of the target lidar device. The square mean value of may be used, but is not limited thereto.

In addition, various methods other than the above-described examples may be used to calculate the distance accuracy for the first distance D1 of the target lidar device, and how accurately the distance value is compared to the first most frequent distance 2940 A variety of methods may be used to determine whether this is distributed.

In addition, the distance precision value may be used to obtain a measurement confidence interval for the first distance D1 of the target lidar device, but is not limited thereto.

In addition, a percentage value of a measurement result frequency existing within the measurement confidence interval may be used to obtain a distance detection probability for the first distance D1 of the target lidar device, but is not limited thereto.

Referring to (d) of FIG. 21, a distance distribution graph of point data included in the acquired second lidar data group is shown, and a second reference distance 2950 corresponding to the second distance D2, A two-mode distance 2960 is shown.

At this time, in order to calculate the distance accuracy for the second distance D2 of the target lidar device, the second reference distance 2950 and a distance distribution graph of point data included in the second lidar data group are used. can

For example, in order to calculate the distance accuracy for the second distance D2 of the target lidar device, the difference between the second reference distance 2950 and the distance distribution of point data included in the second lidar data group is It may be used, but is not limited thereto.

In addition, the second reference distance 2950 and the second most frequent distance 2960 may be used to calculate distance accuracy for the second distance D2 of the target lidar device.

For example, a difference value between the second reference distance 2950 and the second most frequent distance 2960 may be used to calculate the distance accuracy for the second distance D2 of the target lidar device. , but not limited thereto.

In addition, various methods other than the above examples may be used to calculate the distance accuracy for the second distance D2 of the target lidar device, and how accurately the distance value is obtained compared to the second reference distance 2950 Various methods may be used to determine whether or not the

In addition, in order to calculate the distance accuracy for the second distance D2 of the target lidar device, the second most frequent distance 2960 and a distance distribution graph of point data included in the second lidar data group may be used. can

For example, in order to calculate the distance accuracy for the second distance D2 of the target lidar device, the difference between the second most frequent distance 2960 and the distance distribution of point data included in the second lidar data group The square mean value of may be used, but is not limited thereto.

In addition, various methods other than the above examples may be used to calculate the distance accuracy for the second distance D2 of the target lidar device, and how accurately the distance value is compared to the second most frequent distance 2960 A variety of methods may be used to determine whether this is distributed.

In addition, the distance precision value may be used to obtain a measurement confidence interval for the second distance D2 of the target lidar device, but is not limited thereto.

In addition, a percentage value of a measurement result frequency existing within the measurement confidence interval may be used to obtain a distance detection probability for the second distance D2 of the target lidar device, but is not limited thereto.

In addition, evaluation indicators such as distance accuracy, distance precision, and distance detection probability described above may be used to calculate evaluation indicators such as a minimum detection distance and a maximum detection distance of a target lidar device.

For example, the minimum sensing distance and the maximum sensing distance of the target lidar device may be calculated as a sensing distance that meets a reference value of the distance sensing probability, but is not limited thereto.

In addition, evaluation indicators such as distance accuracy, distance precision, and distance detection probability may be used to calculate evaluation indicators such as a minimum measurement distance and a maximum measurement distance of a target lidar device.

For example, the minimum measurement distance and the maximum measurement distance of the target lidar device may be calculated as a distance in which distance accuracy and distance precision meet reference values and a distance detection probability meets reference values, but is not limited thereto.

Therefore, in order to obtain evaluation indicators such as the minimum detection distance, maximum detection distance, minimum measurement distance, and maximum measurement distance of the target lidar device, as described in (b) and (d) of FIG. 21, at different distances Acquired lidar data groups may be used.

In addition, the contents described through FIGS. 20 and 21 can be applied not only when the target lidar device is located at the first angle but also when it is located at a plurality of angles, and the contents described for all viewing angles for accurate determination It is possible to obtain an evaluation index for the measurement distance of the target lidar device by performing, but is not limited thereto.

More specifically, FIGS. 22, 23 and 24 are diagrams for explaining a method of calculating an evaluation index for vertical angular resolution of a target lidar device, and FIGS. 22, 25 and 26 are a target These are drawings for explaining a method of calculating an evaluation index for horizontal angular resolution of a lidar device.

Referring to FIG. 22, a method for calculating an evaluation index for each resolution of a target lidar device includes obtaining first angle information and first lidar data corresponding to the first angle information (S3010); Obtaining angle information and second lidar data corresponding to the second angle information (S3020), obtaining third angle information and third lidar data corresponding to the third angle information (S3030), Obtaining fourth angle information and fourth lidar data corresponding to the fourth angle information (S3040), and at each resolution based on the first to fourth angle information and the first to fourth lidar data. It may include calculating an evaluation index for (S3050).

Acquiring first angle information and first lidar data corresponding to the first angle information (S3010), obtaining second angle information and second lidar data corresponding to the second angle information (S3020) ), obtaining third angle information and third lidar data corresponding to the third angle information (S3030) and obtaining fourth angle information and fourth lidar data corresponding to the fourth angle information (S3040) will be described in more detail through FIG. 23 or FIG. 25.

23(a) is a diagram for explaining an assumed situational condition for describing a method of calculating an evaluation index for angular resolution of a target lidar device described above.

In (a) of FIG. 23, a 3D coordinate system used for convenience of explanation, a target lidar device 3100, and a reflector 3110 are displayed.

At this time, for convenience of description, the direction from the target lidar device 3100 to the reflector 3110 may be defined as the x-axis direction, and the y-axis direction and the z-axis direction perpendicular to the x-axis direction, respectively this can be defined.

In addition, the y-axis direction may be understood as a direction along the horizontal viewing angle of the target lidar device 3100, and the z-axis direction may be understood as a direction along the vertical viewing angle of the target lidar device 3100 However, it is not limited thereto.

In addition, (b) to (e) of FIG. 23 to be described below may be understood as views viewed along the y-axis.

23(b) is a diagram for explaining the step of acquiring the above-described first angle information and first lidar data corresponding to the first angle information (S3010).

At this time, when the target lidar device 3100 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 3100 is reflected by the reflector 3110. can

For example, when the target lidar device 3100 is located at a rotation angle corresponding to the first angle information, among the lasers output from the target lidar device 3100, the horizontal direction is the central direction (y = 0). ), but the laser irradiated in the upper direction (z=+) in the vertical direction may be reflected by the reflector 3110.

In addition, when the target lidar device 3100 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 3100 is emitted from the lower end (z) of the reflector 3110 =-) can be reflected.

For example, when the target lidar device 3100 is located at a rotation angle corresponding to the first angle information, among the lasers output from the target lidar device 3100, the horizontal direction is the central direction (y = 0). ), but the laser irradiated in the upper direction (z=+) in the vertical direction may be reflected from the lower end of the reflector 3110.

In addition, the first lidar data 3121 corresponding to the first angle information may include at least one piece of point data.

For example, when the target lidar device 3100 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 3121 obtained from the target lidar device 3100 is It may include first and second point data, wherein the first and second point data correspond to the laser irradiated in the center direction (y = 0) in the horizontal direction and in the upper direction (z = +) in the vertical direction. It can be point data.

In addition, the first lidar data 3121 corresponding to the first angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 3100 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 3121 obtained from the target lidar device 3100 is It may include first and second point data, and the first and second point data may have a distance value corresponding to the reference distance.

In addition, in (b) of FIG. 23, it is expressed as having two point data for the first lidar data 3121, but this is simply expressed for convenience of explanation, and actually the first lidar data ( 3121) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, the first and second point data shown in (b) of FIG. 23 may be understood as point data having a reference distance value.

23(c) is a diagram for explaining the step of obtaining the above-described second angle information and second lidar data corresponding to the second angle information (S3020).

Since the contents described above through FIG. 23 (b) can be similarly applied to FIG. 23 (c), overlapping descriptions will be omitted.

Referring to (c) of FIG. 23, among the point data included in the second lidar data 3122 obtained when the target lidar device 3100 is positioned at a rotation angle corresponding to the second angle information, A distance value of point data corresponding to the second point data included in the first lidar data 3121 may differ from a distance value of the second point data by a certain amount or more.

