KR20150017794A - Apparatus for inspecting image of camera and method for inspecting thereof - Google Patents

Apparatus for inspecting image of camera and method for inspecting thereof Download PDF

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KR20150017794A
KR20150017794A KR1020130093392A KR20130093392A KR20150017794A KR 20150017794 A KR20150017794 A KR 20150017794A KR 1020130093392 A KR1020130093392 A KR 1020130093392A KR 20130093392 A KR20130093392 A KR 20130093392A KR 20150017794 A KR20150017794 A KR 20150017794A
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virtual reality
emulator
data
image
vehicle driving
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KR1020130093392A
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Korean (ko)
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장민규
문진동
구태윤
한종철
이환희
강민지
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주식회사 만도
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated

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  • Theoretical Computer Science (AREA)
  • Software Systems (AREA)
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  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Traffic Control Systems (AREA)
  • Image Processing (AREA)

Abstract

The present invention relates to a vehicle driving simulator for analyzing a behavior of a vehicle; A virtual reality processor for receiving vehicle running simulation data that varies according to driver operation information of the vehicle running simulator and processing the vehicle running simulation data; An emulator for processing and emulating the current virtual image generated by the virtual reality processor into digital data; And a camera control unit for receiving the digital data processed by the emulator and recognizing the current virtual image and comparing an already set reference virtual image to verify whether the current virtual image is erroneous or not, and a verification method therefor .

Description

[0001] CAMERA IMAGE VERIFICATION APPARATUS AND METHOD FOR VERIFYING THE SAME [0002]

The present invention relates to a camera image verification apparatus and a verification method thereof.

Conventionally, a conventional camera has been provided to photograph an image. However, there is a limit in accurately grasping whether a photographed current image is displayed as a desired image.

For example, when a current driving image corresponding to the current driving environment such as at least one of a road, a driving vehicle, a pedestrian, a mountain, a traffic light, and a streetlight is photographed, it is determined accurately whether the current driving image is displayed as a desired driving image There was a limit to understanding.

When such a conventional camera is mounted on a vehicle, it is possible to provide an erroneous current driving image according to the current driving environment. Therefore, there is a limitation in preventing collision between the driving vehicle and the pedestrian and at least one of the current objects provided on the current road there was.

Therefore, in recent years, research on a camera image verification apparatus and a verification method thereof for verifying whether a current running image is displayed as a desired running image before a camera is shipped has been continuously carried out.

An object of the present invention is to provide a camera image verifying apparatus and a camera image verifying apparatus capable of suppressing an increase in manufacturing cost of a camera and preventing the occurrence of a traffic accident in advance by verifying the performance of the camera by emulating a running image in a virtual driving environment And to provide the verification method.

It is another object of the present invention to provide a virtual reality camera which can set at least one test condition of time, weather, and place on virtual reality data and adjust the test conditions as desired, And a verification method thereof.

To achieve these and other advantages and in accordance with the purpose of the present invention, as embodied and broadly described herein, there is provided a vehicle driving simulator comprising: a vehicle driving simulator for analyzing a behavior of a vehicle and outputting vehicle driving simulation data; A database device for providing virtual reality data; A virtual reality processor for receiving vehicle driving simulation data that varies according to driver operation information of a vehicle driving simulator and virtual reality data provided from a database device and processing vehicle driving simulation data and virtual reality data; An emulator for processing and emulating the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data; And a camera control unit for receiving the digital data processed by the emulator and recognizing the current virtual image and comparing the already set reference virtual image to verify whether the current virtual image is erroneous.

According to another aspect of the present invention, when the emulator processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data and outputs the digital image, a dynamic-link library And one frame of the image is stored in the main memory of the operating data base apparatus.

According to another aspect of the present invention, when the emulator processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data and outputs the digital image, A frame of the image is read using a dynamic-link library (DLL) reading function, and the image format is converted from RGB to YUV.

According to another aspect of the present invention, when the emulator processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data and outputs the same, And generating a synchronization signal of a horizontal clock and a vertical clock based on the pixel clock signal after the clock is generated.

