CN111447434A - Hardware-in-loop test evaluation method for ADAS (advanced surveillance system) forward-looking camera - Google Patents
Hardware-in-loop test evaluation method for ADAS (advanced surveillance system) forward-looking camera Download PDFInfo
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- CN111447434A CN111447434A CN202010107569.3A CN202010107569A CN111447434A CN 111447434 A CN111447434 A CN 111447434A CN 202010107569 A CN202010107569 A CN 202010107569A CN 111447434 A CN111447434 A CN 111447434A
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Abstract
The invention provides an in-loop test evaluation method for hardware of an ADAS (advanced surveillance as System) forward-looking camera, which comprises the following steps: s1, building a test environment; s2, adjusting the state information of the to-be-tested forward-looking camera and the parameter information of the virtual camera to enable the test result of the to-be-tested forward-looking camera to be closer to the test result of the actual scene; s3, simulating different test scenes, sending out an early warning signal by the front-view camera to be tested according to the simulation scene picture, monitoring the early warning signal in real time by the monitor, and outputting a test result. The hardware-in-the-loop test evaluation method of the ADAS forward-looking camera has good applicability, and the evaluation method and the device can evaluate forward-looking cameras of different brands and different models.
Description
Technical Field
The invention belongs to the technical field of intelligent transportation, and particularly relates to an ADAS (advanced surveillance system) forward-looking camera hardware in-loop test evaluation method.
Background
The current mainstream safety assistant driving system comprises a lane departure early warning system (L DW), an automatic emergency braking system (AEB), an Adaptive Cruise Control (ACC), a front collision early warning system (FCW) and the like, and one of key components for realizing the functions of the systems is a forward-looking camera.
A forward-looking camera in-loop simulation test system is constructed in an article, namely lane departure early warning camera in-loop test method research based on a virtual scene, a virtual simulation scene database meeting lane lines and working conditions is designed, and a L DW control strategy is tested and verified in combination with an example.
An article, namely advanced driving assistance system forward-looking camera hardware-in-loop test, provides a hardware-in-loop test system based on CarMaker and VeriStrind. The built rack is used for hardware-in-loop function test of a large number of cameras, and alarm signals can be generated in time under typical working conditions of lane departure early warning and front collision early warning.
The article AEB pedestrian simulation research based on the camera-in-loop carries out simulation experiments aiming at pedestrian test scenes, and the simulation results tend to be consistent with real vehicle results.
However, most of the current analyses of the early warning rate and the false-missing rate of the forward-looking camera are based on the instantaneous warning signals output in the experimental process, the later period is obtained by manual comparison, and the period is relatively long.
Disclosure of Invention
In view of the above, the present invention aims to provide an ADAS forward-looking camera hardware-in-loop test evaluation method, so as to solve the problems of complex detection process and low detection efficiency of the existing forward-looking camera, such as early warning rate and false-missing rate.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
an ADAS forward-looking camera hardware-in-the-loop test evaluation method comprises the following steps:
s1, building a test environment;
s2, adjusting the state information of the to-be-tested forward-looking camera and the parameter information of the virtual camera to enable the test result of the to-be-tested forward-looking camera to be closer to the test result of the actual scene;
s3, simulating different test scenes, sending out an early warning signal by the front-view camera to be tested according to the simulation scene picture, monitoring the early warning signal in real time by the monitor, and outputting a test result.
Further, in step S1, the method for building the test environment is as follows:
a display used for displaying a simulation scene is installed, a to-be-detected forward-looking camera is installed through an adjusting assembly, and the to-be-detected forward-looking camera is connected with a monitor;
the adjusting component is used for adjusting the posture and the position of the foresight camera to be detected;
the monitor is a camera which captures lane departure and front collision early warning signals sent by the camera in real time;
the monitor is also connected with a computer, and computer software draws a similar thermodynamic diagram according to the early warning signal monitored by the monitor.
Furthermore, the display, the front-view camera to be detected, the monitor and the adjusting assembly are all arranged in a dark box with a sound insulation structure.
