CN115578682A - Augmented reality head-up display test method, system and storage medium - Google Patents
Augmented reality head-up display test method, system and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of automobile navigation, in particular to an augmented reality head-up display testing method, system and storage medium, aiming at improving the testing efficiency. The method of the invention comprises the following steps: making a template of calibration information according to a pre-collected road scene video, and generating a labeling sequence and a calibration video; synchronously inputting a calibration video into the video injection board card and the road image screen and starting shooting; controlling the curtain to roll up to shoot the image on the road image screen; controlling the curtain to descend, starting the AR-HUD module to be detected, and shooting an image projected onto the curtain by the AR-HUD module to be detected to generate a recorded video; analyzing the template position of the marking information in each frame of image of the recorded video by using an image template matching method to generate an identification sequence; and establishing a time corresponding relation between the recorded video and the calibrated video according to the image identification code in the image on the road image screen, and comparing the identification sequence with the labeling sequence to obtain a test result. The present invention greatly improves testing efficiency.
Description
Technical Field
The invention relates to the technical field of automobile navigation, in particular to an augmented reality head-up display testing method, system and storage medium.
Background
Augmented Reality head-up displays (AR-HUDs) can reasonably display some driving information in a superimposed manner in a driver sight line area, and are combined with actual traffic road conditions. Through AR-HUD technique, the driver can expand and strengthen oneself perception to driving environment, because AR-HUD technique has used the reinforcing plane of projection, generates image element through digital micro mirror component, and the image on the formation of image curtain passes through the final directive windshield of speculum simultaneously, fuses with traffic conditions. With the help of the AR-HUD, a driver can directly observe information by raising the head when navigating. Importantly, the navigation information is fused with the lane lines from the driver's view.
However, in the prior art, when testing the AR-HUD each time, the vehicle is required to be driven to the road, and the image on the windshield is checked on site according to manual work to check whether the output of the AR-HUD is accurate or not, so that the test is inconvenient and low in efficiency.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
In order to solve the above problems in the prior art, the invention provides an augmented reality head-up display testing method, system and storage medium, which improve the testing efficiency.
In a first aspect of the present invention, an augmented reality head-up display testing method is provided, where the method is based on an augmented reality head-up display testing system, and the system includes: the System comprises a main control module, a video injection board card for carrying out format conversion on a video, an Advanced Driving Assistance System (ADAS) module connected with the output of the video injection board card, an AR-HUD module to be tested connected with the output of the ADAS module, a curtain for receiving the output projection of the AR-HUD to be tested, a functional camera arranged right in front of the curtain and a road image screen arranged right behind the curtain and parallel to the curtain;
the method comprises the following steps:
the main control module makes a template of calibration information according to a pre-collected road scene video, and generates a labeling sequence and a calibration video;
synchronously inputting the calibration video into the video injection board card and the road image screen, and sending a shooting starting instruction to the functional camera;
controlling the curtain to be in a rolling state so that the functional camera shoots at least one frame of image on the road image screen;
controlling the curtain to be in a descending state, and starting the AR-HUD module to be detected so that the functional camera shoots an image projected by the AR-HUD module to be detected onto the curtain to generate a recorded video;
analyzing the position of the template of the calibration information in each frame of image of the recorded video by using an image template matching method to generate an identification sequence;
analyzing an image identification code in the image according to the shot image on the road image screen, and further establishing a time corresponding relation between the recorded video and the calibration video;
and comparing the identification sequence with the labeling sequence according to the time correspondence to obtain a test result.
Preferably, the main control module makes a template of the calibration information according to the pre-collected road scene video, and generates a labeling sequence and a calibration video, including:
the main control module inputs a pre-collected road scene video into the video injection board card so that the video injection board card performs format conversion on the road scene video and outputs the road scene video to the ADAS module;
the control function camera shoots an image projected by the AR-HUD module to be measured onto the curtain, and a template of calibration information is made according to the shot image;
identifying the position needing attention of a driver for each frame of image in the road scene video, and selecting a corresponding template of the calibration information to generate a labeling sequence;
and adding the image identification code for identifying the frame number to each frame of image in the road scene video so as to generate a calibration video.
