CN109683491B - Vehicle-mounted camera simulation system - Google Patents
Vehicle-mounted camera simulation system Download PDFInfo
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- CN109683491B CN109683491B CN201910002991.XA CN201910002991A CN109683491B CN 109683491 B CN109683491 B CN 109683491B CN 201910002991 A CN201910002991 A CN 201910002991A CN 109683491 B CN109683491 B CN 109683491B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Abstract
The invention provides a vehicle-mounted camera simulation system, which comprises: the system comprises a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system; the vehicle simulation system is used for building a vehicle model and controlling the vehicle model to exchange data with the camera; the environment simulation system is used for building an environment model and displaying the picture of the environment model; the camera detection system processes the pictures acquired by the camera to obtain a control instruction and sends the control instruction to the vehicle simulation system; the parameter configuration system is used for respectively carrying out communication configuration on the vehicle model, the camera and the environment model; the automatic test system calls the vehicle simulation system, the environment simulation system, the camera test system and the parameter configuration system to simulate according to a preset rule, and generates a simulation report according to a simulation result. The invention tests the working performance of the camera by simulating the environment of the camera in a real road, thereby improving the test efficiency, reducing the test cost and shortening the test period.
Description
Technical Field
The invention relates to the technical field of simulation tests of vehicle-mounted cameras, in particular to a vehicle-mounted camera simulation system.
Background
Automobile intellectualization has become a trend, various ADAS products emerge endlessly in recent years, sensors such as cameras, millimeter wave radars, laser radars and the like are gradually applied to automobiles, and the cameras are assembled on automobiles at present due to the advantages of low price and natural object identification. The ADAS functions developed by the camera comprise Lane Departure Warning (LDW), Lane Keeping Assist (LKA), Front Collision Warning (FCW), Automatic Emergency Braking (AEB), adaptive cruise (ACC) and the like, the performance of the functions on the automobile completely depends on the sensing capability of a camera sensing unit and the decision-making capability of a camera control unit, and if the sensing capability of the camera is poor and the decision-making deviation is large, the inestimable influence can be caused on the driving of the automobile. Therefore, before the camera is applied to an automobile, a large number of tests are required to verify the perception capability and decision capability of the camera.
Disclosure of Invention
In view of this, the present invention provides a vehicle-mounted camera simulation system to improve the testing efficiency, reduce the testing cost, and shorten the testing period.
In a first aspect, an embodiment of the present invention provides a vehicle-mounted camera simulation system, where the system includes: the system comprises a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system; the vehicle simulation system is used for building a vehicle model and controlling the vehicle model to exchange data with the camera; the environment simulation system is used for building an environment model and displaying the picture of the environment model; the camera detection system is used for processing the pictures of the environment model acquired by the camera to obtain a control instruction and sending the control instruction to the vehicle simulation system; the parameter configuration system is used for respectively carrying out communication configuration on the vehicle model, the camera and the environment model; the automatic test system is used for calling the vehicle simulation system, the environment simulation system, the camera test system and the parameter configuration system according to a preset rule to carry out simulation to obtain a simulation result, and generating a simulation report according to the simulation result.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the vehicle simulation system includes a vehicle model module and a real-time processing module; the vehicle model module is used for building a vehicle model; the vehicle model comprises a vehicle body dynamic model, an engine suspension model, a steering system model, a suspension system model, a braking system model, a tire model, a power transmission system model and an aerodynamic model; the real-time processing module comprises a real-time processing controller, a CAN communication board card, a digital input/output board card and an analog input/output board card; the real-time processing controller controls the vehicle model to exchange data with the camera through the CAN communication board card, and controls the working state of the camera through the digital quantity input and output board card and the analog quantity input and output board card.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the environment simulation system includes an environment model module and a display module; the environment model module is used for building an environment model; the display module is used for displaying the picture of the environment model.
