CN115729743A - Sensing system test data recharging device and method and readable storage medium - Google Patents
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Abstract
The embodiment of the specification provides a device, a method and a readable storage medium for recharging sensing system test data, wherein the device comprises: the data processing device comprises a data receiving unit, a data processing unit and a data output interface unit; the data receiving unit is used for receiving first data, and the first data comprises real working scene data of at least one sensing system to be tested; the data processing unit comprises a format conversion module, and the format conversion module converts the first data into a second data format supported by the sensing system to be detected; and the data output interface unit is used for being connected with a sensor interface of the sensing system to be tested and sending the second data format to the sensing system to be tested for testing. Through the sensor interface of the sensing system to be tested, the acquired data of the real working scene is back-injected into the sensing system to be tested, the working state and the working scene of the sensing system to be tested can be truly restored, and the testing accuracy is improved.
Description
Technical Field
Embodiments in this specification relate to the technical field of sensing system testing, and in particular, to a sensing system test data recharging device, method, and readable storage medium.
Background
The test and verification of the perception improving system, such as an Advanced Driver Assistance System (ADAS), a flight control system and the like, comprises three processes: software in-loop test, hardware in-loop test and real vehicle test. The data recharging technology is a common method of hardware in a ring test, namely a large amount of real environment sensing data is recharged to a sensing system to be tested so as to simulate the real working environment of the sensing system and find out problems in the sensing system.
At present, two schemes for data recharging exist, one scheme is to make a sensing system to be tested read environment sensing data stored on a magnetic disk, and at this time, the sensing system to be tested is not in a normal working mode, does not receive data sent by sensing devices such as a camera and the like, and has a great difference from a real working condition. The other method is to construct a simulation system, to display the video data for testing on the display of the simulation system, so that the camera of the sensing system to be tested is aligned with the display to obtain the data. Although the perception system to be tested is in a normal working mode, the image shot by the camera is a two-dimensional plane image, the two-dimensional plane image is greatly different from the reality, the synchronism among data sources is difficult to guarantee when a plurality of data sources exist, meanwhile, the component simulation platform needs devices such as a range extender, a television and a camera bellows, the system is complex to construct, and debugging is difficult.
Therefore, the existing data recharging method cannot provide real working environment simulation, so that the accuracy of the sensing system test cannot be ensured.
Disclosure of Invention
Various embodiments in this specification provide a device, a method, and a readable storage medium for recharging sensing system test data, which can solve the technical problem of low test accuracy caused by low authenticity of test data during sensing system test.
One embodiment of the present specification provides a sensing system test data recharging device, including: the data processing device comprises a data receiving unit, a data processing unit and a data output interface unit; the data receiving unit is used for receiving first data, and the first data comprises real working scene data of at least one sensing system to be tested; the data processing unit comprises a format conversion module, and the format conversion module converts the first data into a second data format supported by the perception system to be detected; and the data output interface unit is used for being connected with a sensor interface of the perception system to be tested and sending the second data format to the perception system to be tested for testing.
One embodiment of the present specification provides a method for recharging sensing system test data, including the steps of: receiving first data, wherein the first data comprises at least one real working scene data of a perception system to be detected; converting the first data into a second data format supported by a perception system to be tested; and sending the second data format to the sensing system to be tested through a sensor interface of the sensing system to be tested.
One embodiment of the present description provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the perceptual system test data recharge method as described above.
According to the multiple embodiments provided by the specification, the acquired data of the real working scene is back-injected into the sensing system to be tested through the sensor interface of the sensing system to be tested, so that the sensing system to be tested is in a normal working mode, the working state and the working scene of the sensing system to be tested can be truly restored, the testing accuracy is improved, the system is simple and low in cost, an expensive simulation system does not need to be built, and complex simulation system debugging does not need to be carried out; the data of a plurality of different data sources are time-synchronized, so that the actual working scene can be truly restored, and the test accuracy is further improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a sensory system test data recharging device provided in one embodiment of the present description;
FIG. 2 is a schematic diagram of a sensory system test data recharging device provided in another embodiment of the present description;
FIG. 3 is a schematic diagram of a method for recharging test data of a sensing system according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a method for recharging test data of a sensing system according to another embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments provided in the present specification will be clearly and completely described below with reference to the drawings in the present specification, and it is apparent that the described embodiments are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without any inventive step based on the embodiments provided in the present description belong to the protection scope of the present invention.