For example, in the first lidar data 3121, the second point data had a reference distance value, but in the second lidar data 3122, the point data corresponding to the second point data had a reference distance value. It may have a distance value different from the value, or may not be obtained.

Accordingly, an evaluation index for vertical angular resolution of the target lidar device may be calculated based on the first angle information and the second angle information.

More specifically, since second point data having a reference distance value is obtained from the first lidar data 3121 obtained when the target lidar device is located at a rotation angle corresponding to the first angle information, the second point data having a reference distance value is obtained. Although it can be understood that the laser corresponding to the point data is reflected from the reflector 3110, the second lidar data 3122 obtained when the target lidar device is located at a rotation angle corresponding to the second angle information. In ), since the point data corresponding to the second point data has a distance value different from the reference distance value, it can be understood that the laser for the point data corresponding to the second point data is not reflected by the reflector 3110. It is possible to calculate an evaluation index for vertical angular resolution of the target lidar device based on the first angle information and the second angle information.

However, the above-described examples describe a method for calculating an evaluation index for vertical angular resolution of a target lidar device based on a change in the distance value of one point data. According to the present invention, one, two, It is also possible to calculate the evaluation index for the vertical angular resolution of the target lidar device based on the change in the distance value of the point data, such as three points, but redundant descriptions will be omitted.

23(d) is a diagram for explaining the step of acquiring the above-described third angle information and third lidar data corresponding to the third angle information (S3030).

At this time, when the target lidar device 3100 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 3100 is reflected by the reflector 3110. can

For example, when the target lidar device 3100 is positioned at a rotation angle corresponding to the third angle information, among the lasers output from the target lidar device 3100, the horizontal direction is the center direction (y = 0). ), but the laser irradiated in the lower direction (z=-) in the vertical direction may be reflected by the reflector 3110.

In addition, when the target lidar device 3100 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 3100 is emitted from the upper end (z) of the reflector 3110 =+) can be reflected.

For example, when the target lidar device 3100 is positioned at a rotation angle corresponding to the third angle information, among the lasers output from the target lidar device 3100, the horizontal direction is the center direction (y = 0). ), but the laser irradiated in the vertical direction (z=-) may be reflected from the top of the reflector 3110.

In addition, the third lidar data 3123 corresponding to the third angle information may include at least one point data.

For example, when the target lidar device 3100 is located at a rotation angle corresponding to the third angle information, the third lidar data 3123 obtained from the target lidar device 3100 is It may include 3 and 4 point data, and the 3 and 4 point data correspond to the laser irradiated in the center direction (y = 0) in the horizontal direction and in the lower direction (z = -) in the vertical direction. It can be point data.

For example, when the target lidar device 3100 is located at a rotation angle corresponding to the third angle information, the third lidar data 3123 obtained from the target lidar device 3100 is It may include third and fourth point data, and the third and fourth point data may have a distance value corresponding to the reference distance.

In addition, in (d) of FIG. 23, it is expressed as having two point data for the third lidar data 3123, but this is simply expressed for convenience of explanation, and actually the third lidar data ( 3123) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, the third and fourth point data indicated in (d) of FIG. 23 may be understood as point data having a reference distance value.

23(e) is a diagram for explaining the step of acquiring the above-described fourth angle information and fourth lidar data corresponding to the fourth angle information (S3040).

Since the contents described above through (d) of FIG. 23 can be similarly applied to (e) of FIG. 23, overlapping descriptions will be omitted.

Referring to (e) of FIG. 23, among the point data included in the fourth lidar data 3124 obtained when the target lidar device 3100 is positioned at a rotation angle corresponding to the fourth angle information, A distance value of point data corresponding to the fourth point data included in the third lidar data 3123 may differ from a distance value of the fourth point data by a certain amount or more.

For example, in the third lidar data 3123, the fourth point data had a reference distance value, but in the fourth lidar data 3124, the point data corresponding to the fourth point data had a reference distance value. It may have a distance value different from the value, or may not be obtained.

Accordingly, an evaluation index for vertical angular resolution of the target lidar device may be calculated based on the third angle information and the fourth angle information.

More specifically, in the third lidar data 3123 obtained when the target lidar device is positioned at a rotation angle corresponding to the third angle information, fourth point data having a reference distance value is obtained, so that the fourth point data having a reference distance value is obtained. Although it can be understood that the laser corresponding to the point data is reflected from the reflector 3110, the fourth lidar data 3124 obtained when the target lidar device is positioned at a rotation angle corresponding to the fourth angle information In ), since the point data corresponding to the fourth point data has a distance value different from the reference distance value, it can be understood that the laser for the point data corresponding to the fourth point data is not reflected by the reflector 3110. It is possible to calculate an evaluation index for vertical angular resolution of the target lidar device based on the third angle information and the fourth angle information.

24 shows test areas for performing the above-described method for calculating an evaluation index for vertical angular resolution of a target lidar device based on the viewing angle of the target lidar device.

Referring to FIG. 24, test areas include a first test area 3161, a second test area 3162, a third test area 3163, a fourth test area 3164, a fifth test area 3165, and a sixth test area 3163. At least one of the test region 3166 , the seventh test region 3167 , the eighth test region 3168 , and the ninth test region 3169 may be included.

In addition, referring to FIG. 24 , the first test area 3161 may be located at the upper center of the viewing angle, the second test area 3162 may be located at the lower center of the viewing angle, and the third test area 3162 may be located at the lower center of the viewing angle. Area 3163 may be located at the top left of the viewing angle, the fourth test area 3164 may be located at the bottom left of the viewing angle, and the fifth test area 3165 may be located at the top right of the viewing angle. The sixth test area 3166 may be located at the lower right of the viewing angle, the seventh test area 3167 may be located at the center of the viewing angle, and the eighth test area 3168 may be located at the viewing angle. It may be located in the left center of the , and the ninth test area 3169 may be located in the right center of the viewing angle, but is not limited thereto.

At this time, the method described with reference to FIGS. 22 and 23 may be performed in the first test region 3161 and the second test region 3162 .

For example, it can be understood that (b) and (c) of FIG. 23 are performed for the first test area 3161, and (d) and (e) of FIG. 23 are the second test area ( 3162), but is not limited thereto.

In addition, when the method described with reference to FIGS. 22 and 23 is performed in the third to ninth test domains 3163 to 3169, the above-described contents may be similarly applied, so duplicate descriptions will be omitted.

In addition, when calculating the evaluation index for the vertical angular resolution of the target lidar device in a plurality of test areas as shown in FIG. 24, higher accuracy than when calculating the evaluation index for the vertical angular resolution of the target lidar device in a small test area can have

In addition, the first to ninth test regions 3161 to 3169 indicated in FIG. 24 are only indicated according to an embodiment of the present invention, and the present invention may be implemented in various embodiments that are not limited thereto.

In addition, as shown in FIG. 24, when the evaluation index for the vertical angular resolution of the target lidar device is calculated using the first to ninth test regions 3161 to 3169, separate evaluation indexes can be calculated, An integrated evaluation index may be calculated with full vertical angular resolution, but is not limited thereto.

25(a) is a diagram for explaining an assumed situational condition for explaining a method of calculating an evaluation index for angular resolution of a target lidar device described above.

In (a) of FIG. 25, a 3D coordinate system used for convenience of explanation, a target lidar device 3200, and a reflector 3210 are displayed.

At this time, for convenience of explanation, a direction from the target lidar device 3200 to the reflector 3210 may be defined as an x-axis direction, and a y-axis direction and a z-axis direction perpendicular to the x-axis direction, respectively this can be defined.

In addition, the y-axis direction may be understood as a direction along the horizontal viewing angle of the target lidar device 3200, and the z-axis direction may be understood as a direction along the vertical viewing angle of the target lidar device 3200 However, it is not limited thereto.

In addition, (b) to (e) of FIG. 25 to be described below may be understood as views viewed along the z-axis.