With reference to the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the environment model includes a road model, a lane line model, a guardrail model, a traffic sign model, a traffic signal lamp model, a target vehicle model, a pedestrian model, a vegetation model, a building model, and a weather condition model.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the camera head measurement system includes a camera head, a camera head power module, a camera head switch module, and an alarm module; the camera is used for collecting and processing the pictures of the environment model to obtain a control instruction; the camera power supply module is used for providing working voltage for the camera; the camera switch module is used for controlling the opening and closing of an Advanced Driver Assistance System (ADAS) of the camera; the alarm module is used for receiving a control instruction sent by the vehicle simulation system.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the ADAS system includes a lane departure warning module, a front collision early warning module, and an automatic emergency braking module.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the camera includes a camera sensing unit, an image processing unit, and a control unit; the camera sensing unit is used for collecting the picture of the environment model; the image processing unit is used for processing the pictures collected by the camera sensing unit and sending the processing results to the control unit, and the control unit is used for converting the processing results into control instructions.
With reference to the fourth possible implementation manner of the first aspect, an embodiment of the present invention provides a seventh possible implementation manner of the first aspect, where the alarm module includes an audio alarm unit and a light alarm unit.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, where the parameter configuration system includes a real-time system configuration module, a CAN communication configuration module, and an ethernet communication configuration module; the real-time system configuration module is used for connecting the vehicle model with the real-time processing module in a communication way; the CAN communication configuration module is used for carrying out communication connection on the vehicle model and the camera; the Ethernet communication configuration module is used for connecting the vehicle model and the environment model in a communication mode.
With reference to the first aspect, an embodiment of the present invention provides a ninth possible implementation manner of the first aspect, where the automated testing system includes a vehicle model invoking module, an environment model invoking module, a parameter configuration system invoking module, a test case editing module, and an automated report generating module; the vehicle model calling module is used for configuring and calling a vehicle model; the environment model calling module is used for configuring and calling the environment model; the parameter configuration system calling module is used for configuring and calling the parameter configuration system; the test case editing module is used for determining a simulated test case; and the automatic report generation module is used for automatically generating a simulation report according to the simulation result.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a vehicle-mounted camera simulation system, which comprises: the system comprises a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system; the vehicle simulation system is used for building a vehicle model and controlling the vehicle model to exchange data with the camera; the environment simulation system is used for building an environment model and displaying the picture of the environment model; the camera detection system is used for processing the pictures of the environment model acquired by the camera to obtain a control instruction and sending the control instruction to the vehicle simulation system; the parameter configuration system is used for respectively carrying out communication configuration on the vehicle model, the camera and the environment model; the automatic test system is used for calling the vehicle simulation system, the environment simulation system, the camera test system and the parameter configuration system according to a preset rule to carry out simulation to obtain a simulation result, and generating a simulation report according to the simulation result. The embodiment of the invention tests the working performance of the camera by simulating the environment of the camera in a real road, improves the test efficiency, reduces the test cost and shortens the test period.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention as set forth above.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a vehicle-mounted camera simulation system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a vehicle simulation system according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an environmental simulation system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a camera measurement system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a parameter configuration system and an automated testing system according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the test of a camera is divided into three types, namely a simulation test, a field test and a road test, wherein the field test and the road test need to assemble the camera on a real vehicle for testing in a real environment. Based on this, the vehicle-mounted camera simulation system provided by the embodiment of the invention can be applied to a scene for testing the working performance of the vehicle-mounted camera.
In order to facilitate understanding of the embodiment, a detailed description is first given of a vehicle-mounted camera simulation system disclosed in the embodiment of the present invention.
Referring to fig. 1, a schematic structural diagram of a vehicle-mounted camera simulation system is shown, where the system includes: the system comprises a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system;
the vehicle simulation system is used for building a vehicle model and controlling the vehicle model to exchange data with the camera;
the environment simulation system is used for building an environment model and displaying the picture of the environment model;
the camera detection system is used for processing the pictures of the environment model acquired by the camera to obtain a control instruction and sending the control instruction to the vehicle simulation system;
the parameter configuration system is used for respectively carrying out communication configuration on the vehicle model, the camera and the environment model;
the automatic test system is used for calling the vehicle simulation system, the environment simulation system, the camera test system and the parameter configuration system according to a preset rule to carry out simulation to obtain a simulation result, and generating a simulation report according to the simulation result.