Further, in step S2, the state information includes position information and posture information;
the adjusting assembly comprises a six-degree-of-freedom supporting table and a guide rail, and the guide rail is used for adjusting the position information of the to-be-detected forward-looking camera; the six-degree-of-freedom supporting table is used for adjusting the attitude information of the to-be-detected forward-looking camera, including the pitching angle, the horizontal angle and the height information, so that an image shot by the to-be-detected forward-looking camera just covers an inner side frame of the display, and the proportion of a screen image of the display is consistent with the real condition;
and adjusting the parameter information of the virtual camera in the virtual vehicle in the simulation scene to make the information of the virtual camera consistent with that of the foresight camera to be detected, so that the shooting scene of the foresight camera to be detected is more consistent with the actual scene.
Further, the parameter information of the virtual camera includes a position, a posture, a field angle, and an aspect ratio.
Further, in step S2, the method further includes adjusting state information of the monitor, and adjusting position and posture information of the monitor, so that a central axis of the monitor coincides with a central axis of the forward-looking camera to be detected.
Further, in step S3, the test scenario includes a preceding vehicle collision avoidance test scenario, a pedestrian test scenario, and a lane line test scenario; the test areas of the front vehicle anti-collision test scene and the pedestrian test scene are front rectangular areas, and the width of each rectangular area is larger than the width of a lane; the test area of the lane line test scene is an area within 1 meter on both sides of the lane line;
the test area is divided into 5cm by 5cm test cells, and it is ensured that the test object is present in any test cell within the test area.
Further, the performance of the forward-looking camera to be tested in different simulation scenes is evaluated through the drawn similar thermodynamic diagram;
the method for drawing the similar thermodynamic diagram in the front vehicle anti-collision test scene comprises the following steps:
when the front vehicle appears at a certain position in the visual field of the main control vehicle, the monitor monitors early warning signals sent by the front-view camera to be detected in real time, the counting of the position is increased by 1 every time the front-view camera alarms, and when the numerical value is larger than 9, the calculation is carried out according to 9;
the positions where the front vehicle appears are: drawing a similar thermodynamic diagram according to the count on each detection unit at all cross points which are uniformly distributed in an area 400cm by 200cm in front of the virtual vehicle by 5cm in the transverse minimum unit and 5cm in the longitudinal minimum unit;
the detection units with different values are displayed in different colors on the similar thermodynamic diagram.
Further, the method for drawing the similar thermodynamic diagram in the pedestrian test scene comprises the following steps:
when the virtual vehicle is in a static state, the pedestrian appears at a certain position in the visual field of the virtual vehicle, faces the virtual vehicle and is in a traveling posture, at the moment, the alarm signal of the front-view camera to be detected is monitored, the position is counted and added with 1 every time the alarm is given, and when the numerical value is more than 9, the calculation is carried out according to 9; the positions where the pedestrians appear are: and drawing a similar thermodynamic diagram according to the count on each detection unit in an area of 1000cm by 300cm in front of the main control vehicle, wherein the transverse minimum unit is 5cm, and the longitudinal minimum unit is 5cm, and all intersections are uniformly distributed.
Further, the method for drawing the similar thermodynamic diagram in the lane line test scene comprises the following steps:
the virtual vehicle is parallel to the lane line and is at a certain distance from the lane line, the speed is accelerated to 60km/h from standstill and then is decelerated to standstill, the monitor monitors the alarm signal of the camera in real time, the counting of the detection area is increased by 1 every time the alarm is given, and the distance from the virtual vehicle to the lane line is as follows: and drawing a similar thermodynamic diagram according to the counting of each detection unit by using all points which are distributed at equal intervals and have the minimum unit of 5cm from-100 cm to 100cm on the left side and the right side of the lane line.
