Disclosed in the present invention are a danger
test case generation method for a
visual perception algorithm, and a related device. The method comprises: acquiring images captured by a visual sensor of a self-driving vehicle, cleaning and marking the collected images, and obtaining an
observation data set according to no-
reference image quality evaluation features; according to the
observation data set and by means of performing fusion with
domain knowledge, constructing a causal
structure diagram that indicates the influence of environmental factors on
perception performance; separating key environmental factors from the causal
structure diagram, and quantitatively calculating the degree of influence of each
environmental factor on
visual perception performance; and on the basis of
qualitative analysis of a causal relationship between a key
environment variable and the
visual perception performance, and quantitative
estimation of a causal effect, proposing a challenge index, so as to generate, in batches, danger test cases for
perception. The present invention has significant advantages in multiple aspects such as causal
relationship mining, challenge index measurement, dangerous-
scenario recognition and search space modeling, such that the performance of a visual
algorithm for self-driving in a complex environment is evaluated and verified more accurately.