The embodiment of the invention provides a vehicle-mounted camera simulation system, which comprises: the system comprises a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system; the vehicle simulation system is used for building a vehicle model and controlling the vehicle model to exchange data with the camera; the environment simulation system is used for building an environment model and displaying the picture of the environment model; the camera detection system is used for processing the pictures of the environment model acquired by the camera to obtain a control instruction and sending the control instruction to the vehicle simulation system; the parameter configuration system is used for respectively carrying out communication configuration on the vehicle model, the camera and the environment model; the automatic test system is used for calling the vehicle simulation system, the environment simulation system, the camera test system and the parameter configuration system according to a preset rule to carry out simulation to obtain a simulation result, and generating a simulation report according to the simulation result. The embodiment of the invention tests the working performance of the camera by simulating the environment of the camera in a real road, improves the test efficiency, reduces the test cost and shortens the test period.
Corresponding to the above embodiment of the present invention, the embodiment of the present invention mainly describes specific components of each system of the vehicle-mounted camera simulation system, where the specific components include:
as shown in FIG. 2, the vehicle simulation system includes a vehicle model module and a real-time processing module;
the vehicle model module is used for building a vehicle model; the vehicle model comprises a vehicle body dynamic model, an engine suspension model, a steering system model, a suspension system model, a braking system model, a tire model, a power transmission system model and an aerodynamic model;
the real-time processing module comprises a real-time processing controller, a CAN communication board card, a digital input/output board card and an analog input/output board card; the real-time processing controller controls the vehicle model to exchange data with the camera through the CAN communication board card, and controls the working state of the camera through the digital input and output board card and the analog input and output board card.
The real-time processing module is also used for calculating the vehicle dynamics model in real time, and controlling the calculation rate of the vehicle model within 1 millisecond. The CAN communication board card is used for realizing the mutual communication between the vehicle model and the camera, and the communication contents comprise the vehicle speed, the steering angle, the position of a brake pedal, a control command and the like; the digital quantity input and output board card is used for controlling the working states of the camera power supply module and the camera switch module; the analog input/output board card is used for controlling the working state of the external alarm device of the camera.
As shown in FIG. 3, the environment simulation system includes an environment model module and a display module;
the environment model module is used for building an environment model; the environment model comprises a road model, a lane line model, a guardrail model, a traffic sign board model, a traffic signal lamp model, a target vehicle model, a pedestrian model, a vegetation model, a building model and a weather condition model; the display module is used for displaying the picture of the environment model.
The environment model module is constructed by a high-performance industrial computer by utilizing environment simulation software, the high-performance industrial computer comprises a high-performance graphic processing display card, an Ethernet interface, a USB interface, a high-definition display screen and the like, the high-performance graphic processing display card is used for outputting images simulated by the environment model in real time, the Ethernet interface is used for carrying out data communication with the vehicle model, the USB interface CAN carry out data communication with the vehicle model through USB-CAN conversion, and the communication mode of the Ethernet and the USB-CAN conversion depends on the selection of the simulation software; and in reality, the display module displays the picture of the environment model through the high-definition display screen, the high-definition display screen is installed in the camera bellows, and the camera knows the surrounding environment information through the picture displayed by the shooting high-definition display screen.
As shown in fig. 4, the camera head measurement system includes a camera head, a camera head power module, a camera head switch module and an alarm module;
the camera is used for collecting and processing the pictures of the environment model to obtain a control instruction; the camera power supply module is used for providing working voltage for each module of the camera detection system; the camera switch module is used for controlling the opening and closing of an Advanced Driver Assistance System (ADAS) of the camera; the alarm module is used for receiving a control instruction sent by the vehicle simulation system. The ADAS system comprises a lane departure warning module, a front collision early warning module, an automatic emergency braking module and the like; the alarm module comprises a sound alarm unit and a light alarm unit, and generates corresponding alarm by receiving a control command.
The camera comprises a camera sensing unit, an image processing unit and a control unit; the camera sensing unit is used for collecting the picture of the environment model displayed by the display module; the image processing unit is used for processing the pictures collected by the camera sensing unit and sending the processing results to the control unit, and the control unit is used for converting the processing results into control instructions and sending the control instructions to the real-time processing module through the CAN communication board card.
