CN113359669A - Method, device, electronic equipment and medium for generating test data - Google Patents
Method, device, electronic equipment and medium for generating test data Download PDFInfo
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- CN113359669A CN113359669A CN202110645152.7A CN202110645152A CN113359669A CN 113359669 A CN113359669 A CN 113359669A CN 202110645152 A CN202110645152 A CN 202110645152A CN 113359669 A CN113359669 A CN 113359669A
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Abstract
The disclosure discloses a method, a device, equipment, a medium and a product for generating test data, relates to the fields of automatic driving, image processing and the like, and can be used for a test scene of an automatic driving vehicle. The method for generating test data comprises the following steps: processing the reference image to obtain a scene simulation image; processing the scene simulation image based on the mode of processing the image by the image acquisition device to obtain simulation data aiming at the image acquisition device; the simulation data is output as test data for testing the vehicle.
Description
Technical Field
The present disclosure relates to the field of intelligent transportation, particularly to the fields of automatic driving, image processing, and the like, and more particularly, to a method, an apparatus, an electronic device, a medium, and a program product for generating test data.
Background
In the traffic field, in order to ensure the driving safety of vehicles, the vehicles are generally required to be tested. Particularly in the field of autonomous driving, it is often necessary to test autonomous driving algorithms. However, in the related art, when the vehicle is tested, the test cost is high, and the test efficiency is low.
Disclosure of Invention
The present disclosure provides a method, an apparatus, an electronic device, a storage medium, and a program product for generating test data.
According to an aspect of the present disclosure, there is provided a method of generating test data, including: processing the reference image to obtain a scene simulation image; processing the scene simulation image based on the mode of processing the image by the image acquisition device to obtain simulation data aiming at the image acquisition device; and outputting the simulation data as test data for testing the vehicle.
According to another aspect of the present disclosure, there is provided an apparatus for generating test data, including: the device comprises a first processing module, a second processing module and an output module. The first processing module is used for processing the reference image to obtain a scene simulation image; the second processing module is used for processing the scene simulation image based on the mode of processing the image by the image acquisition device to obtain simulation data aiming at the image acquisition device; and the output module is used for outputting the simulation data as test data for testing the vehicle.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of generating test data described above.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the above-described method of generating test data.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method of generating test data described above.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 schematically illustrates an application scenario of a method and apparatus for generating test data according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow diagram of a method of generating test data according to an embodiment of the present disclosure;
FIG. 3 schematically illustrates a schematic diagram of acquiring a scene simulation image according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates a schematic diagram of processing a scene simulation image according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a schematic diagram of processing a scene simulation image according to another embodiment of the present disclosure;
FIG. 6 schematically illustrates a block diagram of an apparatus for generating test data according to an embodiment of the present disclosure; and
FIG. 7 is a block diagram of an electronic device for performing test data generation used to implement an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
Embodiments of the present disclosure provide a method of generating test data. The method for generating test data comprises the following steps: and processing the reference image to obtain a scene simulation image. Then, based on the mode of processing the image by the image acquisition device, the scene simulation image is processed to obtain simulation data for the image acquisition device. Next, the simulation data is output as test data for testing the vehicle.
Fig. 1 schematically illustrates an application scenario of a method and apparatus for generating test data according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of an application scenario in which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, an application scene 100 according to the embodiment may include a reference image 101, an electronic device 102, and a vehicle 103.
The reference image 101 may be acquired by an image acquisition device, which may include a camera, for example.
After receiving the reference image 101, the electronic device 102 may process the reference image 101 to obtain a scene simulation image. Then, the scene simulation image is sent as test data to the vehicle 103 by the electronic device 102 for testing.
The vehicle 103 may be an autonomous vehicle. After the vehicle 103 receives the test data, the autonomous driving algorithm may be tested according to the test data.
For example, the electronic device 102 may be a board, for example, the electronic device 102 may include an FPGA (Field Programmable Gate Array), and the reference image 101 is processed more efficiently by the FPGA.