25(b) is a diagram for explaining the step of acquiring the above-described first angle information and first lidar data corresponding to the first angle information (S3010).

At this time, when the target lidar device 3200 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 3200 is reflected by the reflector 3210. can

For example, when the target lidar device 3200 is located at a rotation angle corresponding to the first angle information, among the lasers output from the target lidar device 3200, the center direction (z = 0) is the vertical direction. ), but the laser irradiated in the left end direction (y=-) in the horizontal direction may be reflected by the reflector 3210.

In addition, when the target lidar device 3200 is positioned at a rotation angle corresponding to the first angle information, at least a portion of the laser output from the target lidar device 3200 is directed to the right end of the reflector 3210 ( It can be reflected at y=+).

For example, when the target lidar device 3200 is located at a rotation angle corresponding to the first angle information, among the lasers output from the target lidar device 3200, the center direction (z = 0) is the vertical direction. ), but the laser irradiated in the left end direction (y=-) in the horizontal direction may be reflected from the right end of the reflector 3210.

In addition, the first lidar data 3221 corresponding to the first angle information may include at least one piece of point data.

For example, when the target lidar device 3200 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 3221 obtained from the target lidar device 3200 is It may include first and second point data, and the first and second point data correspond to the laser irradiated in the center direction (z=0) in the vertical direction and in the left end direction (y=-) in the horizontal direction. It may be point data that becomes

In addition, the first lidar data 3221 corresponding to the first angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 3200 is positioned at a rotation angle corresponding to the first angle information, the first lidar data 3221 obtained from the target lidar device 3200 is It may include first and second point data, and the first and second point data may have a distance value corresponding to the reference distance.

In addition, in (b) of FIG. 25, it is expressed as having two point data for the first lidar data 3221, but this is simply expressed for convenience of explanation, and actually the first lidar data ( 3221) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, the first and second point data indicated in (b) of FIG. 25 may be understood as point data having a reference distance value.

25(c) is a diagram for explaining the step of obtaining the above-described second angle information and second lidar data corresponding to the second angle information (S3020).

Since the contents described above through (b) of FIG. 25 can be similarly applied to (c) of FIG. 25, overlapping descriptions will be omitted.

Referring to (c) of FIG. 25, among the point data included in the second lidar data 3222 obtained when the target lidar device 3100 is positioned at a rotation angle corresponding to the second angle information, The distance value of the point data corresponding to the second point data included in the first lidar data 3221 may differ from the distance value of the second point data by a certain amount or more.

For example, in the first lidar data 3221, the second point data had a reference distance value, but in the second lidar data 3222, the point data corresponding to the second point data had a reference distance value. It may have a distance value different from the value, or may not be obtained.

Accordingly, an evaluation index for horizontal angular resolution of the target lidar device may be calculated based on the first angle information and the second angle information.

More specifically, since second point data having a reference distance value is obtained from the first lidar data 3221 obtained when the target lidar device is located at a rotation angle corresponding to the first angle information, the second point data having a reference distance value is obtained. It can be understood that the laser corresponding to the point data is reflected from the reflector 3210, but the second lidar data 3222 obtained when the target lidar device is positioned at a rotation angle corresponding to the second angle information. In ), since the point data corresponding to the second point data has a distance value different from the reference distance value, it can be understood that the laser for the point data corresponding to the second point data is not reflected by the reflector 3210. It is possible to calculate an evaluation index for the horizontal angular resolution of the target lidar device based on the first angle information and the second angle information.

However, the above-described examples describe a method for calculating an evaluation index for the horizontal angular resolution of a target lidar device based on a change in the distance value of one point data. According to the present invention, one, two, It is also possible to calculate the evaluation index for the horizontal angular resolution of the target lidar device based on the change in the distance value of the point data, such as three, but redundant descriptions will be omitted.

25(d) is a diagram for explaining the step of acquiring the above-described third angle information and third lidar data corresponding to the third angle information (S3030).

At this time, when the target lidar device 3200 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 3200 is reflected by the reflector 3210. can

For example, when the target lidar device 3200 is positioned at a rotation angle corresponding to the third angle information, among lasers output from the target lidar device 3200, the center direction (z=0) is the vertical direction. ), but the laser irradiated in the right end direction (y=+) in the horizontal direction may be reflected by the reflector 3210.

In addition, when the target lidar device 3200 is positioned at a rotation angle corresponding to the third angle information, at least a portion of the laser output from the target lidar device 3200 is directed to the right end of the reflector 3210 ( It can be reflected at y=+).

For example, when the target lidar device 3200 is positioned at a rotation angle corresponding to the third angle information, among lasers output from the target lidar device 3200, the center direction (z=0) is the vertical direction. ), but the laser irradiated in the right end direction (y=+) in the horizontal direction may be reflected from the left end of the reflector 3210.

In addition, the third lidar data 3223 corresponding to the third angle information may include at least one point data.

For example, when the target lidar device 3200 is positioned at a rotation angle corresponding to the third angle information, the third lidar data 3223 obtained from the target lidar device 3200 is It may include 3 and 4 point data, and the 3 and 4 point data correspond to the laser irradiated in the center direction (z = 0) in the vertical direction and in the right end direction (y = +) in the horizontal direction. It may be point data that becomes

In addition, the third lidar data 3223 corresponding to the third angle information may include point data having a distance value corresponding to a reference distance.

For example, when the target lidar device 3200 is positioned at a rotation angle corresponding to the third angle information, the third lidar data 3223 obtained from the target lidar device 3200 is It may include third and fourth point data, and the third and fourth point data may have a distance value corresponding to the reference distance.

In addition, in (d) of FIG. 25, it is expressed as having two point data for the third lidar data 3223, but this is simply expressed for convenience of explanation, and actually the third lidar data ( 3223) may include a plurality of point data, and the plurality of point data may include both point data having a reference distance value and point data having a distance value different from the reference distance value.

At this time, the third and fourth point data indicated in (d) of FIG. 25 may be understood as point data having a reference distance value.

25(e) is a diagram for explaining the step of acquiring the above-described fourth angle information and fourth lidar data corresponding to the fourth angle information (S3040).

Since the contents described above through (d) of FIG. 25 can be similarly applied to (e) of FIG. 25, overlapping descriptions will be omitted.

Referring to (e) of FIG. 25, among the point data included in the fourth lidar data 3224 obtained when the target lidar device 3200 is positioned at a rotation angle corresponding to the fourth angle information, A distance value of point data corresponding to the fourth point data included in the third lidar data 3223 may differ from a distance value of the fourth point data by more than a certain amount.

For example, in the third lidar data 3223, the fourth point data had a reference distance value, but in the fourth lidar data 3224, the point data corresponding to the fourth point data had a reference distance value. It may have a distance value different from the value, or may not be obtained.

Accordingly, an evaluation index for horizontal angular resolution of the target lidar device may be calculated based on the third angle information and the fourth angle information.

More specifically, in the third lidar data 3223 obtained when the target lidar device is positioned at a rotation angle corresponding to the third angle information, fourth point data having a reference distance value is obtained, so that the fourth point data having a reference distance value is obtained. Although it can be understood that the laser corresponding to the point data is reflected from the reflector 3210, the fourth lidar data 3224 obtained when the target lidar device is located at a rotation angle corresponding to the fourth angle information In ), since the point data corresponding to the fourth point data has a distance value different from the reference distance value, it can be understood that the laser for the point data corresponding to the fourth point data is not reflected by the reflector 3210. It is possible to calculate an evaluation index for horizontal angular resolution of the target lidar device based on the third angle information and the fourth angle information.

26 shows test areas for performing the method of calculating the evaluation index for the horizontal angular resolution of the lidar device described above based on the viewing angle of the lidar device.

Referring to FIG. 26, test areas include a first test area 3261, a second test area 3262, a third test area 3263, a fourth test area 3264, a fifth test area 3265, and a sixth test area 3265. At least one of the test region 3266 , the seventh test region 3267 , the eighth test region 3268 , and the ninth test region 3269 may be included.