Preferably, the analyzing an image identification code in the image according to the shot image on the road image screen, and further establishing a time correspondence between the recorded video and the calibration video includes:
and analyzing a frame number corresponding to the image identification code in the image according to the shot image on the road image screen, and establishing a corresponding relation between the shooting time of the functional camera and the frame number so as to obtain a time corresponding relation between the recorded video and the calibrated video.
Preferably, the test results include: calibrating the position deviation and the time deviation of the information;
comparing the identification sequence with the labeling sequence according to the time correspondence to obtain a test result, wherein the test result comprises:
comparing the identification sequence with the labeling sequence frame by frame according to the time corresponding relation to obtain the deviation of the labeling information in each frame; the deviation comprises: positional deviation and time deviation of each template;
wherein N is a preset value.
Preferably, the method further comprises:
and outputting an imaging effect test report of the AR-HUD module to be tested according to the test result.
Preferably, a fixed frame rate of 30 frames/second or 60 frames/second is adopted when the functional camera shoots; n is 15.
Preferably, the calibration information includes: one or more steering, obstacle warning, and/or traffic signs.
Preferably, the image identification code is a two-dimensional code, a bar code or a number.
In a second aspect of the present invention, an augmented reality head-up display testing system is provided, the system including:
the system comprises a main control module, a video injection board card for carrying out format conversion on a video, an ADAS module connected with the output of the video injection board card, an AR-HUD module to be tested connected with the output of the ADAS module, a curtain for receiving the output projection of the AR-HUD module to be tested, a functional camera arranged right in front of the curtain and a road image screen arranged right behind the curtain and parallel to the curtain;
and the main control module tests the AR-HUD module to be tested according to the method.
In a third aspect of the invention, a computer-readable storage medium is proposed, storing a computer program that can be loaded by a processor and which performs the method as described above.
Compared with the closest prior art, the invention has the following beneficial effects:
according to the method, a template of calibration information is made according to a pre-collected road scene video, a marking sequence and a calibration video are generated, then the calibration video is input into a test system, a video projected by an AR-HUD to be tested onto a curtain is recorded, and a recorded video is generated; then, analyzing the position of the template of the marking information in each frame of image of the recorded video by using an image template method to generate an identification sequence; and finally, comparing the identification sequence with the labeling sequence to obtain a test result. The invention can use the pre-collected videos of different scenes of various roads, can drive to a specific road section in advance to collect the videos, can repeatedly use the collected videos in the test for a plurality of times, is convenient and quick, and can automatically compare the videos by using a program, thereby effectively improving the test efficiency. In addition, it is desirable for AR-HUD developers that certain phenomena be reproducible when finding problems. However, because the pedestrian flow and the traffic flow on the actual road are constantly changed, the road video acquired by the ADAS camera in the prior art every time is changed, so that some phenomena are difficult to reproduce. Secondly, the method can repeatedly use the pre-collected road scene videos for many times, and is beneficial to research and development personnel to perform problem troubleshooting. Thirdly, the screen is used for projection collection of the AR-HUD, so that interference of the background in actual road testing can be avoided, and the testing accuracy is improved.
Drawings
FIG. 1 is a schematic diagram of a main structure of an embodiment of an augmented reality head-up display testing system according to the present invention;
fig. 2 is a schematic diagram of main steps of an embodiment of an augmented reality head-up display testing method of the invention.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first" and "second" in the description of the present invention are used for convenience of description only and do not indicate or imply relative importance of the devices, elements or parameters, and therefore should not be construed as limiting the present invention. In addition, the term "and/or" in the present invention is only one kind of association relationship describing the associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
In the invention, one vehicle can be used for acquiring videos of different roads and scenes in advance to generate a video library, and the pre-acquired road scene videos can be directly used for testing the AR-HUD to be tested in the testing process.
Fig. 1 is a schematic diagram of a main structure of an embodiment of an augmented reality head-up display testing system according to the present invention. As shown in fig. 1, the test system of the present embodiment includes: the system comprises a main control module 10, a video injection board 20 for carrying out format conversion on a video, an ADAS module 30 connected with the output of the video injection board 20, an AR-HUD module 40 to be tested connected with the output of the ADAS module 30, a curtain 50 for receiving the output projection of the AR-HUD module 40 to be tested, a functional camera 60 arranged right in front of the curtain 50, and a road image screen 70 arranged right behind the curtain 50 and parallel to the curtain 50. In addition, a test stand 80 for holding the curtain support, AR-HUD module and functional camera support may also be included.