Compared with the prior art, the hardware-in-the-loop test evaluation method of the ADAS forward-view camera has the following advantages:
the hardware-in-the-loop test evaluation method of the ADAS forward-looking camera has good applicability, and the evaluation method and the device can evaluate forward-looking cameras of different brands and different models; the efficiency is high, the early warning signal of the forward-looking camera is monitored in real time based on the forward-looking camera in-loop experiment, the position of a target when early warning occurs is automatically recorded, and evaluation is completed without human intervention; and the evaluation is intuitive and clear, and the early warning position and the early warning times of the camera are intuitively and clearly marked by drawing a similar thermodynamic diagram within a certain distance range in front of the vehicle and at the left side and the right side of the vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of an ADAS front view camera hardware-in-the-loop test evaluation method according to an embodiment of the present invention;
FIG. 2 is a front vehicle crash test type thermodynamic diagram in accordance with an embodiment of the present invention;
FIG. 3 is a pedestrian test-type thermodynamic diagram according to an embodiment of the present invention;
fig. 4 is a lane line test type thermodynamic diagram according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, an ADAS front view camera hardware-in-loop test evaluation method includes:
s1, building a test environment;
s2, adjusting the state information of the to-be-tested forward-looking camera and the parameter information of the virtual camera to enable the test result of the to-be-tested forward-looking camera to be closer to the test result of the actual scene;
s3, simulating different test scenes, sending out an early warning signal by the front-view camera to be tested according to the simulation scene picture, monitoring the early warning signal in real time by the monitor, and outputting a test result. Based on a virtual engine, a plurality of 3D scenes of front vehicle anti-collision detection, pedestrian detection and lane line detection are respectively built, parameters of a virtual camera in a virtual vehicle are installed and adjusted to be consistent with the set parameters of hardware outside the virtual scene in a ring camera (a front-view camera to be detected), the positions and postures of the camera and a monitor are adjusted, early warning signals sent by the camera under each simulation scene are monitored in real time, and a similar thermodynamic diagram evaluation result within a certain distance range around the vehicle is drawn.
In step S1, the method for building a test environment is as follows:
a display used for displaying a simulation scene is installed, a to-be-detected forward-looking camera is installed through an adjusting assembly, and the to-be-detected forward-looking camera is connected with a monitor;
the adjusting component is used for adjusting the posture and the position of the foresight camera to be detected;
the monitor is a camera which captures lane departure and front collision early warning signals sent by the camera in real time;
the monitor is also connected with a computer, and computer software draws a similar thermodynamic diagram according to the early warning signal monitored by the monitor.
The display, the front-view camera to be detected, the monitor and the adjusting assembly are all installed in a dark box with a sound insulation structure.
In step S2, the status information includes position information and posture information;
the adjusting assembly comprises a six-degree-of-freedom supporting table and a guide rail, and the guide rail is used for adjusting the position information of the to-be-detected forward-looking camera; the six-degree-of-freedom supporting table is used for adjusting the attitude information of the to-be-detected forward-looking camera, including the pitching angle, the horizontal angle and the height information, so that an image shot by the to-be-detected forward-looking camera just covers an inner side frame of the display, and the proportion of a screen image of the display is consistent with the real condition; the support table and the guide rail with six degrees of freedom can adopt the prior art to realize the technical scheme, and the description is omitted.
And adjusting the parameter information of the virtual camera in the virtual vehicle in the simulation scene to make the information of the virtual camera consistent with that of the foresight camera to be detected, so that the shooting scene of the foresight camera to be detected is more consistent with the actual scene.
The parameter information of the virtual camera includes position, attitude, angle of view, aspect ratio.
In step S2, the method further includes adjusting the state information of the monitor, and adjusting the position and posture information of the monitor, so that the central axis of the monitor coincides with the central axis of the front-view camera to be measured.