Also, referring to FIG. 26 , the first test area 3261 may be positioned at the center left of the viewing angle, the second test area 3262 may be positioned at the center right of the viewing angle, and the third test area 3262 may be positioned at the center right of the viewing angle. Area 3263 may be located at the upper left of the viewing angle, the fourth test area 3264 may be located at the upper right of the viewing angle, and the fifth test area 3265 may be located at the lower left of the viewing angle. The sixth test region 3266 may be located at the lower right of the viewing angle, the seventh test region 3267 may be located at the center of the viewing angle, and the eighth test region 3268 may be located at the viewing angle. , and the ninth test area 3269 may be located at the lower center of the viewing angle, but is not limited thereto.

At this time, the method described with reference to FIGS. 22 and 25 may be performed in the first test area 3261 and the second test area 3262 .

For example, it can be understood that (b) and (c) of FIG. 25 are performed for the first test area 3261, and (d) and (e) of FIG. 25 are the second test area ( 3262), but is not limited thereto.

In addition, when the method described with reference to FIGS. 22 and 25 is performed in the third to ninth test domains 3263 to 3269, the above-described contents may be similarly applied, so redundant descriptions will be omitted.

In addition, when calculating the evaluation index for the horizontal angular resolution of the target lidar device in a plurality of test areas as shown in FIG. 26, higher accuracy than when calculating the evaluation index for the horizontal angular resolution of the target lidar device in a small test area can have

In addition, the first to ninth test regions 3261 to 3269 indicated in FIG. 26 are only indicated according to one embodiment of the present invention, and the present invention may be implemented in various embodiments that are not limited thereto.

In addition, as shown in FIG. 26, when the evaluation index for the horizontal angular resolution of the target lidar device is calculated using the first to ninth test regions 3261 to 3269, separate evaluation indexes can be calculated, An integrated evaluation index may be calculated with full horizontal angular resolution, but is not limited thereto.

Referring to FIG. 27, a method for evaluating the performance of a target lidar device according to an embodiment includes locating the target lidar device at a first location (S3310), and changing the location of the target lidar device to the first location. Moving the reflector to a second position (S3320), positioning the reflector to a third position (S3330), and rotating the target lidar device at first to Nth rotational angles based on at least one axis (S3340) , obtaining first to N th image data sets for laser sets reflected by the reflector while positioned at the first to N th angles (S3350), and among the first to N th image data sets. At least one step of calculating at least one evaluation index based on at least one (S3360) may be included.

In the present specification, positioning the target lidar device at a first position (S3310), moving the target lidar device from the first position to a second position (S3320), and positioning the reflector at a third position. Since the contents described through FIGS. 3 to 5 can be applied to the step (S3330), redundant description will be omitted.

In addition, in the present specification, since the contents described through FIGS. 3 and 6 may be applied to the step (S3340) of rotating the target lidar device at the first to Nth rotation angles based on at least one axis, redundancy descriptions are omitted.

In addition, in the present specification, the step of acquiring the first to Nth image data sets for the laser sets reflected by the reflector while positioned at each of the first to Nth angles (S3350) is illustrated in FIG. 28 . It will be described in detail below.

Further, in this specification, the step of calculating at least one evaluation index based on at least one of the first to N th image data sets ( S3360 ) will be described in detail with reference to FIGS. 29 to 32 .

More specifically, FIG. 28 is for explaining the step of obtaining (S3350) the first to Nth image data sets for the laser sets reflected by the reflector while positioned at each of the above-described first to Nth angles. it is a drawing

28 (a), (b), and (c), for convenience of description, the target lidar device 3400, the image acquisition device 3410, the reflector 3420, the viewing angle 3430 of the target lidar device, and The viewing angle 3440 of the image acquisition device is indicated.

At this time, in (a) of FIG. 28 , while the target lidar device 3400 is positioned at a first angle, a first image data set 3451 for laser sets reflected by the reflector 3420 is obtained. 28(b) is a second image data set 3452 for laser sets reflected by the reflector 3420 while the LIDAR device is positioned at a second angle. 28(c) is a Nth image data set for laser sets reflected by the reflector 3420 while the LIDAR device is located at the Nth angle ( 3453) is a diagram for explaining a situation of acquiring.

Referring to (a) of FIG. 28, a first image data set 3451 for laser sets reflected by the reflector 3420 is acquired while the target lidar device 3400 is positioned at a first angle. It can be.

In this case, the first angle may be a rotation angle at which the reflector 3420 is positioned to the left of the viewing angle 3430 of the target lidar device 3400, but is not limited thereto.

In addition, while the target lidar device 3400 is positioned at the first angle, at least some of the lasers output from the target lidar device 3400 may reach the reflector, and the lasers reaching the reflector may Image data for at least some of them may be acquired from the image acquisition device 3410 .

More specifically, among the lasers output from the target lidar device 3400 while the target lidar device 3400 is located at the first angle, the viewing angle 3430 of the target lidar device 3400 and the Lasers output to a portion where the reflector 3420 overlaps may reach the reflector, and among the lasers that reach the reflector, image data for lasers that reach the reflector within the viewing angle of the image acquisition device 3410 is displayed. It may be acquired from the image acquisition device 3410.

Accordingly, the first image data set 3451 is output from the target lidar device 3400 while the target lidar device 3400 is located at the first angle, and the viewing angle of the image acquisition device 3410 ( 3440) may include at least one image data of lasers reflected by the reflection plate 3420.

In this case, the first image data set 3451 may include one image data or may include a plurality of image data.

For example, if the exposure time of the image acquisition device 3410 is not sufficient to obtain an image of lasers reflected by the reflector 3420 within the viewing angle 3440 of the image acquisition device 3410. In this case, the first image data set 3451 may include a plurality of image data, but is not limited thereto.

Also, for example, the exposure time of the image acquisition device 3410 is sufficient to acquire an image of lasers reflected by the reflector 3420 within the viewing angle 3440 of the image acquisition device 3410. In this case, the first image data set 3451 may include one image data, but is not limited thereto.

Referring to (b) of FIG. 28, while the target lidar device 3400 is positioned at a second angle, a second image data set 3452 for laser sets reflected by the reflector 3420 is obtained. It can be.

In this case, the second angle may be an angle further rotated toward the center from the first angle, but is not limited thereto.

In addition, while the lidar device 3400 is located at the second angle, at least some of the lasers output from the target lidar device 3400 may reach the reflector, and at least some of the lasers reaching the reflector Image data for a part may be obtained from the image acquisition device 3410 .

More specifically, among the lasers output from the target lidar device 3400 while the target lidar device 3400 is positioned at the second angle, the viewing angle 3430 of the target lidar device 3400 and the Lasers output to a portion where the reflector 3420 overlaps may reach the reflector, and among the lasers that reach the reflector, image data for lasers that reach the reflector within the viewing angle of the image acquisition device 3410 is displayed. It may be acquired from the image acquisition device 3410.

Therefore, the second image data set 3452 is output from the target lidar device 3400 while the target lidar device 3400 is located at the second angle, and the viewing angle of the image acquisition device 3410 ( 3440) may include at least one image data of lasers reflected by the reflection plate 3420.

In this case, the second image data set 3452 may include one image data or may include a plurality of image data.

For example, if the exposure time of the image acquisition device 3410 is not sufficient to obtain an image of lasers reflected by the reflector 3420 within the viewing angle 3440 of the image acquisition device 3410. In this case, the second image data set 3452 may include a plurality of image data, but is not limited thereto.

Also, for example, the exposure time of the image acquisition device 3410 is sufficient to acquire an image of lasers reflected by the reflector 3420 within the viewing angle 3440 of the image acquisition device 3410. In this case, the second image data set 3452 may include one image data, but is not limited thereto.

Referring to (c) of FIG. 28, while the target lidar device 3400 is positioned at the Nth angle, an Nth image data set 3453 for laser sets reflected by the reflector 3420 is obtained. It can be.

At this time, the Nth angle may be a rotation angle at which the reflector 3420 is positioned to the right of the viewing angle 3430 of the target lidar device 3400, but is not limited thereto.