Fig. 2 is a schematic diagram of main steps of an embodiment of an augmented reality head-up display testing method according to the present invention. The testing method of the present embodiment is based on the augmented reality head-up display testing system shown in fig. 1, and as shown in fig. 2, the testing method of the present embodiment includes steps S10 to S70:
and S10, the main control module makes a template of calibration information according to the pre-collected road scene videos, and generates a labeling sequence and a calibration video. The method specifically comprises the following steps of S11-S14:
and S11, the main control module inputs the pre-collected road scene video into the video injection board card so that the video injection board card performs format conversion on the road scene video and outputs the road scene video to the ADAS module.
And S12, controlling the functional camera to shoot an image projected onto the curtain by the AR-HUD module to be measured, and making a template of calibration information according to the shot image.
And S13, identifying the position needing attention of the driver for each frame of image in the road scene video, selecting a corresponding template of calibration information, and generating a labeling sequence.
Wherein, the calibration information comprises: one or more steering, obstacle warning, and/or traffic signs, etc.
And S14, adding an image identification code for identifying the frame number to each frame of image in the road scene video, thereby generating a calibration video.
The image identification code can be a two-dimensional code, a bar code or a number, and the two-dimensional code is preferred.
And step S20, synchronously inputting the calibration video into the board card and the road image screen, and sending a shooting starting instruction to the functional camera.
And step S30, controlling the curtain to be in a rolling state so as to enable the functional camera to shoot at least one frame of image on the road image screen.
Since the road image screen displays an image to which only the identification code is added, it is photographed to be used in the subsequent step S60 to identify from which frame of the calibration video the currently recorded video starts.
And S40, controlling the curtain to be in a descending state, and starting the AR-HUD module to be detected so that the functional camera shoots the image projected onto the curtain by the AR-HUD module to be detected, and generating a recorded video.
And S50, analyzing the position of the template of the standard information in each frame of image of the recorded video by using an image template matching method to generate an identification sequence.
And step S60, analyzing the image identification code in the image according to the shot image on the road image screen, and further establishing the time corresponding relation between the recorded video and the calibrated video.
Specifically, according to the shot image on the road image screen, the frame number corresponding to the image identification code in the image is analyzed, and the corresponding relation between the shooting time of the functional camera and the frame number is established, because the time stamp of each frame of image in the recorded video is the time for shooting the frame of image in the steps S30-S40, the time stamp of the corresponding image frame in the calibration video can be known according to the frame number, and thus the time corresponding relation between the recorded video and the calibration video is obtained.
And S70, comparing the identification sequence with the labeling sequence according to the time corresponding relation to obtain a test result. Wherein, the test result includes: and calibrating the position deviation and the time deviation of the information.
The step may specifically include:
and comparing the identification sequence with the labeling sequence frame by frame according to the time corresponding relation to obtain the deviation of the labeling information in each frame. The deviation includes: positional deviation and time deviation of each template.
Each frame of information in the labeling sequence may contain templates with variable quantity, the templates are compared with the templates of the corresponding frames in the identification sequence, and if a certain template appears in the corresponding frames of the two sequences at the same time, the position deviation of the certain template is calculated; if a certain template does not appear in the corresponding frames of the two sequences at the same time, searching whether the template appears in the front and back N frames of images of the corresponding frame in the sequence without the template, if so, determining that time deviation exists, otherwise, judging that AR-HUD false report or false report is missed.
In this embodiment, a fixed frame rate of 30 frames/second or 60 frames/second is adopted when the functional camera shoots, and N is a preset value of 15.
In an alternative embodiment, after step S70, the method may further include:
and S80, outputting an imaging effect test report of the AR-HUD module to be tested according to the test result.
Although the foregoing embodiments describe the steps in the above sequential order, those skilled in the art will understand that, in order to achieve the effect of the present embodiments, the steps may not be executed in such an order, and may be executed simultaneously (in parallel) or in an inverse order, and these simple variations are within the scope of the present invention.
Further, the invention also provides an embodiment of a computer readable storage medium. The storage medium of the present embodiment has stored therein a computer program that can be loaded by a processor and that executes the method as described above.