It should be noted that the method for generating test data provided by the embodiments of the present disclosure may be executed by the electronic device 102. Accordingly, the apparatus for generating test data provided by the embodiments of the present disclosure may be disposed in the electronic device 102.
The embodiment of the present disclosure provides a method for generating test data, and the method for generating test data according to the exemplary embodiment of the present disclosure is described below with reference to fig. 2 to 5 in conjunction with the application scenario of fig. 1.
FIG. 2 schematically shows a flow diagram of a method of generating test data according to an embodiment of the present disclosure.
As shown in fig. 2, a method 200 of generating test data according to an embodiment of the present disclosure may include, for example, operations S210 to S230.
In operation S210, the reference image is processed to obtain a scene simulation image.
In operation S220, the scene simulation image is processed based on the manner in which the image capturing device processes the image, resulting in simulation data for the image capturing device.
In operation S230, the simulation data is output as test data for testing the vehicle.
For example, the reference image is an image for a scene, and the scene for which the reference image is intended may be, for example, a real scene. The reference image is used as a reference to obtain a scene simulation image, and the scene to which the scene simulation image is directed is, for example, a virtual scene. The obtained plurality of scene simulation images can be used as a video stream, and the video stream represents the dynamic change of the scene during the running process of the vehicle.
In the driving process of the automatic driving vehicle, the automatic driving vehicle generally receives the images collected by the image collecting device, and performs image recognition on the received images to obtain the current scene so as to know the obstacle information in the scene. The image acquisition device includes, for example, a camera. After the scene simulation image is obtained, the scene simulation image is processed by taking the mode of processing the image by the image acquisition device as a reference, and simulation data for the image acquisition device is obtained. The simulation data is then transmitted to the vehicle as test data for testing the vehicle. For example, the test data is transmitted to the autonomous vehicle so that after the autonomous vehicle receives the test data, the test data is tested as data from the image capture device.
According to the embodiment of the disclosure, the scene change image is obtained based on the reference image, and then the scene simulation image is processed to obtain simulation data for the image acquisition device, so that the vehicle is tested by using the simulation data as test data. It can be understood that by the technical scheme of the embodiment of the disclosure, the accuracy of the test data is improved, the test efficiency is improved and the test cost is reduced by testing the vehicle by using the test data.
It can be understood that, in addition to the verification of the automatic driving algorithm, the method for acquiring the scene simulation image provided by the embodiment of the disclosure may also be used to simulate the data generation of the image acquisition device in a scene where the image acquisition device is required to acquire image data.
FIG. 3 schematically shows a schematic diagram of acquiring a scene simulation image according to an embodiment of the present disclosure.
As shown in fig. 3, reference image 310 is processed to obtain a plurality of scene simulation images 320, 330, 340.
For example, the target object 311 in the reference image 310 is determined, and the position of the target object 311 in the reference image 310 is adjusted to obtain the scene simulation images 320, 330, 340.
For example, for the scene simulation image 320, based on the position of the target object 311 in the reference image 310 and the preset distance L1The target position is determined in the reference image 310. For a target region 312 corresponding to the target position in the reference image 310, the pixel value of the target region 312 is adjusted based on the pixel value of the target object 311. Then, based on the pixel values of the surroundings of the target object 311, the pixel values of the region where the target object 311 is located are processed so that the region where the target object 311 is located blends with the surroundings. Next, the reference image obtained by adjusting the pixel values is used as a scene simulation image 320.
Illustratively, the scene simulation image 330 is obtained in a manner similar to that of the scene simulationThe image 320 is acquired in a similar manner. For example, based on the position of the target object 311 in the reference image 310 and the preset distance L2The target region 312 is determined in the reference image 310, the pixel value of the target region 312 is adjusted based on the pixel value of the target object 311, and the pixel value of the region where the target object 311 is located is processed based on the pixel value of the environment around the target object 311. Then, the reference image obtained by adjusting the pixel values is used as the scene simulation image 330. A predetermined distance L2And a predetermined distance L1For example different.