According to another aspect of the present invention, the emulator processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data, And generates a CIS (CMOS Image Sensor) pixel clock signal of 96 MHz based on the 192 MHz reference signal.

According to another aspect of the present invention, the emulator processes a YUV video signal, a horizontal clock, and a vertical signal when processing a current virtual image including vehicle driving simulation data and virtual reality data generated by a virtual reality processor into digital data, The synchronization signal of the clock is stored in the memory of the FPGA (Field Programmable Gate Array).

According to another aspect of the present invention, there is provided an emulator including a field programmable gate array (FPGA) for processing a current virtual image including vehicle driving simulation data and virtual reality data generated by a virtual reality processor into digital data, It is characterized by changing the color property by using YUV Color Calibration function in memory.

According to another aspect of the present invention, a camera control unit receives digital data processed by an emulator, recognizes a current motion virtual image pattern corresponding to a current virtual image, and generates a reference motion virtual image And verifies whether the current virtual image is erroneous by comparing the patterns.

Further, the present invention provides a vehicle driving simulation method, comprising: a vehicle driving simulation operation step of analyzing a behavior of a vehicle, outputting vehicle driving simulation data from a vehicle driving simulator, and providing virtual reality data in a database device; A vehicle driving simulation data processing step of supplying vehicle running simulation data varying according to driver operation information of the vehicle running simulator and virtual reality data provided from the database apparatus to the virtual running processor to process the vehicle running simulation data and the virtual reality data, ; An emulator operation step of processing and emulating a current virtual image including vehicle driving simulation data and virtual reality data generated by a virtual reality processor into digital data from an emulator; And a virtual image verification step of receiving digital data processed by the emulator and receiving a current virtual image from the camera control unit and comparing the reference virtual image already set in the camera control unit to verify whether the current virtual image is errory or not do.

According to another aspect of the present invention, in the emulator operation step, when the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor is converted into digital data from the emulator, library) write function to store one frame of the image in the main memory of the operating database device.

According to another aspect of the present invention, in the emulator operation step, when processing the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data from the emulator, When one frame of the image is stored in the main memory, reading a frame of the image using a dynamic-link library (DLL) reading function and converting the image format from RGB to YUV.

According to another aspect of the present invention, in the emulator operation step, when processing a current virtual image including vehicle driving simulation data and virtual reality data generated by a virtual reality processor into digital data from an emulator, Generating a Pixel Clock for the frame, and generating a synchronization signal of a Horizontal Clock and a Vertical Clock based on the Pixel Clock signal.

According to another aspect of the present invention, in the emulator operation step, when processing the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data from the emulator, To generate a 192 MHz reference signal, and then generating a CIS (CMOS Image Sensor) pixel clock signal of 96 MHz based on the 192 MHz reference signal.

According to another aspect of the present invention, in the emulator operation step, when processing the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor from the emulator into the digital data and outputting the YUV image signal, And storing the synchronization signal of the horizontal clock and the vertical clock in a memory of an FPGA (Field Programmable Gate Array).

According to another aspect of the present invention, in the emulator operation step, when processing a current virtual image including vehicle driving simulation data and virtual reality data generated by a virtual reality processor into digital data from an emulator, And changing the color property using the YUV Color Calibration function in the memory of the gate array.

According to another aspect of the present invention, in the virtual image verification step, the digital data processed by the emulator is supplied from the camera control unit to recognize the current motion virtual image pattern corresponding to the current virtual image, And comparing the reference motion virtual image pattern corresponding to the virtual image to verify whether the current virtual image is erroneous.

According to the camera image verifying apparatus and verification method of the present invention as described above, the following effects can be obtained.

First, by emulating a running image in a virtual driving environment and verifying the performance of the camera, it is possible to suppress an increase in production cost of the camera and to prevent the occurrence of a traffic accident in advance.

Second, since the virtual reality data can include at least one of the time, the weather, and the location of the test conditions, the test conditions can be adjusted as desired, and thus the reliability of the camera performance verification can be further enhanced.