In addition, while the lidar device 3400 is located at the Nth angle, at least some of the lasers output from the target lidar device 3400 may reach the reflector, and at least some of the lasers reaching the reflector Image data for a part may be obtained from the image acquisition device 3410 .

More specifically, the viewing angle 3430 of the target lidar device 3400 and the Lasers output to a portion where the reflector 3420 overlaps may reach the reflector, and among the lasers that reach the reflector, image data for lasers that reach the reflector within the viewing angle of the image acquisition device 3410 is displayed. It may be acquired from the image acquisition device 3410.

Therefore, the Nth image data set 3453 is output from the target lidar device 3400 while the target lidar device 3400 is located at the Nth angle, and the viewing angle of the image acquisition device 3410 ( 3440) may include at least one image data of lasers reflected by the reflection plate 3420.

In this case, the Nth image data set 3453 may include one image data or may include a plurality of image data.

For example, if the exposure time of the image acquisition device 3410 is not sufficient to obtain an image of lasers reflected by the reflector 3420 within the viewing angle 3440 of the image acquisition device 3410. In this case, the Nth image data set 3453 may include a plurality of image data, but is not limited thereto.

Also, for example, the exposure time of the image acquisition device 3410 is sufficient to acquire an image of lasers reflected by the reflector 3420 within the viewing angle 3440 of the image acquisition device 3410. In this case, the Nth image data set 3453 may include one image data, but is not limited thereto.

28 is a description of a method for obtaining an image data set corresponding to each rotation angle while the target lidar device 3400 rotates in the horizontal direction, but the content of the present invention is the above-described implementation. It is not limited to examples, and rotates the target lidar device 3400 in the vertical direction according to the size of the vertical viewing angle of the target lidar device 3400 and the vertical length of the reflector, and image data corresponding to each rotation angle Modifiable embodiments, such as obtaining a set or obtaining an additional image data set by rotating the image acquisition device 3410, may also be included. However, duplicate contents will be omitted.

29 illustrates image data 3500 obtained according to an exemplary embodiment for convenience of description.

At this time, the image data 3500 may be image data obtained according to the above description, may mean image data obtained by accumulating a plurality of image data, and may synthesize a set of image data into one image. It may mean image data obtained by using a plurality of image data sets, and may mean one image data obtained using a plurality of image data sets, but is not limited thereto.

Referring to the image data 3500, the image data 3500 may include images of lasers output from a target lidar device.

More specifically, referring to the image data 3500, the image data 3500 includes a first laser image 3510 of a laser irradiated in a first direction from the target lidar device, and a laser irradiated in a second direction. A second laser image 3520 for , a third laser image 3530 for laser irradiation in a third direction, and a fourth laser image 3540 for laser irradiation in a fourth direction may be included.

In addition, as shown in FIG. 29, the first laser image 3510 and the second laser image 3520 may be horizontally adjacent to each other, and the third laser image 3530 and the fourth laser image 3530 may be horizontally adjacent to each other. 3540 may be adjacent to each other in a vertical direction, but is not limited thereto.

At this time, horizontally or vertically adjacent meaning may mean that the arrangement relationship between the plurality of laser images is arranged in an adjacent order on the image data 3500, but is not limited thereto.

In addition, an evaluation index for vertical angular resolution or horizontal angular resolution may be calculated using the image data 3500 .

For example, the distance 3550 between the centers of the first laser image 3510 and the second laser image 3520 included in the image data 3500 and the distance between the target lidar device and the reflector Based on this, an evaluation index for the horizontal angular resolution of the target lidar device may be calculated, but is not limited thereto.

In addition, for example, the distance 3560 between the centers of the third laser image 3530 and the fourth laser image 3540 included in the image data 3500 and the distance 3560 between the target lidar device and the reflector An evaluation index for vertical angular resolution of the target lidar device may be calculated based on the distance, but is not limited thereto.

In addition, the horizontal or vertical angular resolution of the target lidar device based on the distance between adjacent laser images among the plurality of laser images included in the image data 3500 and the distance between the target lidar device and the reflector An evaluation index for may be calculated, but is not limited thereto.

In addition, the test area for applying the above contents may be any two adjacent laser images, but is not limited thereto, and may be any adjacent laser images outside the viewing angle, and laser images in the entire viewing angle. They may be, but are not limited thereto.

30 illustrates image data 3600 acquired according to an exemplary embodiment for convenience of description.

At this time, the image data 3600 may be image data obtained according to the above description, may mean image data obtained by accumulating a plurality of image data, and may synthesize a set of image data into one image. It may mean image data obtained by using a plurality of image data sets, and may mean one image data obtained using a plurality of image data sets, but is not limited thereto.

In addition, a solid line in FIG. 30 may be an image of lasers output from a target lidar device, and a dotted line may be a reference image obtained through computer simulation.

At this time, in FIG. 30, the image of the lasers and the reference image are simultaneously marked on one image, but this is only a drawing for convenience of description, and the image of the lasers and the reference image do not need to be marked on one image. , the present invention is not limited thereto.

Referring to FIG. 30, the image data 3600 includes a first laser image 3510 of a laser irradiated in a first direction from the target lidar device and a second laser image of a laser irradiated in a second direction ( 3520), a first reference image 3530 for laser irradiation in the first direction and a second reference image 3540 for laser irradiation in the second direction may be included.

At this time, an evaluation index for vertical angle accuracy or horizontal angle accuracy of the target lidar device may be calculated using the image data 3600 .

For example, based on the vertical direction distance between the first laser image 3510 and the first reference image 3530 included in the image data 3600 and the distance between the target lidar device and the reflector, the target An evaluation index for the vertical angle accuracy of the lidar device may be calculated, and the distance between the first laser image 3510 and the first reference image 3530 in the horizontal direction and the distance between the target lidar device and the reflector may be calculated. Based on this, an evaluation index for horizontal angle accuracy of the target lidar device may be calculated, but is not limited thereto.

In addition, for example, based on the vertical direction distance of the second laser image 3520 and the second reference image 3540 included in the image data 3600 and the distance between the target lidar device and the reflector An evaluation index for vertical angular accuracy of the target lidar device may be calculated, and a distance between the second laser image 3520 and the second reference image 3540 in a horizontal direction and a distance between the target lidar device and the reflector may be calculated. An evaluation index for horizontal angle accuracy of the target lidar device may be calculated based on the distance, but is not limited thereto.

At this time, the vertical or horizontal angle accuracy may be an evaluation index for the accuracy of the position of the actually irradiated laser compared to the position of the laser according to the design conditions of the target lidar device, and thus, the distance between the reference position and the actual measurement position Based on the difference, an evaluation index for vertical or horizontal angular accuracy may be calculated.

Therefore, in addition to the above examples, various methods may be used to calculate an evaluation index for the accuracy of the position of the actually irradiated laser in comparison to the position of the laser according to the design condition of the target lidar device.

In addition, the above-described examples have described examples of calculating vertical or horizontal angle accuracy for each of two laser images or two reference images, but images for all lasers in order to calculate vertical or horizontal angle accuracy of a target lidar device. may be an evaluation target, and images of some lasers among all lasers may be an evaluation target, but are not limited thereto.

31 illustrates image data 3700 obtained according to an exemplary embodiment for convenience of description.

At this time, the image data 3700 may be image data obtained according to the above description, may mean image data obtained by accumulating a plurality of image data, and may synthesize a set of image data into one image. It may mean image data obtained by using a plurality of image data sets, and may mean one image data obtained using a plurality of image data sets, but is not limited thereto.

Referring to the image data 3700, the image data 3700 may include images of lasers output from a target lidar device.

At this time, the lasers output from the target lidar device may have a shape close to an ellipse, and thus may have a short axis and a long axis.

Accordingly, evaluation indexes for short-axis beam sizes and long-axis beam sizes of lasers output from the target lidar device may be calculated using the image data 3700 .

For example, the major axis length 3720 and the minor axis length 3730 of the first laser image 3710 included in the image data 3700, and the major axis beam size and the minor axis beam size based on the optical origin of the target lidar device. An evaluation index for may be calculated, but is not limited thereto.

