CN113727094A - Camera in-loop test equipment and system - Google Patents
Camera in-loop test equipment and system Download PDFInfo
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- CN113727094A CN113727094A CN202110981289.XA CN202110981289A CN113727094A CN 113727094 A CN113727094 A CN 113727094A CN 202110981289 A CN202110981289 A CN 202110981289A CN 113727094 A CN113727094 A CN 113727094A
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Abstract
The invention relates to a camera in-loop test device. This camera is at ring test equipment includes: a camera for capturing a test image; and the distance increasing lens is arranged between the camera and the test image and is used for adjusting the focal length of the camera. A field angle of the camera, a screen size on which the test image is displayed, and/or a distance between the camera and the test image. The focusing parameters of the distance-increasing lens can be adjusted. The invention also relates to a camera in-loop test system.
Description
Technical Field
The invention relates to the field of Advanced Driver Assistance Systems (ADAS), in particular to a camera in-loop test device and a camera in-loop test system.
Background
With the rapid development of the ADAS field, early testing and verification of various functions involved in ADAS is increasingly important. The design of the test system largely determines the reliability and accuracy of the sensing result. The hardware-in-loop simulation test is an important test method in the development process, and the actual hardware is brought into a test system, so that the actual working condition can be better simulated, the safety and the feasibility of the test are effectively improved, and the test cost is reduced.
As a sensor closest to human vision, a camera is widely used in the ADAS technology. The camera can have a wide vertical field angle and a high longitudinal resolution, and can provide color and texture information and the like. The information is processed by an algorithm, so that the ADAS system can realize the functions of pedestrian detection, vehicle identification, traffic sign identification, vehicle distance measurement, road tracking and the like. Therefore, the actual camera is incorporated into the hardware-in-loop simulation test system and is tested together with the domain controller and the software algorithm, and the reliability and the accuracy of the test can be further improved.
Disclosure of Invention
According to an aspect of the present invention, there is provided a camera-in-loop test apparatus. This camera is at ring test equipment includes: a camera for capturing a test image; and the distance increasing lens is arranged between the camera and the test image and is used for adjusting the focal length of the camera.
Alternatively or additionally to the above, in the camera-in-loop test apparatus according to an embodiment of the present invention, the focusing parameter of the range-increasing mirror is associated with at least the following parameters: a field angle of the camera, a screen size on which the test image is displayed, and/or a distance between the camera and the test image.
Alternatively or additionally to the above, in the camera-in-loop test apparatus according to an embodiment of the present invention, the focus parameter of the distance increasing lens is adjustable.
Alternatively or additionally to the above, in the camera-in-loop test apparatus according to an embodiment of the present invention, further including: a windshield disposed between the camera and the test image.
Alternatively or additionally to the above, in a camera-in-loop test device according to an embodiment of the invention, the test image comprises an actual traffic scene image and/or a simulated traffic scene image.
Alternatively or additionally to the above, in the camera-in-loop test apparatus according to an embodiment of the present invention, further including: a mechanical adjustment device for adjusting the position and angle of the camera such that the camera has degrees of freedom in at least the following directions: an x-axis direction, a y-axis direction, a z-axis direction, a pitch direction, a yaw direction, and/or a roll direction.
According to another aspect of the present invention, a camera-in-the-loop test system is provided. This camera is at ring test system includes: the camera in-loop test equipment; and a scene display device for displaying the test image.
Alternatively or additionally to the above, in the camera-in-loop test system according to an embodiment of the present invention, further includes: and the processing device processes the data about the test image shot by the camera by using an image algorithm and outputs first image information, wherein the first image information is a perception result of the test image processed by the processing device.
Alternatively or additionally to the above, in the camera-in-loop test system according to an embodiment of the present invention, further includes: a comparison device for comparing the first image information and second image information of the test image and outputting a comparison result, wherein the second image information is a true value result of the test image displayed by the scene display device.
Alternatively or additionally to the above, in the camera-in-loop test system according to an embodiment of the present invention, the image algorithm in the processing device is optimized according to the comparison result.
Drawings
The above and other objects and advantages of the present invention will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings.
FIG. 1 shows a camera-in-the-loop test apparatus 1000 according to one embodiment of the invention.