As shown in fig. 5, the parameter configuration system includes a real-time system configuration module, a CAN communication configuration module, and an ethernet communication configuration module; the real-time system configuration module is used for connecting the vehicle model with the real-time processing module in a communication way; the CAN communication configuration module is used for carrying out communication connection on the vehicle model and the camera; the Ethernet communication configuration module is used for connecting the vehicle model and the environment model in a communication mode.
Each module of the parameter configuration system is processed based on a high-performance industrial computer, the real-time system configuration module is used for deploying a vehicle model into a real-time system to run in real time, the CAN communication configuration module is used for mutual communication between the vehicle model and a tested camera, the vehicle model sends signals of vehicle speed, steering, braking and the like to the camera, and the camera receives related signals and then sends corresponding alarm commands and control commands through decision of a control algorithm; the Ethernet communication configuration module is used for data interaction configuration of the environment model and the vehicle model. Through the parameter configuration system, the vehicle model, the environment model and the tested camera are connected with each other, and the real running environment of the camera in the real vehicle is simulated.
As shown in fig. 5, the automated testing system includes a vehicle model calling module, an environment model calling module, a parameter configuration system calling module, a test case editing module, and an automated report generating module;
the vehicle model calling module is used for configuring and calling a vehicle model; calling and configuring all editable parameters of the vehicle model, wherein the editable parameters comprise vehicle size, mass, inertia and the like, and all parameters of the vehicle model can be automatically changed through the module in the test process;
the environment model calling module is used for configuring and calling the environment model; calling all test scenes in the controllable environment model, wherein the test scenes comprise switching of control scenes, changing of weather conditions, changing of vehicle running tracks and the like;
the parameter configuration system calling module is used for configuring and calling the parameter configuration system; calling and controlling all parameters of the external equipment collected in the real-time processing module, wherein the parameters comprise CAN communication data of a tested camera, a power module control signal, a switching signal of a camera switching module and the like;
the test case editing module is used for determining a simulated test case; the method comprises the steps of carrying out specific test case editing according to all called parameters, including initial condition setting, test condition setting, standard setting and the like, and automatically generating a corresponding test case by parameterizing key data in the test case;
the automatic report generating module is used for automatically generating a simulation report according to a simulation result; specifically, after the test case is executed, a simulation report is automatically generated, and the generated report content includes test case passing condition statistics, key parameter mapping and the like.
A large number of test scenes can be automatically generated through the vehicle-mounted camera simulation system, automatic testing of sensing ability, decision making ability and electrical performance and automatic test result evaluation are performed on the camera, the defects of field testing and road testing can be well overcome, the simulation testing cost is reduced, the simulation testing period is shortened, the controllability of the scenes is enhanced, the repeatability of simulation testing experiments is improved, and the safety of the simulation testing is also improved.
The vehicle-mounted camera simulation system is utilized to realize calling and automatic control of a vehicle model and an environment model, so that a test case of the camera is generated to have a wider parameter change range, the scene can be automatically controlled to form different test scenes on one hand, vehicle parameters can be automatically controlled to form more test scenes on the other hand, a large number of test scenes and working conditions can be verified in a short time, and the vehicle-mounted camera simulation system plays a vital role in accelerating the test process of the camera, shortening the test period of the camera and deeply excavating the capability limit of the camera.
Corresponding to the above embodiment of the present invention, an embodiment of the present invention further provides another vehicle-mounted camera simulation system, where the system includes:
the vehicle model module can adopt Carsim software, and the software can be used for building various system models of the vehicle, including a vehicle body, steering, a suspension, braking and the like.
The real-time processing module adopts NI PXI-8880 type products, the vehicle model is deployed in the real-time processing module through the Ethernet and is operated in the real-time processing module with the time delay less than 1 millisecond, and in addition, the real-time processing module is simultaneously connected with a related data acquisition board card, and the input and the output of the data acquisition board card are controlled through an internal bus.