In addition, the above is an example of calculating the evaluation index for the short-axis beam size and the long-axis beam size for one laser image, but the evaluation index for the long-axis beam size and short-axis beam size of the target lidar device In order to calculate, images of all lasers may be evaluated, and images of some lasers among all lasers may be evaluated, but are not limited thereto.

The laser output from the lidar device may have a different divergence angle of the laser output according to designed optical conditions.

A lidar device is a device that uses a laser to measure the distance to a laser-irradiated area. Depending on the divergence angle of the laser, the area covered by the lidar device may be different. can be a major evaluation index for

Reflectors positioned at different distances from each other may be used to calculate an evaluation index for a divergence angle of a laser of a target lidar device.

At this time, in order to use reflectors located at different distances, reflectors disposed at a predetermined distance may be used, and a configuration for adjusting the distance between the reflector and the target lidar device may be used between the target lidar device and the reflector. distance can be adjusted.

Hereinafter, a method for calculating an evaluation index for a divergence angle of a laser of a target lidar device using illustrative reflectors located at two different distances is described, but the present invention is located at two different distances. It is not limited to an embodiment using a reflector, and a method of calculating an evaluation index for a divergence angle of a laser of a target lidar device using reflectors positioned at three or more different distances may also be included.

Referring to FIG. 32 , a radius 3850 of a first laser image 3830 output from a target lidar device 3800 and reflected from a reflector located at a first distance 3810 may be calculated, and a second distance may be calculated. A radius 3860 of the second laser image 3840 reflected from the reflecting plate positioned at 3820 may be calculated.

In this case, the first laser image 3830 and the second laser image 3840 may be images of lasers output from the target lidar device 3800 in the same direction.

In addition, the radius 3850 of the first laser image 3830 and the radius 3860 of the second laser image 3840 may include a radius for a major axis and a radius for a minor axis as described with reference to FIG. 31 . may, but is not limited thereto.

In addition, the divergence angle 3870 of the laser of the target lidar device 3800 may be obtained using the first laser image 3830 and the second laser image 3840.

For example, the difference between the radius 3850 of the first laser image 3830 and the radius 3860 of the second laser image 3840, the first distance 3810 and the second distance 3820 ), the divergence angle 3870 of the target lidar device 3800 may be calculated based on the difference, but is not limited thereto.

32 is described based on one laser image included in the image data described through FIGS. 27 and 28 for convenience of explanation, but in order to obtain an evaluation index for the divergence angle of the laser of the target lidar device A plurality of laser images may be used, that is, when the reflector is positioned at the first distance 3810, images of all lasers included in image data of lasers reflected from the reflector and the reflector are When positioned at the second distance 3820, images of all lasers included in image data of lasers reflected from the reflector may be used, and only some laser images may be used, but are limited thereto. It doesn't work.

3 to 32, in the embodiments of calculating an evaluation index for at least one performance of a target lidar device based on lidar data obtained from a target lidar device or image data obtained from an image acquisition device It was written about.

According to the present invention, not only the evaluation index for at least one performance described through FIGS. 3 to 32, but also the evaluation index for performance such as FPS (Frame per second) of the target lidar device can be calculated, for example , In order to calculate the evaluation index for the FPS of the target lidar device, a time stamp for lidar data obtained from the target lidar device may be assigned, and based on the time interval between time stamps, the target lidar device FPS can be calculated.

In this case, the time stamp may be assigned to a reference point in time for the lidar data, for example, may be assigned to a start point or end point of the lidar data, but is not limited thereto.

In addition, the evaluation index for the FPS of the target lidar device may include the precision and accuracy of the FPS, and in this case, the precision of the FPS may be calculated as a standard deviation for the distribution of time intervals between time stamps, The accuracy of FPS may be calculated based on the difference between the mode of the time interval between time stamps and the designed reception time interval, but is not limited thereto.

In addition to the above examples, evaluation indicators for various performances may be calculated based on various data obtained according to the present invention.

Hereinafter, a target lidar performance evaluation device according to an embodiment for implementing a method for evaluating the performance of a target lidar device according to the present invention will be described.

3. Performance evaluation device for target lidar device

Referring to FIG. 33 , a performance evaluation device 3900 for a target lidar device according to an embodiment includes a first assembly 3910, a second assembly 3920, a distance adjusting driving unit 3930, and a path guide unit 3940. ) may include at least some of them.

In this case, the first assembly 3910 may be an assembly for positioning the lidar device to be measured, and the first assembly 3910 may include a lidar mount for mounting the lidar device to be measured. there is.

At this time, the lidar mount may be provided in various shapes to mount the measurement target lidar device.

Also, the first assembly 3910 may be an assembly for rotating the lidar device to be measured.

For example, the first assembly 3910 may be an assembly for rotating the lidar device to be measured based on at least one axis. In this case, the first assembly 3910 is the lidar device to be measured. Alternatively, it may include a first driving unit for rotating and moving the lidar mount based on at least a first axis and a second axis, but is not limited thereto.

In this case, the first drive unit may have a rotation origin at which the first axis and the second axis intersect.

In addition, the first assembly 3910 may be an assembly for positioning the lidar device to be measured at a preset position.

For example, the first assembly 3910 may be an assembly for locating the optical origin of the lidar device to be measured at a predetermined position.

At this time, the first assembly 3910 moves the lidar device to be measured or the lidar mount to the third axis, the fourth axis, and the fifth axis in order to position the optical origin of the lidar device to be measured at a predetermined position. It may include a second driving unit for parallel movement along the axis, but is not limited thereto.

Also, the second assembly 3920 may be an assembly for positioning at least one reflective target, and the second assembly 3920 may include a reflective target mount for mounting the at least one reflective target.

Also, the second assembly 3920 may be an assembly for rotating the reflection target.

For example, the second assembly 3920 may include a third driving unit for rotating the reflective target based on at least one axis, but is not limited thereto.

In addition, the distance adjustment driving unit may be a driving unit for adjusting the distance between the first assembly and the second assembly.

For example, the distance adjustment driving unit may be a driving unit that is operatively connected to the first assembly and transmits a driving force to the first assembly, but is not limited thereto.

Also, for example, the distance adjusting driving unit may be a driving unit that is operatively connected to the second assembly and transmits a driving force to the second assembly, but is not limited thereto.

Accordingly, when a driving force is transmitted to the first assembly or the second assembly by the distance adjusting driver, the distance between the first assembly and the second assembly may be adjusted.

Also, the path guide unit may be configured to guide a movement path of at least one of the first assembly and the second assembly.

For example, when the distance adjustment driving unit is a driving unit that is operatively connected to the first assembly and transmits a driving force to the first assembly, the first assembly may be mounted on the path guide unit, and thus the path The guide unit may guide and limit a movement path of the first assembly driven by the distance adjusting driving unit, but is not limited thereto.

Further, for example, when the distance adjusting driving unit is a driving unit that is operatively connected to the second assembly and transmits a driving force to the second assembly, the second assembly may be mounted on the path guide unit, and accordingly The path guide unit may guide and limit a movement path of the first assembly driven by the distance adjusting driving unit, but is not limited thereto.

Operations described below may be used to implement the performance evaluation method for the above-described target lidar device using the performance evaluation device 3900 for the target lidar device to be measured.

The step of locating the target lidar device described with reference to FIGS. 3, 4 and 27 in the first position may be implemented by mounting the target lidar device to the first assembly 3910.

For example, the step of locating the target lidar device in the first position may be implemented by mounting the target lidar device on the lidar mount, but is not limited thereto.

In addition, the step of moving the position of the target lidar device from the first position to the second position described with reference to FIGS. 3, 4 and 27 may be implemented by adjusting the first assembly 3910.

For example, the step of moving the position of the target lidar device from the first position to the second position may be implemented by adjusting the second driving unit to move the lidar mount in parallel, but is not limited thereto.

At this time, the aforementioned predetermined position may correspond to the origin of rotation of the first drive unit, but is not limited thereto.

In addition, at this time, the relative distance between the rotational origin of the first drive unit and the optical origin of the measurement target lidar device may be adjusted by the second drive unit.