It should be noted that technical terms or scientific terms used in the embodiments of the present specification should have a general meaning as understood by those having ordinary skill in the art to which the present specification belongs, unless otherwise defined. The use of "first," "second," and similar terms in the embodiments of the specification is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
This specification provides a perception system test data device of irritating back, includes: the device comprises a data receiving unit, a data processing unit and a data output interface unit.
The data receiving unit receives first data, wherein the first data comprises real working scene data of at least one sensing system to be tested. The real working scene data is the actual working scene information of the sensing system to be detected recorded by various sensors, and comprises environment information and vehicle body/machine body information, wherein the environment information comprises road information, traffic indication signs, weather information, obstacles and the like, and the vehicle body information comprises information such as speed, acceleration, vehicle distance, position and the like when the vehicle runs. The sensor types include video sensors, millimeter wave radars, laser radars, ultrasonic ranging sensors, infrared sensors, positioning sensors, altitude sensors, barometers, air flow meters, gyroscopes, magnetic compasses, accelerometers, and the like.
Illustratively, the at least one real work scene data includes data of at least one data source, i.e. a sensor for collecting data, the number of which is one, two or more, for example, for the same kind of video data, the number of the data source or the sensor may be one, two or more, including a front view camera, a look-around camera, a side view camera, a side front view camera, a side rear view camera, a built-in camera.
The data receiving mode includes real-time receiving of working scene data, for example, the data receiving unit may be connected to a device performing road test data acquisition in a wired or wireless manner, and obtain road test data acquired by a test vehicle in real time; for example, the receiving unit of the data is connected to the road sampling device, and plays back the road test data that has been acquired by the road sampling device, and the receiving unit of the data receives the played back data.
The data receiving unit CAN adopt unified data interface to receive data, such as all kinds of mobile communication interfaces, USB interface, WIFI, also CAN adopt the data interface of multiple different grade type, receives the data of different grade type respectively, for example, adopts HDMI or VGA interface to receive the video data of way collection equipment, adopts the serial ports to receive the radar data of way collection equipment, adopts CAN bus interface to receive the automobile body data of way collection equipment.
The format of the data may be an original data format or a data format after processing such as compression. For example, for video data, the data format includes: RAW, YUV, H265, and the like; for lidar data, the data format includes: LAS/LAZ, PTS/PTX, PCD, etc.
The data processing unit comprises a format conversion module, and the format conversion module converts the received first data, namely the original actual working scene data, into a second data format supported by the perception system to be detected. The format conversion is realized by adopting a conventional conversion principle, namely, the source data is decoded and recoded to obtain the target format data. For example, when the ADAS system is tested, the acquired video data is converted into YUV format data, and for example, the acquired vehicle body data is converted into CAN bus format.
The data processing unit can be realized by various programmable functional architectures such as CPU, GPU, MCU, ARM, FPGA, DSP and the like.
Illustratively, the data processing unit further includes a format recognition module, which performs format recognition on the obtained first data, and determines whether the first data format is a data format supported by the sensing system to be tested, if so, the format conversion is not performed, and if not, the format conversion module converts the first data into a second data format supported by the sensing system to be tested.
And the data output interface unit is connected with the sensor interface of the sensing system to be detected and used for recharging the converted second data format to the sensing system to be detected through the sensor interface of the sensing system to be detected.
Illustratively, the data output interface unit includes a plurality of different types of interfaces, which are respectively connected to corresponding sensor interfaces of the sensing system to be tested, for example, a video output interface, such as a VGA interface, of the data output interface unit is connected to a video input interface of the sensing system to be tested; connecting a radar data output interface of the data output interface unit, such as an I2C interface, an SPI interface, a GPIO interface, a UART interface, an LVDS interface and the like, with a radar data input interface of the sensing system to be detected; and connecting a vehicle body data output interface of the data output interface unit, such as a CAN interface, with a vehicle body data input interface of the sensing system to be tested.