The CAN communication board card adopts an NI PXIe-8510 model product, the camera carries out data interaction with the vehicle model in the real-time processing module through the CAN board card, on one hand, signals of the vehicle model such as speed, steering and braking are transmitted to the camera through the CAN communication board card, and on the other hand, target identification signals, alarm signals and control signals of the camera are transmitted to the vehicle model through the CAN communication board card.
The digital quantity input and output board card adopts an NI PXI-6514 model product, and is used for controlling the working states of a camera power module and a camera switch module, the camera power module simulates the power-on and power-off processes of the whole vehicle, the camera switch module simulates a man-machine interaction switch button of an ADAS module in a camera, and a real-time processing module sends out a control instruction to control the on-off of each module in the test process so as to evaluate the working conditions of the camera in different states.
The analog input/output board card is of an NI PXIe-6358 model product, is connected with the camera alarm module, and when the camera sends an alarm signal to the vehicle model, the real-time processing module outputs a corresponding control instruction according to the signal, so that the analog input/output board card outputs the analog signal and triggers the sound alarm module or the light alarm module to alarm.
The high-performance industrial computer is mainly used for supporting the operation of each module of the environment simulation system, the environment model is built by adopting VTD software of Vires company, environment elements such as roads, traffic signs, traffic lights and the like necessary for testing the camera are built by using the software, meanwhile, a model of weather conditions is built by using the software so as to research the performance expression of the camera under different weather conditions, and all simulation environment models can receive signal control from the outside through Ethernet; the simulated environment model is displayed through the high-definition display screen, the camera assembly is arranged at the front end of the high-definition display screen and shoots pictures of the high-definition display screen to make corresponding decisions, and the high-definition display screen and the camera assembly are arranged in the dark box to shield the influence of an external light source on the camera test.
The parameter configuration system, the automatic test system and the vehicle model module are all operated in a high-performance industrial computer, and the industrial computer is connected with the real-time processing module through the Ethernet to control each component of the real-time processing module on one hand, and is connected with the industrial computer operated with the environment model module to call and control each parameter of the environment model on the other hand.
The parameter configuration system can select Veristand matched with NI, and deployment of a vehicle model, configuration of a vehicle model and a camera interface, configuration of an environment model and the vehicle model interface, and configuration of a control signal, a power supply module, a camera switch module and an alarm module can be performed by using the software.
The automated testing software can adopt ECU TEST software of Trace Tronic company, which realizes the unified calling and control of a vehicle model module, a parameter configuration system and an environment model module, wherein carsim and Veristand are called through an API (application program interface) under a windows system, and VTD is called through an Ethernet communication mode.
The process of automated testing includes: and calling parameters of each module in the ECU TEST, establishing a TEST case, assigning values to parameter variables to be controlled in the TEST case, sending the values to corresponding software through different interfaces, making corresponding actions after the software receives a command of the ECU TEST, and transmitting a feedback signal back to the ECU TEST to obtain a TEST result and a report.
The embodiment of the invention embodies a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system, utilizes the vehicle simulation system to simulate the real motion of a vehicle, and provides basic conditions for the operation of the camera; the environment simulation system is used for simulating the conditions of roads, signs, weather and the like around the running of the vehicle, and relevant factors are provided for the function test of the camera; a camera detection system is used for truly reproducing the working environment of the vehicle-mounted camera with the ADAS function; the software and the hardware in the whole testing system are connected together through interface configuration by utilizing a parameter configuration system, so that a testing network of the camera is formed; the automatic testing system is used for calling and controlling the vehicle simulation system, the environment simulation system, the camera testing system and the parameter configuration system, so that the automation of the testing process is realized.
The vehicle-mounted camera simulation system provided by the embodiment of the invention has the same technical characteristics as the vehicle-mounted camera simulation system provided by the embodiment of the invention, so that the same technical problems can be solved, and the same technical effects can be achieved.
Embodiments of the present invention also provide a computer readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method according to the embodiments of the present invention.
The computer-readable medium having the processor-executable nonvolatile program code according to the embodiments of the present invention has the same technical features as those of the embodiments of the present invention according to the above embodiments, so that the same technical problems can be solved, and the same technical effects can be achieved.