Also, the step of locating the reflecting plate described with reference to FIGS. 3, 5, and 27 at the third position may be implemented by locating the reflective target mounted on the second assembly at the third position.

At this time, the distance adjustment driving unit 3930 and the path guide unit 3940 may be used to position the reflection target at the third position, but is not limited thereto.

In addition, the step of rotating the target lidar device described in FIGS. 3, 6, and 27 based on at least one axis may be implemented by adjusting the first assembly 3910.

For example, the step of rotating the target lidar device based on at least one axis may be implemented by rotating the first driving unit based on at least a first axis or a second axis, but is not limited thereto.

At this time, the relative position between the rotation origin of the first driving unit and the optical origin of the measurement target lidar device may be fixed.

In addition, the step of obtaining a plurality of lidar data corresponding to the plurality of viewpoints described with reference to FIGS. 3 and 7 and a plurality of rotation angles corresponding to the plurality of viewpoints obtains lidar data from the lidar device to be measured. And, it can be implemented by acquiring the rotation angle of the first drive unit.

In addition, the performance evaluation device 3900 for the target lidar device described above may be used to implement some of the methods for evaluating the performance of the target lidar device described with reference to FIGS. 8 to 32, The operation of the performance evaluation device 3900 for the measurement target lidar device can be sufficiently understood from the above description.

Referring to FIG. 34 , the performance evaluation device 4000 for a target lidar device according to an embodiment includes a first assembly 4010, a second assembly 4020, a distance adjusting driving unit 4030, and a path guide unit 4040. ) and at least a part of the image acquisition unit 4050.

At this time, since the above contents may be applied to the first assembly 4010, the second assembly 4020, the distance adjusting driving unit 4030, and the path guide unit 4040, overlapping descriptions will be omitted.

The image acquisition unit 4050 may include an image acquisition device for acquiring images of lasers output from a target lidar device and reaching a reflection target.

In addition, the image acquisition unit 4050 may include a rotation driving unit for rotating the image acquisition device, but is not limited thereto.

In addition, since the operation of the performance evaluation device 3900 for the target lidar device described above with reference to FIG. 33 can also be understood as the operation of the performance evaluation device 4000 for the target lidar device according to an embodiment, it is duplicated. description is omitted.

In addition, the image data, image data set, etc. described with reference to FIGS. 27 to 32 may be obtained by the image acquisition unit 4050, but are not limited thereto.

Referring to FIG. 35 , a performance evaluation device 4100 for a target lidar device according to an embodiment includes a first assembly 4110, a second assembly 4120, a first image acquisition device 4130, and a second image It may include at least some of the acquisition device 4140.

At this time, since the above contents may be applied to the first assembly 4110 and the second assembly 4120, overlapping descriptions will be omitted.

The first image acquisition device 4130 and the second image acquisition device 4140 may be components provided to guide alignment of the performance evaluation device 4100 of the lidar device to be measured.

In this case, the first image acquisition device 4130 and the second image acquisition device 4140 may be arranged so that the position of the rotation origin of the first driving unit included in the above-described first assembly is included within the viewing angle.

In addition, axes along the center of each viewing angle of the first image acquisition device 4130 and the second image acquisition device 4140 may not be parallel to each other.

In addition, first image data, first reference data, second image data, and second reference data may be provided to guide the operation of the second driver included in the first assembly 4110 .

In this case, the first image data may refer to image data obtained from the first image acquisition device 4130 when the measurement target lidar device is mounted on the first assembly 4110, but is not limited thereto. don't

In addition, the second image data may mean image data obtained from the second image acquisition device 4130 when the measurement target lidar device is mounted on the first assembly 4110, but is not limited thereto. .

In addition, the first reference data may be data corresponding to a preset position in image data obtained from the first image acquisition device 4130, but is not limited thereto.

At this time, the preset position may correspond to the position of the rotation origin of the first drive unit, but is not limited thereto.

In addition, the second reference data may be data corresponding to the preset position in the image data obtained from the second image acquisition device 4140, but is not limited thereto.

In addition, the performance evaluation apparatus 4100 for the measurement target lidar device may further include a storage unit for storing the first and second reference data, but is not limited thereto.

Also, the second driver may be driven based on the first image data, the second image data, the first reference data, and the second reference data.

For example, the second drive unit determines the difference between the image of the target lidar device included in the first image data and the position of the first reference data and the lidar device included in the second image data. It may be driven based on the difference between the location of the image and the second reference data, but is not limited thereto.

In addition, the performance evaluation apparatus 4100 for the measurement target lidar device may further include a display unit for displaying the first image data, the second image data, the first reference data, and the second reference data. , but not limited thereto.

In addition, the first and second reference data may be stored differently according to the type of the measurement target lidar device.

For example, when the measurement target lidar device is a first type lidar device, the first and second reference data may be stored in a triangular shape, and the measurement target lidar device is a second type lidar device. In the case of a device, the first and second reference data may be stored in a circular shape, but is not limited thereto.

In addition, the first image data, the second image data, the first reference data, and the second reference data determine the location of the target lidar device described with reference to FIGS. 3, 4, and 27 at the first location. 2 Can be provided to guide the step of moving to position.

36 and 37, the first assembly 4200 according to an embodiment may include a lidar mount 4210, a first driving unit 4220 and a second driving unit 4230, and in FIG. 37 ( a) is a schematic view showing a drawing in which the measurement target lidar device 4240 is mounted on the lidar mount 4210, and FIG. 37(b) is a schematic view showing the second driving unit 4230 37(c) is a diagram illustrating the first driving unit 4220.

At this time, since the above contents may be applied to the lidar mount 4210, the first driving unit 4220, and the second driving unit 4230, overlapping descriptions will be omitted.

Referring to (c) of FIG. 37, the first drive unit 4220 includes a first shaft rotation drive unit 4221 for rotationally moving the lidar mount 4210 relative to a first axis and the lidar mount 4210 ) may include a second axis rotation drive unit 4222 and a rotation mount 4223 for rotationally moving the second axis.

However, in (c) of FIG. 37, the first driving unit 4220 is described as a configuration for rotating the lidar mount 4210 based on the first axis and the second axis, but the first driving unit 4220 according to the present invention The driving unit 4220 may include a component that rotates the lidar mount 4210 based on a plurality of axes, such as a first axis, a second axis, and a third axis.

At this time, the second driving unit 4230 may be coupled to the rotation mount 4223, but is not limited thereto.

In addition, the second driving unit 4230 may be operatively dependent on the first driving unit 4220, but is not limited thereto.

At this time, the meaning that the second driving unit 4230 is operatively subordinate to the first driving unit 4220 means that the second driving unit 4230 rotates according to the rotational movement of the first driving unit 4220, It may mean that the first driving unit 4220 is coupled so that the parallel movement of the second driving unit 4230 does not move in parallel, but is not limited thereto.

In addition, the first shaft rotation drive unit 4221 may be operatively subordinate to the second shaft rotation drive unit 4222, but is not limited thereto.

At this time, the meaning that the first shaft rotation driving unit 4221 is operatively subordinate to the second shaft rotation driving unit 4222 means that the first shaft rotation driving unit 4222 rotates according to the rotational movement of the first shaft rotation driving unit 4221. 4221 may mean that the rotational movement of the first shaft rotational driving unit 4221 is coupled so that the second shaft rotational driving unit 4222 is not rotated according to the rotational movement of the first shaft rotational driving unit 4221, but is not limited thereto.

In addition, the second shaft rotation drive unit 4222 may be operatively subordinate to the first shaft rotation drive unit 4221, but is not limited thereto.

At this time, the meaning that the second shaft rotation drive unit 4222 is operatively subordinate to the first shaft rotation drive unit 4221 means that the second shaft rotation drive unit 4221 rotates according to the rotational movement of the first shaft rotation drive unit 4221. 4222 may mean that the rotational movement of the second axis rotational drive unit 4222 is coupled so that the first axis rotational drive unit 4221 is not rotated according to the rotational movement of the second shaft rotational drive unit 4222, but is not limited thereto.