Fig. 2 illustrates respective degrees of freedom directions of cameras in the ring test apparatus 1000 according to an embodiment of the present invention.
Fig. 3 illustrates a camera-on-ring test system 3000 according to one embodiment of the invention.
Detailed Description
The present invention is described more fully herein with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. This invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. The embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
It should be noted that the terms "first", "second", and the like herein are used for distinguishing similar objects, and are not necessarily used for describing a sequential order of the objects in terms of time, space, size, and the like. Furthermore, unless specifically stated otherwise, the terms "comprises," "comprising," and the like, herein are intended to mean non-exclusive inclusion. Also, the term "vehicle", "automobile" or other similar terms herein include motor vehicles in general, such as passenger cars (including sport utility vehicles, buses, trucks, etc.), various commercial vehicles, and the like, and include hybrid cars, electric cars, plug-in hybrid cars, and the like. A hybrid vehicle is a vehicle having two or more power sources, such as gasoline powered and electric vehicles.
Hereinafter, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 illustrates a camera-on-ring test apparatus 1000 according to an embodiment of the present invention. Therein, the camera-in-the-loop test apparatus 1000 includes a camera 110. The camera 110 is used for capturing a test image displayed on the scene display device 210, thereby performing test verification. The camera 110 may include portions of a CMOS sensor, lens, infrared filter, chip, memory card, SIM card, etc. The test image may be a previously recorded actual traffic scene image, or may be a traffic scene image generated by simulation software (e.g., 51VR Sim-One simulation scene generation software).
In practical applications, sometimes the distance between the camera 110 and the scene display device 210 cannot match the focal length of the camera 110. This is especially acute when the camera 110 is a high precision camera (e.g., an 8M camera). This is because as the resolution increases, the focal length of the camera also increases (e.g., for a small field angle 8M camera, the focal length can reach 30 meters). However, it is difficult to set the distance between the camera 110 and the scene display device 210 to be excessively large in the test (for example, it is difficult to set the distance between the two to be 30 meters) subject to the test environment. This makes it difficult for the camera 110 to clearly image the test image. For this, the camera-around ring test apparatus 1000 further includes a distance-increasing mirror 120, and the distance-increasing mirror 120 is disposed between the camera 110 and the scene display device 210 displaying the test image, thereby adjusting the focal length of the camera 110. The adjusted focal length can be matched to the distance between the camera 110 and the scene display device 210, so that the camera 110 can clearly image the test image.
Among others, the focusing parameters of the range-increasing mirror 120 may be associated with the focal length of the camera 110, the field angle of the camera 110, the screen size of the scene display device 210 displaying the test image, the distance between the camera 110 and the test image, and the like. For example, when the original focal length W of the camera 110 and the distance D between the camera 110 and the test image do not match, an appropriate focusing parameter J may be set such that the adjusted focal length matches the distance:
the original focal length W of the camera 311 can be obtained by the following formula:
wherein X is the screen size of the scene display device 210 displaying the test image,
f is the field angle of the camera 110.
From this, the camera has realized taking the camera into the technical scheme of hardware in the ring test system at ring test equipment 1000, has solved because the too big problem of the screen defocus that arouses of camera (especially high-precision camera) focus for the operating condition can be pressed close to more to test system, has improved the reliability and the accuracy of test.
Although only one camera 110 is included in fig. 1 for purposes of illustration, a camera-in-the-loop test apparatus according to embodiments of the present invention may include two, three, or any suitable number of cameras. When the image-pickup-on-loop test apparatus includes more than one camera, since the original focal lengths of the different cameras may be different (which may be caused by different parameters such as the field angles of the different cameras), a distance-increasing lens having appropriate focusing parameters is configured for each camera with respect to its actual parameters.
In one embodiment, the focusing parameters of the distance-increasing mirror 120 are adjustable, so that the camera in-loop test equipment 1000 can flexibly adjust the focusing parameters of the distance-increasing mirror 120 according to actual test requirements, and realize perception tests on objects at different distances.
In one embodiment, the camera-on-ring test apparatus 1000 further comprises mechanical adjustment means 131, 132 such that the camera 110 has degrees of freedom in different directions, such as an x-axis direction, a y-axis direction, a z-axis direction, a pitch direction, a yaw direction and/or a roll direction. The mechanical adjusting device 131 may be a lead screw guide, thereby realizing the degrees of freedom of the camera 110 in the x-axis direction, the y-axis direction, and the z-axis direction. The mechanical adjustment device 132 may be a gimbal, thereby enabling freedom of the camera head 110 in pitch, yaw, and roll directions.