Illustratively, the scene simulation image 340 is acquired in a manner similar to the scene simulation image 320. For example, based on the position of the target object 311 in the reference image 310 and the preset distance L2The target region 312 is determined in the reference image 310, the pixel value of the target region 312 is adjusted based on the pixel value of the target object 311, and the pixel value of the region where the target object 311 is located is processed based on the pixel value of the environment around the target object 311. Then, the reference image obtained by adjusting the pixel values is used as a scene simulation image 340. A predetermined distance L3And a predetermined distance L1For example different.
The images are generally stored in a computer system in a pixel matrix form, different scene simulation images can be constructed by encoding the pixel matrix of the reference image, and a plurality of continuously output scene simulation images can form a video stream which is used for simulating various scene data encountered by an automatic driving vehicle during driving, so that various scene data required by a test can be simulated.
It can be understood that by processing the reference image 310 to obtain the plurality of scene simulation images 320, 330, 340, the plurality of scene simulation images 320, 330, 340 can be used as a video stream simulating scene changes to test the vehicle, thereby reducing the acquisition cost of test data for testing the vehicle.
FIG. 4 schematically shows a schematic diagram of processing a scene simulation image according to an embodiment of the disclosure.
As shown in fig. 4, the electronic device 402 may be, for example, a virtual camera module. Because the image acquisition device faces the vehicleThe data format of the output image of the vehicle 403 is typically the first data format F1Therefore, the electronic device 402 of the embodiment of the present disclosure needs to process the data format of the scene simulation image to have the first data format F1Then to the vehicle 403. The vehicle 403 comprises, for example, an automatic driving system, having a first data format F1The simulation data as test data may be used for testing the autopilot system.
The data format of the scene simulation image is, for example, a second data format F2The electronic device 402 may simulate the scene with the second data format F2Converted into a first data format F1And will have a first data format F1As simulation data for testing the automatic driving system.
Illustratively, the electronic device 402 includes at least an FPGA (Field Programmable Gate Array) and a serializer, for example. Having the second data format F, for example, can be processed by means of an FPGA2To obtain a reference image having a second data format F2The scene simulation image of (1). Then, the FPGA enables a second data format F of the scene simulation image2Conversion into a third data format F3To obtain a third data format F3The scene simulation image of (1). Next, the third data format F of the scene simulation image is converted by the serializer3Converted into a first data format F1The serializer will have a first data format F1The scene simulation image is used as simulation data, and the simulation data is used as test data and sent to an automatic driving system for testing.
According to an embodiment of the present disclosure, the first data format F1Including, for example, gigabit multimedia serial link GMSL format. Second data format F2Including, for example, color-coded YUV formats including, for example, YUV422 format, YUV444 format, and so on. Third data format F3Including, for example, the Mobile Industry Processor Interface (MIPI) format.
In the embodiment of the disclosure, the format of the scene simulation data is converted into the format consistent with the data acquired by the image acquisition device, and the data after the format conversion is sent to the automatic driving system for testing, so that the data of the image acquisition device is simulated.
FIG. 5 schematically shows a schematic diagram of processing a scene simulation image according to another embodiment of the present disclosure.
As shown in fig. 5, the electronic device 502 includes, for example, at least an FPGA (Field Programmable Gate Array) and a serializer. FPGAs include, for example, GMSL mock modules and i2c mock modules. i2c is a serial transmission bus.
Having the second data format F, for example, can be processed by means of an FPGA2To obtain a reference image having a second data format F2The scene simulation image of (1). The GMSL mock module then applies a second data format F to the scene simulation image2Conversion into a third data format F3To obtain a third data format F3The scene simulation image of (1). Next, the third data format F of the scene simulation image is converted by the serializer3Converted into a first data format F1Will have a first data format F1The scene simulation image of (2) is used as simulation data, and the simulator sends the simulation data to the automatic driving system as test data for testing.
For a data file to have a first data format F1The i2c mock module may perform a simulation configuration based on a configuration operation performed before the image capturing device outputs the image, when the serializer transmits the simulation data as test data to the automatic driving system for testing. For example, the i2c mock module and the serializer may simulate the configuration operation of the real image capturing device, and a configuration request command or a configuration confirmation command may be sent between the i2cmock module and the serializer to simulate the configuration operation of the real image capturing device.