The computer-readable storage medium includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Those of skill in the art will appreciate that the method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of electronic hardware and software. Whether these functions are performed in electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
So far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (10)
1. An augmented reality heads-up display testing method, the method based on an augmented reality heads-up display testing system, the system comprising: the system comprises a main control module, a video injection board card for carrying out format conversion on a video, an ADAS module connected with the output of the video injection board card, an AR-HUD module to be tested connected with the output of the ADAS module, a curtain for receiving the output projection of the AR-HUD to be tested, a functional camera arranged right in front of the curtain and a road image screen arranged right behind the curtain and parallel to the curtain;
the method comprises the following steps:
the main control module makes a template of calibration information according to a pre-collected road scene video, and generates a labeling sequence and a calibration video;
synchronously inputting the calibration video into the video injection board card and the road image screen, and sending a shooting starting instruction to the functional camera;
controlling the curtain to be in a rolling state so that the functional camera shoots at least one frame of image on the road image screen;
controlling the curtain to be in a descending state, and starting the AR-HUD module to be detected so that the functional camera shoots an image projected by the AR-HUD module to be detected onto the curtain to generate a recorded video;
analyzing the position of the template of the calibration information in each frame of image of the recorded video by using an image template matching method to generate an identification sequence;
analyzing an image identification code in the image according to the shot image on the road image screen, and further establishing a time corresponding relation between the recorded video and the calibration video;
and comparing the identification sequence with the labeling sequence according to the time correspondence to obtain a test result.
2. The augmented reality head-up display testing method of claim 1, wherein the main control module makes a template of calibration information according to a pre-collected road scene video, and generates a labeling sequence and a calibration video, including:
the main control module inputs a pre-collected road scene video to the video injection board card so that the video injection board card performs format conversion on the road scene video and outputs the road scene video to the ADAS module;
the control function camera shoots an image projected by the AR-HUD module to be measured onto the curtain, and a template of calibration information is made according to the shot image;
identifying the position needing attention of a driver for each frame of image in the road scene video, and selecting a corresponding template of the calibration information to generate a labeling sequence;
and adding the image identification code for identifying the frame number to each frame of image in the road scene video so as to generate a calibration video.
3. The augmented reality heads-up display testing method of claim 2,
the step of analyzing the image identification code in the image according to the shot image on the road image screen so as to establish the time corresponding relation between the recorded video and the calibrated video comprises the following steps:
and analyzing a frame number corresponding to the image identification code in the image according to the shot image on the road image screen, and establishing a corresponding relation between the shooting time of the functional camera and the frame number so as to obtain a time corresponding relation between the recorded video and the calibrated video.
4. The augmented reality heads-up display testing method of claim 2,
the test results include: calibrating the position deviation and the time deviation of the information;
comparing the identification sequence with the labeling sequence according to the time correspondence to obtain a test result, wherein the test result comprises:
comparing the identification sequence with the labeling sequence frame by frame according to the time corresponding relation to obtain the deviation of the labeling information in each frame; the deviation comprises: positional deviation and time deviation of each template;
wherein N is a preset value.
5. The augmented reality heads-up display testing method of claim 1, the method further comprising:
and outputting an imaging effect test report of the AR-HUD module to be tested according to the test result.
6. The augmented reality heads-up display testing method of claim 4,
when the functional camera shoots, a fixed frame rate of 30 frames/second or 60 frames/second is adopted;
n is 15.
7. The augmented reality heads-up display testing method of claim 1,
the calibration information includes: one or more steering, obstacle warning, and/or traffic signs.
8. The augmented reality heads-up display testing method of claim 2,
the image identification code is a two-dimensional code, a bar code or a number.
9. An augmented reality heads-up display testing system, the system comprising:
the system comprises a main control module, a video injection board card for carrying out format conversion on a video, an ADAS module connected with the output of the video injection board card, an AR-HUD module to be tested connected with the output of the ADAS module, a curtain for receiving the output projection of the AR-HUD module to be tested, a functional camera arranged right in front of the curtain and a road image screen arranged right behind the curtain and parallel to the curtain;
wherein the master module tests the AR-HUD module under test according to the method of any one of claims 1-8.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method according to any one of claims 1-8.
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