In the context of the present invention, as shown in FIG. 2, with the center of mass of the camera as the origin, the "x-axis direction" refers to the direction in which the camera is pointed generally toward the scene display device; "y-axis direction" refers to a direction in which the camera is substantially parallel to the scene display device; "z-axis direction" refers to a direction substantially upward from the camera and perpendicular to the x-axis and y-axis directions; "Pitch direction" refers to the direction of rotation along the y-axis; "yaw direction" refers to a direction of rotation along the z-axis; "tumble direction" refers to a direction of rotation along the x-axis. It is to be noted that the camera in fig. 2 shows only the camera 110 in the ring test apparatus 1000, and other parts are omitted, in order to clearly explain the respective directions.
In one embodiment, the camera-on-ring test apparatus 1000 further comprises a windshield 140. The windshield 140 is disposed between the camera 110 and the image being tested. In actual conditions, a windshield is sometimes arranged in front of the camera. However, the optical characteristics of the windshield may have some effect on the perception performance of the camera, which is particularly significant for the perception performance of high-precision cameras (e.g., 8M cameras). Therefore, the windshield is arranged in the ring test equipment 1000 of the camera, so that the actual working condition of the camera can be truly simulated, and the sensing result is more reliable. It should be noted that although the windshield 140 is disposed between the range lens 120 and the test image in the embodiment of fig. 1, the present invention is not limited thereto, and in other embodiments, the windshield may be disposed between the camera and the range lens or at any suitable position between the camera and the test image.
Fig. 3 illustrates a camera-on-ring test system 3000 according to one embodiment of the invention. As shown in fig. 3, the camera-in-the-loop test system 3000 includes a camera-in-the-loop test apparatus 310. Here, the camera-in-the-loop test apparatus 310 may be any camera-in-the-loop test apparatus according to an embodiment of the present invention, for example, the camera-in-the-loop test apparatus 1000. Specifically, the camera-on-ring test apparatus 310 includes a camera 311 and a range-up mirror 312. As described above, the camera 311 is used to capture a test image; the distance increasing mirror 312 is disposed between the camera 311 and the test image to adjust the focal length of the camera 311, so that the focal length matches with the distance between the camera 311 and the scene display device 320, and the camera 311 clearly images the test image.
The camera-in-the-loop test system 3000 further includes a scene display device 320 and a scene generation device 330 for displaying the test image. The scene display device 320 displays the traffic scene image generated by the scene generation device 330 using the simulation software. The scene generation means 330 may be a processor with an image processing unit GPU capable of scene rendering, running simulation scene generation software such as 51VR Sim-One. Alternatively, the scene display device 320 may display a previously recorded traffic scene image, or any other suitable traffic scene image.
Similar to the above, the camera 311 may include portions of a CMOS sensor, lens, infrared filter, chip, memory card, SIM card, and so on. The focusing parameters of the distance mirror 312 may be associated with the focal length of the camera 311, the field angle of the camera 311, the screen size of the scene display device 320 displaying the test image, the distance between the camera 311 and the test image, and the like. For example, when the original focal length W of the camera 110 and the distance D between the camera 110 and the test image do not match, an appropriate focusing parameter J may be set such that the adjusted focal length matches the distance:
the original focal length W of the camera 311 can be obtained by the following formula:
wherein X is the screen size of the scene display device 320 displaying the test image,
f is the angle of view of the camera 311.
Similar to the above, the focusing parameters of the distance-increasing mirror 312 can be adjusted, so that the camera in-loop test system 3000 can flexibly adjust the focusing parameters of the distance-increasing mirror 312 according to actual test requirements, and sensing tests on objects at different distances are realized.
The camera-in-the-loop test system 3000 may also include a processing device 340. The processing device 340 receives the captured data on the test image from the camera 311, processes the data using an image algorithm, and then outputs the processed sensing result for the test image. The sensing result here may include a sensing result of lane departure, a sensing result of pedestrian collision, a sensing result of traffic sign recognition, and the like.
In the context of the present invention, the perception result for the test image processed by the processing means may be referred to as "first image information".