Illustratively, the data output interface unit and the sensing system to be tested are connected by a uniform data interface, and a uniform data transmission protocol is adopted for data transmission. For example, for the ADAS system, the sensor interface may be a MIPI interface, an ADASIS interface, a CAN bus interface, or the like. When the ADAS system is tested, the converted environmental information data including YUV format is sent to the MIPI according to MIPI protocol, and then sent to the ADAS system to be tested through the serializer-deserializer. And for the vehicle body data, the converted CAN bus format data is sent to a CAN/CANFD interface according to a CAN or CANFD protocol, and is injected into a sensor interface or a road acquisition device of the ADAS system to be detected.
In another embodiment of the present description, the first data or the second data each have a time stamp for recording the actual time of acquisition of the first data or the second data, and the interval of the different parts within the same data, the time stamp being determined by a clock internal to the sensor acquiring the data. For example, when video data is collected by using a camera, the data collection time and the collection interval of each frame in each group of video data are recorded.
The data processing unit also comprises a time synchronization module for synchronizing first data of two or more different data sources, namely sensors for acquiring data. The time synchronization module acquires absolute time in a positioning navigation module (GPS, beidou and the like) as reference time, calculates the difference value between the time stamp of each different data source and the reference time, and carries out time delay sending on the data source according to the difference value between the time stamp of the data source and the reference time, so that each data source sent to the sensing system to be detected is synchronized. The positioning navigation module can be installed in the data back filling device, and can also be in the position sensor, and the reference time is obtained by obtaining the data collected by the position sensor.
Illustratively, the timestamp of the data source with the earliest timestamp in the multiple data sources is used as a reference time, the difference value between the timestamps of the other data sources and the reference time is calculated, and the data sources are sent in a delayed manner according to the difference value between the timestamp of the data source and the reference time, so that the data sources sent to the sensing system to be tested are synchronous.
Illustratively, the data recharging device further comprises a memory for temporarily storing the first data. When the data receiving unit receives the data of the working scene collected by the sensor in real time, the data are influenced by the transmission bandwidth in the transmission process, the data collected by different sensors reach the data receiving unit at different times, for the data with the same size, the data with the low transmission bandwidth reach later than the data with the high transmission bandwidth, the data which arrive first are temporarily stored by the memory, all the data of different data sources reach and then are simultaneously sent to the sensing system to be tested, all the data sources are sent according to the actual collecting time strictly, the data which are back-filled into the sensing system to be tested are ensured to be completely consistent with the actual scene, the authenticity of the test data is ensured, and the accuracy of the test is improved.
Illustratively, the time synchronization module selects different time synchronization modes according to the recognition result of the format recognition module on the format of each data. And for the data in the first data, carrying out sending time alignment, and carrying out integral delay on the acquisition time of different data sources in the data of the same type according to reference time, wherein the reference time can be absolute time in a positioning navigation module, and can also be the earliest acquisition time in a plurality of different data sources as the reference time. For example, if the first data is video data, but the acquisition time of the first camera is twelve points, and the acquisition time of the second camera is twelve points, which is ten minutes, since the acquisition frequencies of the cameras are the same, for example, 30Hz, it is only necessary to align the shooting times of different video data, i.e., the data transmission time of the first camera is delayed by ten minutes and then transmitted simultaneously with the data of the first camera, so that the acquisition time synchronization of each frame of image in each video data can be ensured.
And for the data in the first data which are in different types or different formats, after time alignment, controlling the sending time sequence, and controlling the sending time sequence according to the time stamps in the data in different types. For example, if the first data includes video data and radar data, the acquisition frequency of the camera is 30Hz, and the acquisition frequency of the radar is 10Hz, that is, the time stamps of each frame of image in the video data are separated by 1/30 second, and the time stamps of each frame in the radar data are separated by 1/10 second, then the time synchronization module sends one frame of video data every 3 frames of radar data after aligning the time of the video data and the radar data, so that the synchronization of each frame of video data and each frame of radar data can be ensured.