In the step S3, the test scenes include a preceding vehicle collision avoidance test scene, a pedestrian test scene, and a lane line test scene; the test areas of the front vehicle anti-collision test scene and the pedestrian test scene are front rectangular areas, and the width of each rectangular area is larger than the width of a lane; the test area of the lane line test scene is an area within 1 meter on both sides of the lane line;
the test area is divided into 5cm by 5cm detection units, and in order to ensure that the detection target appears in any detection unit in the test area, the patent application adopts but is not limited to taking 5cm by 5cm as a small detection unit;
the over-drawn similar thermodynamic diagram realizes the evaluation of the performance of the forward-looking camera to be tested in different simulation scenes;
as shown in fig. 2, the method for drawing the similar thermodynamic diagram in the preceding vehicle collision avoidance test scenario includes:
when the front vehicle appears at a certain position in the visual field of the main control vehicle, the monitor monitors early warning signals sent by the front-view camera to be detected in real time, the counting of the position is increased by 1 every time the front-view camera alarms, and when the numerical value is larger than 9, the calculation is carried out according to 9;
the positions where the front vehicle appears are: drawing a similar thermodynamic diagram according to the count on each detection unit at all cross points which are uniformly distributed in an area 400cm by 200cm in front of the virtual vehicle by 5cm in the transverse minimum unit and 5cm in the longitudinal minimum unit;
the detection units with different values are displayed in different colors on the similar thermodynamic diagram.
As shown in fig. 3, the method for drawing a similar thermodynamic diagram in a pedestrian test scene includes:
when the virtual vehicle is in a static state, the pedestrian appears at a certain position in the visual field of the virtual vehicle, faces the virtual vehicle and is in a traveling posture, at the moment, the alarm signal of the front-view camera to be detected is monitored, the position is counted and added with 1 every time the alarm is given, and when the numerical value is more than 9, the calculation is carried out according to 9; the positions where the pedestrians appear are: and drawing a similar thermodynamic diagram according to the count on each detection unit in an area of 1000cm by 300cm in front of the main control vehicle, wherein the transverse minimum unit is 5cm, and the longitudinal minimum unit is 5cm, and all intersections are uniformly distributed.
As shown in fig. 4, the method for drawing the similar thermodynamic diagram in the lane line test scene includes:
the virtual vehicle is parallel to the lane line and is at a certain distance from the lane line, the speed is accelerated to 60km/h from standstill and then is decelerated to standstill, the monitor monitors the alarm signal of the camera in real time, the counting of the detection area is increased by 1 every time the alarm is given, and the distance from the virtual vehicle to the lane line is as follows: and drawing a similar thermodynamic diagram according to the counting of each detection unit by using all points which are distributed at equal intervals and have the minimum unit of 5cm from-100 cm to 100cm on the left side and the right side of the lane line.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An ADAS forward-view camera hardware-in-the-loop test evaluation method is characterized by comprising the following steps:
s1, building a test environment;
s2, adjusting the state information of the to-be-tested forward-looking camera and the parameter information of the virtual camera to enable the test result of the to-be-tested forward-looking camera to be closer to the test result of the actual scene;
s3, simulating different test scenes, sending out an early warning signal by the front-view camera to be tested according to the simulation scene picture, monitoring the early warning signal in real time by the monitor, and outputting a test result.
2. The ADAS front-view camera hardware-in-loop test evaluation method according to claim 1, wherein in step S1, the method of building a test environment is as follows:
a display used for displaying a simulation scene is installed, a to-be-detected forward-looking camera is installed through an adjusting assembly, and the to-be-detected forward-looking camera is connected with a monitor;
the adjusting component is used for adjusting the posture and the position of the foresight camera to be detected;
the monitor is a camera which captures lane departure and front collision early warning signals sent by the camera in real time;
the monitor is also connected with a computer, and computer software draws a similar thermodynamic diagram according to the early warning signal monitored by the monitor.
3. The ADAS forward-view camera hardware-in-the-loop test evaluation method of claim 2, characterized in that: the display, the front-view camera to be detected, the monitor and the adjusting assembly are all installed in a dark box with a sound insulation structure.