In addition, the first shaft rotation driving unit 4221 and the second shaft rotation driving unit 4222 may be operatively independent of each other, but are not limited thereto.

At this time, the meaning that the first shaft rotation driving unit 4221 and the second shaft rotation driving unit 4222 are operatively independent of each other means that the second shaft rotation according to the rotational movement of the first shaft rotation driving unit 4221 It may mean that the driving unit 4222 is not rotationally moved and coupled so that the first shaft rotational driving unit 4221 is not rotationally moved according to the rotational movement of the second shaft rotational driving unit 4222, but is not limited thereto. .

Also, referring to (c) of FIG. 37 , the first drive unit 4220 may have a rotation origin, and in this case, the rotation origin is a point where the first axis 4224 and the second axis 4225 intersect. can be defined as

In addition, the relative position of the lidar device 4240 to be measured with respect to the origin of rotation may be changed according to the parallel movement of the lidar mount 4210 by the second driving unit 4230 .

In addition, the lidar mount 4210 may be aligned with the first assembly 4200 by the second driving unit 4230 .

In addition, when the measurement target lidar device 4240 is aligned with the first assembly 4200, the rotation origin may be located inside the measurement target lidar device 4240.

In addition, when the measurement target lidar device 4240 is aligned with the first assembly 4200, the optical origin of the measurement target lidar device 4240 may be aligned with the rotation origin.

Referring to FIG. 38, a performance evaluation device 4300 for a target lidar device includes a first assembly 4310, a second assembly 4320, a distance adjustment driving unit 4330, a path guide unit 4340, and a first image. It may include a capture device 4350, a second image capture device 4360, and an image capture device 4370.

In addition, the first assembly 4310 may include a lidar mount 4311 , a first driving unit 4312 , and a second driving unit 4313 .

At this time, the first assembly 4310 is an assembly for positioning the lidar device to be measured, and since the above-described contents can be applied, overlapping descriptions will be omitted.

In addition, the lidar mount 4311 is a configuration for mounting a lidar device to be measured, and since the above-described contents can be applied, redundant description will be omitted.

In addition, the first driving unit 4312 is a configuration for rotating the lidar mount 4311 or the lidar device to be measured, and since the above-described contents can be applied, overlapping descriptions will be omitted.

In addition, the second driving unit 4313 is a configuration for parallel movement of the lidar mount 4311 or the lidar device to be measured, and since the above contents can be applied, redundant description will be omitted.

In addition, the second assembly 4320 is an assembly for locating the reflection target, and since the above-described contents can be applied, redundant description will be omitted.

In addition, since the above-described contents may be applied to the distance adjusting driving unit 4330 as a configuration for providing a driving force by being operatively connected to the first assembly or the second assembly, a redundant description thereof will be omitted.

In addition, the path guide part 4340 is a configuration for guiding and limiting the movement path of the first assembly or the second assembly, and since the above contents can be applied, redundant descriptions will be omitted.

In addition, the first image acquisition device 4350 and the second image acquisition device 4360 obtain an image of the target lidar device to be measured and obtain an image of the first assembly 4310 of the target lidar device to be measured. Since the above contents can be applied to a configuration for providing information for guiding alignment, overlapping descriptions will be omitted.

In addition, the image acquisition device 4370 is a configuration for acquiring image data for lasers output from the measurement target lidar device and reaching the reflection target, and the above-described contents can be applied, so redundant description is omitted. do it with

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program commands recorded on the medium may be specially designed and configured for the embodiment or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited examples and drawings, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

As described above, in the best mode for carrying out the invention, related matters have been described.

Claims

As a lidar performance evaluation device for evaluating the performance of a lidar to be measured using at least one reflective target,

A first assembly for positioning the lidar to be measured;

a second assembly including a reflective target mount on which the at least one reflective target is mounted;

a distance adjusting driver operatively connected to at least one of the first assembly and the second assembly to transmit a driving force to at least one of the first assembly and the second assembly; and

a path guide unit on which at least one of the first assembly and the second assembly is mounted and guiding and limiting a movement path of at least one of the first assembly and the second assembly; Including,

A relative distance between the first assembly and the second assembly is changed by a driving force transmitted by the distance adjustment driving unit;

The first assembly,

A lidar mount for mounting the lidar to be measured;

A first driving unit for rotating and moving the lidar mount based on at least a first axis and a second axis;

A second driving unit that moves the lidar mount in parallel to the third axis, the fourth axis, and the fifth axis; includes,

The rotation origin of the first driving unit is defined as a point where the first axis and the second axis intersect,

The relative position of the lidar to be measured with respect to the rotation origin is changed according to the parallel movement of the lidar mount by the second drive unit

lidar performance evaluation device.
According to claim 1,

The measurement target lidar is aligned with the first assembly by driving the second driving unit.

lidar performance evaluation device.
According to claim 2,

When the measurement target lidar is aligned with the first assembly, the rotation origin is located inside the measurement target lidar

lidar performance evaluation device
According to claim 3,

When the measurement target lidar is aligned with the first assembly, the optical origin of the measurement target lidar is aligned with the rotation origin.

lidar performance evaluation device
According to claim 1,

The first and second driving units,

The first driving unit rotates the second driving unit, but the second driving unit is coupled so as not to move the first driving unit in parallel

lidar performance evaluation device.
According to claim 5,

The first drive unit includes a first mount,

The second driving unit is coupled to the first mount of the first driving unit

lidar performance evaluation device.
According to claim 6,

The second drive unit is operatively dependent on the first drive unit.

lidar performance evaluation device.
According to claim 1,

The first driving unit,

A first axis rotation drive for rotating the lidar mount relative to the first axis and

A second axis rotation drive unit for rotating and moving the lidar mount based on the second axis; including,

The first shaft rotation drive unit and the second shaft rotation drive unit,

Wherein the second shaft rotation drive unit rotates the first shaft rotation drive unit, but the first shaft rotation drive unit is coupled so as not to rotate the second shaft rotation drive unit

lidar performance evaluation device.
According to claim 8,

The first shaft rotational drive is operatively subordinate to the second shaft rotational drive

lidar performance evaluation device.
According to claim 8,

The first axis is a horizontal axis, and the second axis is a vertical axis.

lidar performance evaluation device.
According to claim 8,

The first axis is a vertical axis, and the second axis is a horizontal axis.

lidar performance evaluation device.
As a lidar performance evaluation device for evaluating the performance of a lidar to be measured using at least one reflective target,

lidar mount for mounting the lidar to be measured;

A first driving unit for rotating and moving the lidar mount based on at least a first axis and a second axis - At this time, the first driving unit has a rotation origin at which the first axis and the second axis intersect -;

A second driving unit that moves the lidar mount in parallel to the third axis, the fourth axis, and the fifth axis;

a first image acquisition unit and a second image acquisition unit arranged so that the location of the rotation origin is included within a viewing angle; and

A storage unit for storing first reference data and second reference data for aligning the optical origin of the lidar to be measured with the rotation origin,

When the measurement target lidar is mounted on the lidar mount,

The first image acquisition unit acquires first image data for the measurement target lidar,

The second image acquisition unit acquires second image data for the measurement target lidar,

The relative position of the lidar to be measured with respect to the rotation origin is changed according to the parallel movement of the lidar mount by the second drive unit,

The first image data, the first reference data, the second image data and the second reference data are provided to guide the operation of the second drive unit

lidar performance evaluation device.
According to claim 12,

The lidar performance evaluation device further comprises a display for displaying the first and second image data and the first and second reference data

lidar performance evaluation device.
According to claim 12,

The first image acquisition unit and the second image acquisition unit

Arranged so that an axis along the center of the viewing angle of the first image acquisition unit and an axis along the center of the viewing angle of the second image acquisition unit are not parallel

lidar performance evaluation device.
According to claim 12,

The first reference data and the second reference data correspond to the rotation origin

lidar performance evaluation device.
According to claim 12,

The first reference data corresponds to the position of the origin of rotation in the first image data, and the second reference data corresponds to the position of the origin of rotation in the second image data.

lidar performance evaluation device.