After the serializer confirms that the simulation configuration execution is complete, the serializer may send the simulation data to the vehicle 503 as test data for testing the vehicle 503.
For example, the vehicle 503 includes a deserializer and Image signal processing (Image)Signal Processing, ISP) module. After the deserializer receives the test data from the serializer, the first data format F of the test data is realized1Conversion into a third data format F3And has a third data format F through ISP module pair3The test data is processed to realize the test of the automatic driving system.
In the embodiment of the disclosure, the simulation configuration is performed by simulating the configuration operation of the image acquisition device, and after the simulation configuration is completed, the data is sent to the automatic driving system for testing, so that the configuration operation of the image acquisition device is simulated on the configured level, and the data generation of the image acquisition device is facilitated.
According to the technical scheme of the embodiment of the disclosure, algorithm verification of the automatic driving system under different scenes can be realized, and the automatic driving system is helped to carry out quick iterative development of versions, reduce the testing cost and improve the testing efficiency by simulating the driving scenes on various real roads.
FIG. 6 schematically shows a block diagram of an apparatus for generating test data according to an embodiment of the present disclosure.
As shown in fig. 6, the apparatus 600 for generating test data according to the embodiment of the present disclosure includes, for example, a first processing module 610, a second processing module 620, and an output module 630.
The first processing module 610 may be configured to process the reference image to obtain a scene simulation image. According to the embodiment of the present disclosure, the first processing module 610 may, for example, perform operation S210 described above with reference to fig. 2, which is not described herein again.
The second processing module 620 may be configured to process the scene simulation image based on a manner in which the image capturing device processes the image, so as to obtain simulation data for the image capturing device. According to the embodiment of the present disclosure, the second processing module 620 may, for example, perform operation S220 described above with reference to fig. 2, which is not described herein again.
The output module 630 may be used to output the simulation data as test data for testing the vehicle. According to the embodiment of the present disclosure, the output module 630 may perform, for example, the operation S230 described above with reference to fig. 2, which is not described herein again.
According to an embodiment of the present disclosure, the first processing module 610 includes: a first determination submodule and an adjustment submodule. A first determination submodule for determining a target object in the reference image; and the adjusting submodule is used for adjusting the position of the target object in the reference image to obtain a scene simulation image.
According to an embodiment of the disclosure, the adjustment submodule includes: the device comprises a first determining unit, an adjusting unit and a second determining unit. A first determination unit configured to determine a target position in the reference image based on a position of the target object in the reference image and a preset distance; an adjustment unit configured to adjust a pixel value of a target region corresponding to a target position in a reference image based on a pixel value of a target object; and the second determining unit is used for taking the reference image obtained after the pixel value is adjusted as the scene simulation image.
According to the embodiment of the disclosure, the data format of the image output by the image acquisition device is a first data format; the second processing module 620 includes: a conversion submodule and a second determination submodule. And the conversion sub-module is used for converting the second data format of the scene simulation image into the first data format. And the second determining submodule is used for taking the scene simulation image with the first data format as simulation data.
According to an embodiment of the present disclosure, the conversion submodule includes: a first conversion unit and a second conversion unit. The first conversion unit is used for converting the second data format of the scene simulation image into a third data format to obtain a scene simulation image with the third data format; and the second conversion unit is used for converting the third data format of the scene simulation image into the first data format.
According to an embodiment of the disclosure, the first data format comprises a gigabit multimedia serial link GMSL format, the second data format comprises a color-coded YUV format, and the third data format comprises a mobile industry processor interface MIPI format.
According to an embodiment of the present disclosure, the output module 630 includes: the simulation configuration sub-module and the output sub-module. The simulation configuration submodule is used for performing simulation configuration based on configuration operation performed before the image acquisition device outputs the image; and the output sub-module is used for responding to the completion of the execution of the simulation configuration and outputting the simulation data as the test data for testing the vehicle.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 7 is a block diagram of an electronic device for performing test data generation used to implement an embodiment of the present disclosure.