The specification also provides a method for recharging the test data of the perception system, which comprises the following steps:
s10, receiving first data, wherein the first data comprises real working scene data of at least one sensing system to be tested; the at least one real working scene data comprises video data, radar data, ultrasonic data, infrared data and the like; the at least one real work scene data comprises data of at least one data source, such as a forward looking camera, a look around camera, a side looking forward looking camera, a side looking rear camera, a rear looking camera, a built-in camera, and the like;
illustratively, the first data or the second data each have a time stamp for recording the actual acquisition time of the first data or the second data, and the interval of the different parts within the same data, the time stamp being determined by a clock within the sensor acquiring the data. For example, when video data is collected by using a camera, the time of video data collection and the collection interval of each frame in each group of video data are recorded.
S20, converting the first data into a second data format supported by a perception system to be detected; the format conversion is realized by adopting a conventional conversion principle, namely, the source data is decoded and recoded to obtain the target format data. In the aspect of hardware, various programmable function architectures such as a CPU, a GPU, an MCU, an ARM, an FPGA, a DSP and the like are adopted for realizing the hardware.
And S30, recharging the second data format from the sensor interface of the sensing system to be tested to the sensing system to be tested. Illustratively, different data interfaces are adopted according to different data types, for example, for video data, an HDMI interface or a VGA interface is adopted, for radar data, an I2C interface, an SPI interface, a GPIO interface, a UART interface, an LVDS interface and the like are adopted, and for body data, a CAN bus interface and the like are adopted. Illustratively, the interface adopts a unified data interface, and adopts a unified data transmission protocol for data transmission, for example, for an ADAS system, the sensor interface may be an MIPI interface, an ADASIS interface, or the like.
For example, step S20 further includes step S21, determining whether the first data format is a data format supported by the sensing system to be tested, if so, taking the format of the first data as the second data format, and if not, performing format conversion on the first data to obtain the second data format supported by the sensing system to be tested.
Illustratively, the step S30 further includes a step S31 of performing time synchronization on data of different data sources in the first data or the second data, and sending the time-synchronized data to the sensing system to be tested. Absolute time in a positioning navigation module (GPS, beidou and the like) is used as reference time, the difference value between the time stamp of each different data source and the reference time is calculated, and the data source is delayed and sent according to the difference value between the time stamp of the data source and the reference time, so that each data source sent to the sensing system to be detected is synchronous. The positioning navigation module can be installed in the data back filling device, and can also be in the position sensor, and the reference time is obtained by obtaining the data collected by the position sensor.
For example, the step S31 further includes a step S32 of determining whether data types of different data sources in the first data or the second data are the same, if so, the time synchronization mode is transmission time alignment, and if not, the transmission time alignment is performed first, and then the transmission timing control is performed.
And carrying out sending time alignment on the data in the first data, which are in the same format or the same type. The sending time alignment is to calculate the difference between the data collecting time of each different data source and the reference time, and send the data after delaying integrally according to the difference, wherein the reference time may be the absolute time in the positioning navigation module, or may select the earliest collecting time in a plurality of different data sources as the reference time. For example, if the first data is video data, but the acquisition time of the first camera is twelve points, and the acquisition time of the second camera is twelve points, which is ten points, since the acquisition frequencies of the cameras are the same, for example, 30Hz, only the shooting times of different video data need to be aligned, that is, after the data transmission time of the first camera is delayed by ten minutes, the shooting times are transmitted simultaneously with the data of the first camera, so that the synchronization of the acquisition time of each frame of image in each video data can be ensured.
And for the data in the first data with different types or different formats, after time alignment, the control of the sending time sequence is carried out. The sending time sequence control is that the data collecting frequency of each data source is calculated according to the time stamps of different data sources, the data of different data sources are sent at the same time in unit time according to the data collecting frequency, and the unit time can be a common multiple of the data collecting period of each data source. For example, if the first data includes video data and radar data, the acquisition frequency of the camera is 30Hz, and the acquisition frequency of the radar is 10Hz, that is, the time stamps of each frame of image in the video data are separated by 1/30 second, and the time stamps of each frame in the radar data are separated by 1/10 second, then the time synchronization module aligns the video data with the radar data in time, and sends 1 frame of video data every time 3 frames of radar data are sent, so that it can be ensured that each frame of video data is synchronized with each frame of radar data.
Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present specification further provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the perceptual system test data recharging method according to any of the above-described embodiment.
Computer-readable media of the present embodiments, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method for recharging sensing system test data according to any embodiment, and have the beneficial effects of corresponding method embodiments, which are not described herein again.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope disclosed in the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A sensing system test data recharging device, comprising: the data processing device comprises a data receiving unit, a data processing unit and a data output interface unit;
the data receiving unit is used for receiving first data, and the first data comprises real working scene data of at least one sensing system to be tested;
the data processing unit comprises a format conversion module, and the format conversion module converts the first data into a second data format supported by the sensing system to be tested;
and the data output interface unit is used for being connected with a sensor interface of the sensing system to be tested and sending the second data format to the sensing system to be tested for testing.
2. The device for recharging sensing system test data according to claim 1, wherein the data processing unit further comprises a format recognition module for performing format recognition on the first data and determining whether the first data format is a data format supported by the sensing system to be tested.
3. The sensory system test data recharging device of claim 1, wherein the first data comprises data from at least two data sources.
4. The sensory system test data recharging device of claim 3, wherein the data processing unit further comprises a time synchronization module that time synchronizes data of the at least two data sources.
5. The apparatus of claim 4, wherein the time synchronization comprises sending time alignment, calculating a difference between the data acquisition time of each of the different data sources and the reference time, and delaying the data according to the difference.
6. The sensory system test data recharging device of claim 5, wherein the time synchronization mode further comprises a transmission timing control, the data acquisition frequencies of different data sources are respectively calculated according to the time stamps of the different data sources, and the data of the different data sources are simultaneously transmitted at the data acquisition frequencies in a unit time.
7. A method for recharging test data of a perception system is characterized by comprising the following steps:
receiving first data, wherein the first data comprises at least one real working scene data of a perception system to be detected;
converting the first data into a second data format supported by a perception system to be detected;
and sending the second data format to the perception system to be detected through a sensor interface of the perception system to be detected.
8. The method of perceptual system test data recharging of claim 7, the method further comprising: and carrying out time synchronization on data of different data sources in the first data or the second data, and sending the data after the time synchronization to the perception system to be detected.
9. The method of perceptual system test data recharging of claim 8, the method further comprising:
judging whether the data types of different data sources in the first data or the second data are the same or not;
if the data are the same, the time synchronization mode is sending time alignment, the sending time alignment is to respectively calculate the difference value between the data acquisition time of each different data source and the reference time, and delay the data according to the difference value;
and if the data sources are different, firstly aligning the sending time, and then carrying out sending time sequence control, wherein the sending time sequence control is to respectively calculate the data acquisition frequencies of different data sources according to the timestamps of the different data sources and simultaneously send the data of the different data sources at the data acquisition frequencies in unit time.
10. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the perception system test data recharging method of any one of claims 7-9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117156075A (en) * | 2023-08-08 | 2023-12-01 | 昆易电子科技(上海)有限公司 | Video acquisition injection device, system, automobile and reinjection equipment |
| CN118484401A (en) * | 2024-07-11 | 2024-08-13 | 中国第一汽车股份有限公司 | Data recharging method, device, equipment and medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117156075A (en) * | 2023-08-08 | 2023-12-01 | 昆易电子科技(上海)有限公司 | Video acquisition injection device, system, automobile and reinjection equipment |
| CN117156075B (en) * | 2023-08-08 | 2024-04-12 | 昆易电子科技(上海)有限公司 | Video acquisition injection device, system, automobile and reinjection equipment |
| CN118484401A (en) * | 2024-07-11 | 2024-08-13 | 中国第一汽车股份有限公司 | Data recharging method, device, equipment and medium |
| CN118484401B (en) * | 2024-07-11 | 2024-10-18 | 中国第一汽车股份有限公司 | Data recharging method, device, equipment and medium |
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