The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing a nonvolatile program code executable by a processor, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and is not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. The vehicle-mounted camera simulation system is characterized by comprising: the system comprises a vehicle simulation system, an environment simulation system, a camera test system, a parameter configuration system and an automatic test system;
the vehicle simulation system is used for building a vehicle model and controlling the vehicle model to exchange data with the camera;
the environment simulation system is used for building an environment model and displaying the picture of the environment model;
the camera detection system is used for processing the pictures of the environment model collected by the camera to obtain a control instruction and sending the control instruction to the vehicle simulation system;
the camera detection system comprises a camera, a camera power supply module, a camera switch module and an alarm module;
the camera is used for collecting and processing the pictures of the environment model to obtain a control instruction;
the camera power supply module is used for providing working voltage for the camera;
the camera switch module is used for controlling the opening and closing of an Advanced Driver Assistance System (ADAS) of the camera;
the alarm module is used for receiving a control instruction sent by the vehicle simulation system;
the parameter configuration system is used for respectively carrying out communication configuration on the vehicle model, the camera and the environment model;
the automatic test system is used for calling the vehicle simulation system, the environment simulation system, the camera test system and the parameter configuration system according to a preset rule to simulate, so that a simulation result is obtained, and a simulation report is generated according to the simulation result.
2. The vehicle-mounted camera simulation system according to claim 1, wherein the vehicle simulation system comprises a vehicle model module and a real-time processing module;
the vehicle model module is used for building the vehicle model; the vehicle model comprises a vehicle body dynamic model, an engine suspension model, a steering system model, a suspension system model, a braking system model, a tire model, a power transmission system model and an aerodynamic model;
the real-time processing module comprises a real-time processing controller, a CAN communication board card, a digital input/output board card and an analog input/output board card; the real-time processing controller controls the vehicle model and the camera to exchange data through the CAN communication board card, and controls the working state of the camera through the digital input and output board card and the analog input and output board card.
3. The vehicle-mounted camera simulation system according to claim 1, wherein the environment simulation system comprises an environment model module and a display module;
the environment model module is used for building the environment model; the display module is used for displaying the picture of the environment model.
4. The vehicle-mounted camera simulation system according to claim 3, wherein the environment model comprises a road model, a lane line model, a guardrail model, a traffic sign model, a traffic signal lamp model, a target vehicle model, a pedestrian model, a vegetation model, a building model, and a weather condition model.
5. The vehicle camera simulation system of claim 1, wherein the ADAS comprises a lane departure warning module, a front collision warning module, and an automatic emergency braking module.
6. The vehicle-mounted camera simulation system according to claim 1, wherein the camera comprises a camera sensing unit, an image processing unit and a control unit;
the camera sensing unit is used for collecting the picture of the environment model; the image processing unit is used for processing the pictures collected by the camera sensing unit and sending the processing results to the control unit, and the control unit is used for converting the processing results into the control instructions.
7. The vehicle-mounted camera simulation system according to claim 1, wherein the alarm module comprises an audible alarm unit and a light alarm unit.
8. The vehicle-mounted camera simulation system according to claim 2, wherein the parameter configuration system comprises a real-time system configuration module, a CAN communication configuration module and an ethernet communication configuration module;
the real-time system configuration module is used for connecting the vehicle model with the real-time processing module in a communication way; the CAN communication configuration module is used for carrying out communication connection on the vehicle model and the camera; the Ethernet communication configuration module is used for connecting the vehicle model and the environment model in a communication mode.
9. The vehicle-mounted camera simulation system according to claim 1, wherein the automated testing system comprises a vehicle model calling module, an environment model calling module, a parameter configuration system calling module, a test case editing module, and an automated report generating module;
the vehicle model calling module is used for configuring and calling the vehicle model;
the environment model calling module is used for configuring and calling the environment model;
the parameter configuration system calling module is used for configuring and calling the parameter configuration system;
the test case editing module is used for determining a simulated test case;
and the automatic report generation module is used for automatically generating a simulation report according to the simulation result.
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