The processing means 340 may be an ADAS domain controller, an industrial personal computer, etc. of the vehicle to be tested. A processing means 340 such as an ADAS domain controller, an industrial personal computer receives the captured relevant data from the camera via the GSML interface. It is to be noted that the present invention is not intended to limit the processing device 340 to the above examples, and the processing device 340 may be various types of general-purpose processors, for example, various types of general-purpose microprocessors or central processing units CPU; or the processing device 340 may be various types of special purpose processors such as a network processor, a communication processor, a cryptographic processor, a graphics processor, a co-processor, an embedded processor, a digital signal processor, and a controller (e.g., a microcontroller), among others. The processing device 340 may have a complex instruction set computing architecture, a reduced instruction set computing architecture, a very long instruction word architecture, a hybrid architecture, or any other suitable architecture, or a combination of these architectures.
The camera-in-the-loop test system 3000 may also include a comparison device 350. The comparing means 350 receives the first image information from the processing means 340 and the second image information from the scene generating means 330. The second image information is a true value result of the test image displayed by the scene display device 320. The comparison means 350 compares the first image information with the second image information and outputs the comparison result. The comparison result may indicate whether the sensing result of the camera at the loop test system 3000 for the traffic scene image is consistent with the true value result displayed on the scene display device. If the two are not identical, the image algorithm running in the processing means 340 can be optimized accordingly. Therefore, the camera can be used for evaluating the image algorithm in the ADAS system with higher reliability in the ring test system 3000, so that the focal length of the high-precision camera is not limited by the limitation of an experimental field any more, and the focal length of the high-precision camera can be flexibly adjusted according to the actual test requirements.
In one embodiment, the camera-in-the-loop test system 3000 may also include an image signal processor ISP 360. The image signal processor ISP 360 may perform processing such as white balance correction, automatic gain adjustment, and the like on the test image data from the camera 311. The signal processed by the image signal processor ISP 360 may be displayed on an image display device for observation by the human eye, may be transmitted to a processor (such as the processing device 340) for perceptual computation, or may be transmitted to a cloud or other storage device for further computation or storage. The image signal processor ISP 360 and the processing device 340 are shown in fig. 3 as two separate components, but the present invention is not limited thereto, and the image signal processor ISP 360 or a part thereof may be built into the processing device 340.
In one embodiment, the processing device 340 or the image signal processor ISP 360 may perform distortion correction on the test image data received from the camera. For example, the distortion correction may be performed using a screen frame of the scene display device 320 as a reference.
In one embodiment, camera-on-ring test system 3000 further includes mechanical adjustment devices such that camera 311 has degrees of freedom in different directions, such as x-axis direction, y-axis direction, z-axis direction, pitch direction, yaw direction, and/or roll direction. Wherein, the mechanical adjusting device can comprise a lead screw guide rail, a universal joint and other components.
In one embodiment, camera-on-ring test system 3000 further comprises a windshield. The windshield is disposed between the camera 311 and the image being tested. In actual conditions, a windshield is sometimes arranged in front of the camera. However, the optical characteristics of the windshield may have some effect on the perception performance of the camera, which is particularly significant for the perception performance of high-precision cameras (e.g., 8M cameras). Therefore, the windshield is arranged in the ring test system 3000 of the camera, so that the actual working condition of the camera can be truly simulated, and the sensing result is more reliable. Similar to the discussion regarding fig. 1, the windshield may be disposed between the camera and the range-lens, may be disposed between the range-lens and the test image, or may be disposed at any other suitable location between the camera and the test image.
In one embodiment, the camera-on-ring test apparatus 310 and the scene display device 320 may be disposed in a black box to prevent other images than the test image displayed on the scene display device 320 from interfering with the test. As an example, the scene display device 320 in the black box may be a television display screen (e.g., a 4K high resolution display screen) with a screen size of 55 inches, and the size of the black box may be designed to be larger than: 2.5 meters long, 1.5 meters wide and 1.5 meters high. However, the original focal length of high-precision cameras is often large, for example, the original focal length of 8M cameras may reach 30 meters or even higher, and the size of a black box under test is difficult to meet. At this time, using the camera-in-the-loop test system including the range-finder according to the embodiment of the present invention, the requirement for the size of the black box can be significantly reduced. In addition, according to the camera in-loop test system provided by the embodiment of the invention, when the camera is changed, the original focal length of the camera is changed or the distance of a test object is changed, the black boxes with different sizes are not required to be replaced, and only the focusing parameters of the distance increasing lens are required to be adjusted.