4. The ADAS forward-view camera hardware-in-the-loop test evaluation method of claim 2, characterized in that: in step S2, the status information includes position information and posture information;
the adjusting assembly comprises a six-degree-of-freedom supporting table and a guide rail, and the guide rail is used for adjusting the position information of the to-be-detected forward-looking camera; the six-degree-of-freedom supporting table is used for adjusting the attitude information of the to-be-detected forward-looking camera, including the pitching angle, the horizontal angle and the height information, so that an image shot by the to-be-detected forward-looking camera just covers an inner side frame of the display, and the proportion of a screen image of the display is consistent with the real condition;
and adjusting the parameter information of the virtual camera in the virtual vehicle in the simulation scene to make the information of the virtual camera consistent with that of the foresight camera to be detected, so that the shooting scene of the foresight camera to be detected is more consistent with the actual scene.
5. An ADAS front view camera hardware-in-the-loop test evaluation method as claimed in claim 1 or 4, wherein: the parameter information of the virtual camera includes position, attitude, angle of view, aspect ratio.
6. The ADAS forward-view camera hardware-in-the-loop test evaluation method of claim 2, characterized in that: in step S2, the method further includes adjusting the state information of the monitor, and adjusting the position and posture information of the monitor, so that the central axis of the monitor coincides with the central axis of the front-view camera to be measured.
7. The ADAS forward-view camera hardware-in-the-loop test evaluation method of claim 2, characterized in that: in the step S3, the test scenes include a preceding vehicle collision avoidance test scene, a pedestrian test scene, and a lane line test scene; the test areas of the front vehicle anti-collision test scene and the pedestrian test scene are front rectangular areas, and the width of each rectangular area is larger than the width of a lane; the test area of the lane line test scene is an area within 1 meter on both sides of the lane line;
the test area is divided into 5cm by 5cm test cells, and it is ensured that the test object is present in any test cell within the test area.
8. The ADAS forward-view camera hardware-in-the-loop test evaluation method of claim 7, characterized in that: the performance of the forward-looking camera to be tested in different simulation scenes is evaluated through the drawn similar thermodynamic diagram;
the method for drawing the similar thermodynamic diagram in the front vehicle anti-collision test scene comprises the following steps:
when the front vehicle appears at a certain position in the visual field of the main control vehicle, the monitor monitors early warning signals sent by the front-view camera to be detected in real time, the counting of the position is increased by 1 every time the front-view camera alarms, and when the numerical value is larger than 9, the calculation is carried out according to 9;
the positions where the front vehicle appears are: drawing a similar thermodynamic diagram according to the count on each detection unit at all cross points which are uniformly distributed in an area 400cm by 200cm in front of the virtual vehicle by 5cm in the transverse minimum unit and 5cm in the longitudinal minimum unit;
the detection units with different values are displayed in different colors on the similar thermodynamic diagram.
9. The ADAS forward-view camera hardware-in-the-loop test evaluation method according to claim 8, wherein the method for drawing a similar thermodynamic diagram in a pedestrian test scene comprises:
when the virtual vehicle is in a static state, the pedestrian appears at a certain position in the visual field of the virtual vehicle, faces the virtual vehicle and is in a traveling posture, at the moment, the alarm signal of the front-view camera to be detected is monitored, the position is counted and added with 1 every time the alarm is given, and when the numerical value is more than 9, the calculation is carried out according to 9; the positions where the pedestrians appear are: and drawing a similar thermodynamic diagram according to the count on each detection unit in an area of 1000cm by 300cm in front of the main control vehicle, wherein the transverse minimum unit is 5cm, and the longitudinal minimum unit is 5cm, and all intersections are uniformly distributed.
10. The ADAS forward-view camera hardware-in-the-loop test evaluation method according to claim 8, wherein the method for drawing a similar thermodynamic diagram in a lane line test scene is as follows:
the virtual vehicle is parallel to the lane line and is at a certain distance from the lane line, the speed is accelerated to 60km/h from standstill and then is decelerated to standstill, the monitor monitors the alarm signal of the camera in real time, the counting of the detection area is increased by 1 every time the alarm is given, and the distance from the virtual vehicle to the lane line is as follows: and drawing a similar thermodynamic diagram according to the counting of each detection unit by using all points which are distributed at equal intervals and have the minimum unit of 5cm from-100 cm to 100cm on the left side and the right side of the lane line.
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