# US 2023/0273301 A1 · Test System for Testing a LIDAR Device

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- Number: US 2023/0273301 A1
- Document ID: US20230273301A1
- Status: Published application
- Kind: A1
- Application number: 17/912,762
- Filed: 2021-02-23
- Published: 2023-08-31
- Earliest claimed: 2020-03-20
- Assignees: Horiba Europe GmbH
- Applicants: Horiba Europe GmbH
- Inventors: André Engelbert
- Web page: https://patentgrep.com/patent/US20230273301A1

## CPC

- G01S 7/497: Means for monitoring or calibrating
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32)
- G01S 17/46: Indirect determination of position data
- G01S 17/931: of land vehicles
- G06T 3/40: Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T 7/593: from stereo images
- G06T 2207/10048: Infrared image
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

Abstract: The invention relates to a test system for testing a LIDAR device (1), comprising a controller (5) for generating LIDAR information relating to a simulated LIDAR object based on a real object to be reproduced for a test process, wherein the LIDAR information includes at least one item of two-dimensional contour information and an item of depth information relating to a virtual distance of the simulated LIDAR object; comprising a LIDAR image generation device (6) for generating the simulated LIDAR object based on the LIDAR information, and comprising a LIDAR projection device (7) for projecting the simulated LIDAR object (9) onto a projection surface (8). The depth information is determined on the basis of a time component between the projection surface (8) and the LIDAR device (1) to be tested, which is defined by the controller (5). In one embodiment, a video image generation device can

## Claims

### Claim at position 1

1-13. (canceled)

### Claim 14

A test system for testing a LIDAR (Light Detection And Ranging) device, comprising:
a controller configured to generate LIDAR information regarding an artificial LIDAR object based on a real object to be simulated for a test operation, wherein the LIDAR information comprises at least one piece of two-dimensional outline information and one piece of depth information regarding a virtual distance of the artificial LIDAR object;
a LIDAR image generation device configured to generate the artificial LIDAR object based on the LIDAR information;
a LIDAR projection device configured to project the artificial LIDAR object onto a projection surface; and
a video image generation device configured to generate a visible video image of at least one real object on the projection surface,
wherein the controller is configured to coordinate the generation of the visible video image and the generation of an IR image corresponding to the LIDAR object such that the visible video image and the IR image are superimposed by the controller in such a manner that, in a resulting overall image, the displayed real object is superimposed on the LIDAR object.

### Claim 15 (depends on 14)

The test system of claim 14, wherein the depth information is determined based on an actual distance between the projection surface and the LIDAR device to be tested, and based on a virtual distance of the artificial LIDAR object.

### Claim 16 (depends on 14)

The test system of claim 14, wherein the LIDAR projection device comprises an IR laser device configured to project the LIDAR object as an infrared image onto the projection surface.

### Claim 17 (depends on 14)

The test system of claim 14, further comprising:
a LIDAR detection device configured to intercept and detect a light beam emitted by the LIDAR device to be tested,
wherein the light beam is intercepted before reaching the projection surface.

### Claim 18 (depends on 17)

The test system of claim 17, wherein the LIDAR detection device and/or the controller is configured to determine a location at which the detected light beam would have struck a real object, and wherein the controller is configured to generate, with the aid of the LIDAR projection device, an infrared light pulse which is reflected by the projection surface and detected by the LIDAR device to be tested as if the reflected infrared light pulse were the light beam emitted by the LIDAR device to be tested and reflected by the real object.

### Claim 19 (depends on 14)

The test system of claim 14, wherein the detection of a light beam emitted by the LIDAR device to be tested triggers generation of a corresponding light beam by the LIDAR projection device.

### Claim 20 (depends on 19)

The test system of claim 19, wherein the controller is configured to determine a location at which the detected light beam would have struck a real object, and wherein the controller is configured to generate an infrared light pulse which is reflected by the projection surface and detected by the LIDAR device to be tested as if the reflected infrared light pulse were the light beam emitted by the LIDAR device to be tested and reflected by the real object.

### Claim 21 (depends on 14)

The test system of claim 14, further comprising:
an alignment device configured to align the visible video image and the IR image with the aid of a visible marker in the IR image.

### Claim 22 (depends on 21)

The test system of claim 21, wherein the alignment device comprises a marker image device configured to superimpose the visible marker on the IR image before the IR image is projected onto the projection surface.

### Claim 23 (depends on 14)

The test system of claim 14, further comprising:
a stereo image device comprising two video image generation devices coupled to one another and each configured to generate a visible video image of at least one real object on the projection surface,
wherein the visible video images generated by the two video image generation devices each represent a view of the real object such that the visible video images represent a stereo image when merged,
wherein the controller is configured to coordinate the generation of the video images generated by the two video image generation devices and the generation of the IR image corresponding to the LIDAR object such that the video images generated by the two video image generation devices and the IR image are superimposed by the controller in such a manner that, in a resulting overall image, the displayed real object is superimposed on the LIDAR object.

### Claim 24 (depends on 23)

The test system of claim 23, wherein the test system is configured to test a stereo camera device with two cameras, wherein two shutter mechanisms assigned to the respective cameras on the stereo camera device to be tested are configured to block or unblock, as required, an incidence of light on the respective cameras, and wherein the controller comprises a synchronization mechanism configured to synchronize the two video image generation devices provided in the stereo image device with the shutter mechanisms such that a view of the real object can be alternately detected by one of the two cameras.

### Claim 25 (depends on 14)

A vehicle test bench for testing a vehicle, comprising:
the test system of claim 14 present on the vehicle; and
an additional test system configured to test the vehicle,
wherein the additional test system is selected from the group consisting of a vehicle power train test system, a performance test system, a vibration test system, and an exhaust test system.

### Claim 26

A method for testing a LIDAR device, the comprising:
detecting a light pulse emitted by the LIDAR device to be tested;
intercepting the light pulse before the light pulse reaches a projection surface arranged in a direction of the light pulse;
generating an artificial response light pulse based on an artificial LIDAR object to simulate detection of the artificial LIDAR object by the LIDAR device to be tested, wherein the artificial LIDAR object is based on LIDAR information that has been generated based on a real object to be simulated for a test operation, wherein the LIDAR information comprises at least one piece of two-dimensional outline information and one piece of depth information regarding a virtual distance of the artificial LIDAR object;
projecting the artificial response light pulse onto the projection surface and reflecting the artificial response light pulse from the projection surface;
receiving the artificial response light pulse reflected from the projection surface by the LIDAR device to be tested;
generating a visible video image of at least one real object on the projection surface; and
coordinating the generation of the video image and the generation of an IR image corresponding to the LIDAR object such that the video image and the IR image are superimposed in such a manner that, in a resulting overall image, the displayed real object is superimposed on the LIDAR object.