1 is a block diagram illustrating a camera image verification apparatus according to an embodiment of the present invention;
2 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention.
3 is a flowchart illustrating an example of a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention.
4 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention.
FIG. 5 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention. Referring to FIG.
FIG. 6 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention. Referring to FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram illustrating a camera image verification apparatus according to an exemplary embodiment of the present invention.

1, a camera image verification apparatus 100 according to an embodiment of the present invention includes a vehicle driving simulator 102, a database device 103, a virtual reality processor 104, an emulator 106, Unit 108. < / RTI >

The vehicle driving simulator 102 analyzes the behavior of the vehicle and outputs the vehicle running simulation data, and the database device 103 provides virtual reality data.

Here, the vehicle driving simulator 102 can convert CAN (Controller Area Network) communication protocol and perform CAN (Controller Area Network) communication with the virtual reality processor 104 to be described later.

At this time, the database device 103 can provide the virtual reality information corresponding to the virtual reality data such as the road, the driving vehicle, the pedestrian and the mountain, and at least one of the traffic light and the streetlight, And at least one of the experimental conditions may be included to adjust the experimental conditions as desired.

The virtual reality processor 104 receives the vehicle running simulation data that changes in accordance with the driver operation information of the vehicle running simulator 102 and the virtual reality data that is provided from the database device 103 and outputs the vehicle running simulation data and the virtual reality data .

The emulator 106 processes and emulates a current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data.

Here, the emulator 106 is preferably designed to enhance compatibility between the database device 103 and a camera control unit 108 to be described later, and the emulator 106 is provided as a CIS (CMOS Image Sensor) emulator There is a number.

At this time, CMOS Image Sensor (CIS) is suitable for long time use with low heat generation and power consumption while reducing manufacturing cost, and is used in a wide range of industrial fields such as cellular phones, high resolution digital cameras and automotive rearview cameras.

Such a CMOS image sensor (CIS) receives light energy from a photosensor and converts an electrical analog signal from the analog to digital converter (ADC) into a digital signal and outputs it. The CDS (Correlated Double Sampling) The digital signal is converted into a digital signal and output.

For example, when the emulator 106 processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data and outputs the digital data, a dynamic-link library (DLL) Function can be used to store one frame of the image in the main memory of the database device 101 in operation.

Alternatively, when the emulator 106 processes and outputs the current virtual image including the vehicle running simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data, When one frame of the image is stored in the main memory, a frame of the image can be read by using a dynamic-link library (DLL) reading function, and the image format can be converted from RGB to YUV.

As another example, when the emulator 106 processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data and outputs the digital data, After generating the Pixel Clock, it is possible to generate the synchronization signal of Horizontal Clock and Vertical Clock based on the Pixel Clock signal.

At this time, when the emulator 106 processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data and outputs the digital data, the emulator 106 generates a 192 MHz reference signal And generates a CIS (CMOS Image Sensor) pixel clock signal of 96 MHz based on the 192 MHz reference signal.

Since the Pixel Clock signal generation method of the emulator 106 uses different frequencies when generating a CIS (Pixel Clock) signal, it can efficiently generate a CIS (Pixel Clock) signal without frequency interference I can do it.

In another example, when the emulator 106 processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data and outputs the digital data, the YUV image signal and the horizontal clock And Vertical Clock synchronization signals can be stored in the FPGA (Field Programmable Gate Array) memory.

At this time, when the emulator 106 processes the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 into digital data and outputs the digital data, the emulator 106 stores the memory of the FPGA (Field Programmable Gate Array) You can change the color property using the YUV Color Calibration function.

The color property changing method of the emulator 106 can change a desired color property to a desired color property by extracting a desired color property from a color correction model having a preset YUV Color Calibration function.

The camera control unit 108 receives the digital data processed by the emulator 106, recognizes the current virtual image, and compares the already-set reference virtual image to verify whether the current virtual image is erroneous.

At this time, the camera control unit 108 receives the digital data processed by the emulator 106, recognizes the current motion virtual image pattern corresponding to the current virtual image, and generates a reference motion virtual image pattern To verify whether there is an error in the current virtual image.

