Device and method for measuring delay of roller shutter type exposure camera, controller and storage medium

Abstract

The invention discloses a device and a method for measuring delay of roller shutter type exposure camera, a controller and a storage medium, wherein the method comprises the steps: obtaining a color ratio threshold of a light source generation module; acquiring an input image; calculating a color ratio corresponding to each line in the input image; judging whether a target color ratio exists in the color ratio calculation result or not, wherein the target color ratio is a color ratio greater than a color ratio threshold; if not, acquiring a next frame of image adjacent to the current image as an input image, and turning to the step of calculating the color ratio corresponding to each line in the input image; and if yes, obtaining a target line number corresponding to the target color ratio, and calculating actual sampling time delay based on the target line number. According to the invention, high-precision measurement of the sampling opportunity and the system delay of the roller shutter type exposure camera is realized, so that high-precision matching of multi-sensor information is realized.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a delay measurement device, method, controller and storage medium of a rolling shutter exposure camera. Background technique [0002] At present, the target perception of autonomous driving vehicles requires the use of a large number of sensors. When the vehicle is running at high speed, the multi-sensor target information needs higher synchronization accuracy, so that the multi-sensor information can be overlapped after fusion to ensure driving safety. Both lidar and camera are commonly used sensors. In practical applications, due to cost, sensitivity and other factors, rolling shutter cameras are widely used. [0003] figure 1 is a schematic diagram of rolling shutter exposure time in the prior art, specifically as figure 1 As shown, the rolling shutter camera adopts independent exposure methods for each row, t V is the single frame image time, t exp is th...

AI Technical Summary

Problems solved by technology

Among them, the actual synchronization signal VSync and the control synchronization signal Sync are not sent at the same time, and the time delay between the two is △t s It will cause a large error when the camera output result and the lidar output result are fused together, or even fail.

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