FIG. 7 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. The electronic device 700 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (17)
1. A method of generating test data, comprising:
processing the reference image to obtain a scene simulation image;
processing the scene simulation image based on the mode of processing the image by the image acquisition device to obtain simulation data aiming at the image acquisition device; and
and outputting the simulation data as test data for testing the vehicle.
2. The method of claim 1, wherein the processing the reference image to obtain the scene simulation image comprises:
determining a target object in the reference image; and
and adjusting the position of the target object in the reference image to obtain the scene simulation image.
3. The method of claim 2, wherein said adjusting the position of the target object in the reference image to obtain the scene simulation image comprises:
determining a target position in the reference image based on the position of the target object in the reference image and a preset distance;
for a target area corresponding to the target position in the reference image, adjusting the pixel value of the target area based on the pixel value of the target object; and
and taking the reference image obtained after the pixel value is adjusted as the scene simulation image.
4. The method of claim 1, wherein the data format of the image capture device output image is a first data format; the processing the scene simulation image to obtain simulation data for the image acquisition device comprises:
converting a second data format of the scene simulation image into the first data format; and
and taking the scene simulation image with the first data format as the simulation data.
5. The method of claim 4, wherein said converting the second data format of the scene simulation image to the first data format comprises:
converting the second data format of the scene simulation image into a third data format to obtain a scene simulation image with the third data format; and
and converting the third data format of the scene simulation image into the first data format.
6. The method of claim 4 or 5, wherein the first data format comprises a Gigabit Multimedia Serial Link (GMSL) format, the second data format comprises a color-coded YUV format, and the third data format comprises a Mobile Industry Processor Interface (MIPI) format.
7. The method of any of claims 1-6, wherein the outputting the simulation data as test data for testing a vehicle comprises:
performing simulation configuration based on configuration operation performed before the image acquisition device outputs the image; and
in response to completion of the simulation configuration execution, outputting the simulation data as test data for testing the vehicle.
8. An apparatus to generate test data, comprising:
the first processing module is used for processing the reference image to obtain a scene simulation image;
the second processing module is used for processing the scene simulation image based on the mode of processing the image by the image acquisition device to obtain simulation data aiming at the image acquisition device; and
and the output module is used for outputting the simulation data as test data for testing the vehicle.
9. The apparatus of claim 8, wherein the first processing module comprises:
a first determining submodule for determining a target object in the reference image; and
and the adjusting submodule is used for adjusting the position of the target object in the reference image to obtain the scene simulation image.
10. The apparatus of claim 9, wherein the adjustment submodule comprises:
a first determination unit configured to determine a target position in the reference image based on a position of the target object in the reference image and a preset distance;
an adjusting unit configured to adjust, for a target region corresponding to the target position in the reference image, a pixel value of the target region based on a pixel value of the target object; and
and the second determining unit is used for taking the reference image obtained after the pixel value is adjusted as the scene simulation image.
11. The apparatus of claim 8, wherein the data format of the image output by the image capture device is a first data format; the second processing module comprises:
the conversion sub-module is used for converting the second data format of the scene simulation image into the first data format; and
and the second determining submodule is used for taking the scene simulation image with the first data format as the simulation data.
12. The apparatus of claim 11, wherein the conversion submodule comprises:
the first conversion unit is used for converting the second data format of the scene simulation image into a third data format to obtain a scene simulation image with the third data format; and
and the second conversion unit is used for converting the third data format of the scene simulation image into the first data format.
13. The apparatus of claim 11 or 12, wherein the first data format comprises a Gigabit Multimedia Serial Link (GMSL) format, the second data format comprises a color-coded YUV format, and the third data format comprises a Mobile Industry Processor Interface (MIPI) format.
14. The apparatus of any of claims 8-13, wherein the output module comprises:
the simulation configuration submodule is used for performing simulation configuration based on configuration operation performed before the image acquisition device outputs the image; and
and the output submodule is used for responding to the completion of the execution of the simulation configuration and outputting the simulation data as test data for testing the vehicle.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-7.
17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-7.
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