For example, the camera control unit 108 receives the digital data processed by the emulator 106, recognizes the lane of the current virtual image road among the current motion virtual image patterns corresponding to the current virtual image, It is possible to verify whether there is an error in the lane of the current virtual image road by comparing the lane of the reference virtual image road.

A camera image verification method for verifying a camera image using the camera image verification apparatus 100 according to an exemplary embodiment of the present invention will be described with reference to FIGS. 2 to 6. FIG.

FIG. 2 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating an example of a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention. to be.

FIG. 4 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an embodiment of the present invention. FIG. 5 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention. And FIG.

FIG. 6 is a flowchart illustrating a camera image verification method of a camera image verification apparatus according to an exemplary embodiment of the present invention. Referring to FIG.

2 to 6, a camera image verification method 200, 300, 400, 500, 600 of a camera image verification apparatus 100 of FIG. 1 according to an exemplary embodiment of the present invention includes steps of: S202 and S302, the vehicle driving simulation data processing steps S204 and S304, the emulator operation steps S206, S306, S406 and S506, and the virtual image verification steps S208, S308 and S608.

First, the vehicle driving simulation operation steps (S202 and S302) analyze the behavior of the vehicle and output the vehicle driving simulation data from the vehicle driving simulator (102 in Fig. 1) Lt; / RTI >

Thereafter, the vehicle driving simulation data processing steps S204 and S304 correspond to the vehicle driving simulation data varying according to the driver operation information of the vehicle running simulator (102 in Fig. 1) and the virtual running simulation data provided from the database apparatus The reality data is supplied from a virtual reality processor (104 in FIG. 1) to process the vehicle running simulation data and the virtual reality data.

Subsequently, the emulator operation steps (S206 and S306) execute the current virtual image including the vehicle running simulation data and the virtual reality data generated by the virtual reality processor 104 in Fig. 1 from the emulator (106 in Fig. 1) And then emulated.

For example, as shown in FIGS. 4 and 5, the emulator operation step S406 is a step of converting the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 (shown in FIG. 1) 1), a frame of the image is stored in the main memory of the operating database device 103 (see FIG. 1) by using a dynamic-link library (DLL) writing function S406a).

Subsequently, the emulator operation steps (S406 and S506) are performed in the emulator (106 in FIG. 1) in the form of digital data 1 frame is stored in the main memory of the database device (103 of FIG. 1), one frame of the image is read using a dynamic-link library (DLL) reading function, and YUV (S406c).

Thereafter, the emulator operation step S406 processes the current virtual image including the vehicle running simulation data and the virtual reality data generated by the virtual reality processor 104 (Fig. 1) from the emulator (106 in Fig. 1) A Pixel Clock for one frame of the YUV image is generated, and a synchronization signal of a Horizontal Clock and a Vertical Clock is generated based on the Pixel Clock signal (S406e).

5, in operation S506, the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor 104 in FIG. 1 is output to the emulator 106 ), The 192 MHz reference signal is generated using the Pixel Clock signal, and a CIS (CMOS Image Sensor) pixel clock signal of 96 MHz can be generated based on the 192 MHz reference signal (S506e) .

Subsequently, the emulator operation steps (S406 and S506) are performed in the emulator (106 in FIG. 1) in the form of digital data (YUV) image signal, a horizontal clock and a vertical clock synchronization signal are stored in a memory of an FPGA (Field Programmable Gate Array) (S406g).

At this time, the emulator operation steps (S406 and S506) are performed by converting the current virtual image including the vehicle running simulation data and the virtual reality data generated by the virtual reality processor 104 in FIG. 1 into digital data When processing and outputting, the color property can be changed using the YUV Color Calibration function in the memory of the FPGA (Field Programmable Gate Array) (S406g).

Finally, the virtual image verification step S208 receives the digital data processed by the emulator (106 in Fig. 1) from the camera control unit 108 (Fig. 1), recognizes the current virtual image, 108) of the reference virtual image, and verifies whether or not the current virtual image is erroneous.

6, the digital image data processed by the emulator (106 of FIG. 1) is supplied to the camera control unit 108 (FIG. 1) The motion virtual image pattern is recognized and the reference motion virtual image pattern corresponding to the reference virtual image already set in the camera control unit (108 in FIG. 1) is compared to verify whether there is an error in the current virtual image.