Some of the blocks shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. For example, the blocks of the scene generating means 330, the processing means 340, the comparing means 350, the image signal processor ISP 360, etc. may be implemented in the form of software, or may be implemented in one or more hardware modules or integrated circuits. Some of the blocks shown in the figures and combinations thereof may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing unit to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing unit, create means for implementing the functions/acts specified in the block diagrams.
It will be appreciated that the camera in-loop test apparatus according to the foregoing embodiments of the invention may be incorporated into other vehicle ADAS systems in-loop tests.
According to the technical scheme of the camera in-loop test, the camera is incorporated into hardware in-loop test, so that a test system can be closer to the actual working condition, and the reliability and accuracy of the test are improved. By comparing the sensing result obtained by the test scheme with the true value of the test image, the comparison result can effectively reflect the performance of the module to be tested (for example, an image algorithm to be tested), and the parameters and settings of the module to be tested can be optimized through the comparison result.
In addition, through for the corresponding range lens of camera configuration, can make the focus of high-accuracy camera no longer receive the restriction in experimental area, effectively solved in the test high-accuracy camera and shot the screen and can the out of focus and lead to the blurred problem of image. And when more than one camera is tested, the distance-increasing lens with corresponding parameters can be configured for each camera according to the parameters and actual needs of each camera.
According to the technical scheme of the camera in-loop test, the distance-increasing lens with adjustable focusing parameters can be configured for the camera, so that the test scheme is more flexible. When images at different distances need to be tested, the method can be realized only by adjusting the focusing parameters of the distance-increasing lens without replacing the distance-increasing lens or adjusting other parameters of the system.
Although only a few embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that the present invention may be embodied in many other forms without departing from the spirit or scope thereof. Accordingly, the present examples and embodiments are to be considered as illustrative and not restrictive, and various modifications and substitutions may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (10)
1. A camera-in-the-loop test apparatus, comprising:
a camera for capturing a test image; and
the distance increasing lens is arranged between the camera and the test image and is used for adjusting the focal length of the camera.
2. The camera on-ring test apparatus according to claim 1, wherein the focusing parameters of the range-extending mirror are associated with at least:
a field angle of the camera, a screen size on which the test image is displayed, and/or a distance between the camera and the test image.
3. The camera on-ring test apparatus of claim 1,
the focusing parameters of the distance-increasing lens can be adjusted.
4. The camera in-the-loop test apparatus of claim 1, further comprising:
a windshield disposed between the camera and the test image.
5. The camera on-ring test apparatus of claim 1,
the test image includes an actual traffic scene image and/or a simulated traffic scene image.
6. The camera in-the-loop test apparatus of claim 1, further comprising:
a mechanical adjustment device for adjusting the position and angle of the camera such that the camera has degrees of freedom in at least the following directions: an x-axis direction, a y-axis direction, a z-axis direction, a pitch direction, a yaw direction, and/or a roll direction.
7. A camera-in-the-loop test system, comprising:
the camera-on-ring test device of any one of claims 1 to 6; and
and the scene display device is used for displaying the test image.
8. The camera in-the-loop test system of claim 7, further comprising:
a processing device which processes data about the test image captured by the camera using an image algorithm and outputs first image information,
wherein the first image information is a perception result of the test image processed by the processing means.
9. The camera in-the-loop test system of claim 8, further comprising:
a comparison means for comparing the first image information and the second image information of the test image and outputting a comparison result,
wherein the second image information is a true value result of the test image displayed by the scene display apparatus.
10. The camera-in-the-loop test system of claim 9,
and optimizing the image algorithm in the processing device according to the comparison result.
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| CN114460862A (en) * | 2021-12-31 | 2022-05-10 | 北京瞰瞰智能科技有限公司 | Camera equipment ring test simulation method applied to ADAS |
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| CN114460862A (en) * | 2021-12-31 | 2022-05-10 | 北京瞰瞰智能科技有限公司 | Camera equipment ring test simulation method applied to ADAS |
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