At this time, the virtual image verification step (S608) receives the digital data processed by the emulator (106 in FIG. 1) from the camera control unit (108 in FIG. 1) and recognizes the current motion virtual image pattern corresponding to the current virtual image , It is possible to verify whether there is an error in the current virtual image by comparing the reference motion virtual image pattern corresponding to the reference virtual image already set in the camera control unit (108 in FIG. 1).

For example, in the virtual image verification step S608, digital data processed by the emulator (106 in FIG. 1) is supplied to the camera control unit (108 in FIG. 1) The lane of the virtual image road is recognized, and the lane of the reference virtual image road is compared with the reference motion virtual image pattern corresponding to the reference virtual image already set in the camera control unit (108 in FIG. 1) You can verify whether it is an error.

The camera image verifying apparatus 100 and the verification methods 200, 300, 400, 500, and 600 according to an embodiment of the present invention may include a vehicle driving simulator 102, a database device 103, The vehicle driving simulation operation steps S202 and S302 including the processor 104, the emulator 106 and the camera control unit 108, the vehicle driving simulation data processing steps S204 and S304, and the emulator operation steps S206, S306, S406, and S506) and virtual image verification steps (S208, S308, and S608).

Accordingly, the camera image verification apparatus 100 and the verification methods 200, 300, 400, 500, and 600 according to an embodiment of the present invention emulate a running image in a virtual driving environment to verify the performance of the camera , It is possible to suppress an increase in the production cost of the camera and to prevent the occurrence of a traffic accident in advance.

The camera image verification apparatus 100 and the verification methods 200, 300, 400, 500, and 600 according to an exemplary embodiment of the present invention include at least one of an experiment condition of time, weather, So that the reliability of the performance verification of the camera can be further enhanced.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (16)

A vehicle running simulator for analyzing the behavior of the vehicle and outputting the vehicle running simulation data;
A database device for providing virtual reality data;
A virtual reality processor for processing the vehicle driving simulation data and the virtual reality data received from the vehicle driving simulation data varying according to driver operation information of the vehicle driving simulator and the virtual reality data provided from the database device;
An emulator for processing and emulating a current virtual image including vehicle driving simulation data and virtual reality data generated by the virtual reality processor into digital data; And
And a camera control unit for receiving the digital data processed by the emulator, recognizing the current virtual image, and comparing an already set reference virtual image to verify whether the current virtual image is erroneous.
The method according to claim 1,
The emulator includes:
A dynamic-link library (DLL) write function is used to process the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data, And stores one frame of the image in the main memory.
The method according to claim 1,
The emulator includes:
When the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor is processed into digital data and output, when a frame of the image is stored in the main memory of the database device, -link library) reads a frame of the image using a read function, and converts the image format from RGB to YUV.
The method according to claim 1,
The emulator includes:
Generating and outputting a current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor as digital data and generating a Pixel Clock for one frame of the YUV image, And generates a synchronization signal of a horizontal clock and a vertical clock based on the synchronization signal.
5. The method of claim 4,
The emulator includes:
Generating a 192 MHz reference signal by using the Pixel Clock signal when the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor is processed into digital data and output, And a CIS (CMOS Image Sensor) pixel clock signal of 96 MHz is generated based on the signal.
The method according to claim 1,
The emulator includes:
(YUV) image signal, a horizontal clock, and a vertical clock synchronizing signal to the FPGA (Field Programmable Gate) when outputting the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data, Arrays in the memory of the camera.
The method according to claim 6,
The emulator includes:
When a current virtual image including vehicle driving simulation data and virtual reality data generated by the virtual reality processor is processed into digital data and output, the YUV color calibration function is used in the memory of the FPGA (Field Programmable Gate Array) And changing a color property of the camera image.
The method according to claim 1,
The camera control unit includes:
The digital camera receives the digital data processed by the emulator and recognizes the current motion virtual image pattern corresponding to the current virtual image and compares the reference motion virtual image pattern corresponding to the preset reference virtual image, And verifying whether or not the camera image is valid.
A vehicle driving simulation operation step of analyzing the behavior of the vehicle and outputting the vehicle running simulation data from the vehicle running simulator and providing the virtual reality data in the database device;
Wherein the vehicle driving simulation data and the virtual reality data provided from the database device vary in accordance with driver operation information of the vehicle driving simulator are supplied from a virtual reality processor and the vehicle driving simulation data and the virtual reality data A running simulation data processing step;
An emulator operation step of processing and emulating a current virtual image including vehicle driving simulation data and virtual reality data generated by the virtual reality processor from the emulator into digital data; And
A virtual control unit for receiving the digital data processed by the emulator and recognizing the current virtual image and comparing the reference virtual image already set in the camera control unit to verify whether the current virtual image is erroneous, The method comprising the steps of:
10. The method of claim 9,
The emulator operation step includes:
A processor for executing a dynamic-link library (DLL) write function to process the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor from the emulator into digital data, And storing one frame of the image in the main memory of the base apparatus.
10. The method of claim 9,
The emulator operation step includes:
When the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor is processed by the emulator into digital data and output, when one frame of the image is stored in the main memory of the database device And reading a frame of the image using a dynamic-link library (DLL) reading function to convert the image format from RGB to YUV.
10. The method of claim 9,
The emulator operation step includes:
When a current virtual image including vehicle driving simulation data and virtual reality data generated by the virtual reality processor is processed as digital data in the emulator, a Pixel Clock for one frame of the YUV image is generated, And generating a synchronization signal of a horizontal clock and a vertical clock based on the clock signal.
13. The method of claim 12,
The emulator operation step includes:
Generating a 192 MHz reference signal by using the Pixel Clock signal when processing the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor into digital data in the emulator, Generating a CIS (CMOS Image Sensor) pixel clock signal of 96 MHz based on the 192 MHz reference signal.
10. The method of claim 9,
The emulator operation step includes:
When a current virtual image including vehicle driving simulation data and virtual reality data generated by the virtual reality processor is processed into digital data by the emulator, a synchronization signal of a YUV image signal, a horizontal clock and a vertical clock is output to the FPGA Field Programmable Gate Array) memory.
15. The method of claim 14,
The emulator operation step includes:
When the current virtual image including the vehicle driving simulation data and the virtual reality data generated by the virtual reality processor is converted into digital data by the emulator, the YUV color calibration function And changing the color property using the color property.
10. The method of claim 9,
In the virtual image verification step,
A camera control unit for receiving the digital data processed by the emulator and recognizing a current motion virtual image pattern corresponding to the current virtual image and generating a reference motion virtual image pattern corresponding to a reference virtual image already set in the camera control unit And verifying whether or not the current virtual image is erroneous.
KR1020130093392A 2013-08-07 2013-08-07 Apparatus for inspecting image of camera and method for inspecting thereof KR20150017794A (en)

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KR20170117270A (en) * 2016-04-12 2017-10-23 자동차부품연구원 Driving integrated simulation apparatus based on v2x communication
CN107908561A (en) * 2017-11-16 2018-04-13 珠海全志科技股份有限公司 virtual reality software performance testing method and system
KR20180093712A (en) 2017-02-14 2018-08-22 엘아이지넥스원 주식회사 Apparatus and method for automatic measuring and verifying
KR20210140991A (en) * 2020-05-14 2021-11-23 재단법인대구경북과학기술원 System for inspecting automobile based on virtual reality

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170117270A (en) * 2016-04-12 2017-10-23 자동차부품연구원 Driving integrated simulation apparatus based on v2x communication
KR20180093712A (en) 2017-02-14 2018-08-22 엘아이지넥스원 주식회사 Apparatus and method for automatic measuring and verifying
CN107908561A (en) * 2017-11-16 2018-04-13 珠海全志科技股份有限公司 virtual reality software performance testing method and system
CN107908561B (en) * 2017-11-16 2020-09-01 珠海全志科技股份有限公司 Virtual reality software performance test method and system
KR20210140991A (en) * 2020-05-14 2021-11-23 재단법인대구경북과학기술원 System for inspecting automobile based on virtual reality

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