A Test Video Black Box for an Autonomous Driving Binocular Camera

Abstract

The present invention provides a test video black box for an autonomous driving binocular camera. The interior of the box body includes: two vertically placed monitors; a monitor bracket for adjusting the vertical height, horizontal position, longitudinal position, elevation angle, horizontal orientation angle, and roll angle of the monitors mounted on the monitor bracket; a partition separating the two monitors, the partition containing light-passing small holes, and the camera on one side of the binocular camera can capture the screen of the monitor through the light-passing small holes; two groups of lenses and a lens bracket for adjusting the lens position. Through the light deflection structure, the present invention controls the cameras on both sides of the binocular camera to respectively capture two monitors located in different orientations, thereby capturing images with completely different camera installation positions, viewing angles, and visual distortions, ensuring the independence of the images of the binocular camera, and restoring the characteristic that the relative distance of the target is calculated by the difference in the viewing angles of the object in the two cameras due to the difference in the installation positions of the binocular camera.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving systems, and particularly to a test video black box for an autonomous driving binocular camera. Background Art

[0002] A video black box is an important part of an autonomous driving hardware-in-the-loop test system, which has the functions of testing the visual perception recognition and decision-making execution algorithms of an autonomous driving system, and creating an optical performance test environment for the complex light of an autonomous driving camera. Affected by its structure and principle, the traditional video black box is currently only applicable to testing monocular cameras. With the rapid development of autonomous driving technology, the application of the scheme of installing wide-angle and telephoto binocular cameras side by side adjacent to each other in the same viewing direction has become more and more widespread. If an attempt is made to test an autonomous driving binocular camera in a traditional video black box, the characteristic of calculating the relative distance of an object through the viewing angle difference formed by the object in the two cameras of the binocular camera cannot be restored, and at the same time, the distortion characteristics of the object in the binocular camera will also be deviated, resulting in poor visual target reducibility and large test result errors. Summary of the Invention

[0003] The present invention provides a test video black box for an autonomous driving binocular camera, which can truly reflect and restore the binocular viewing angle deviation, visual distortion and other characteristics in the real environment perception of the binocular camera, and make up for the technical defect that the autonomous driving binocular camera cannot be tested by simulation in the loop at present.

[0004] An embodiment of the present invention provides a test video black box for an autonomous driving binocular camera, and the interior of the box body includes:

[0005] Two vertically placed displays;

[0006] A display bracket for adjusting the vertical height, horizontal position, longitudinal position, and elevation angle of the display mounted on the display bracket;

[0007] A partition for separating the two displays, the partition being provided with light-passing small holes, and one of the cameras on one side of the binocular camera can photograph the screen of the display through the light-passing small holes;

[0008] Two groups of lenses and a lens bracket for adjusting the position of the lenses; wherein, adjusting the position of the lenses includes: adjusting the position of the lenses in the vertical direction and the longitudinal direction.

[0009] Further, the longitudinal direction refers to the front-back movement in the plane direction, and the vertical direction refers to the up-down movement in the vertical direction.

[0010] Further, the test video black box for an autonomous driving binocular camera further includes:

[0011] A monitor support rail, and the monitor support can slide longitudinally through the monitor support rail;

[0012] A monitor support structure, and the monitor support can move in the vertical and horizontal directions through the monitor support, and can be adjusted in pitch through a rotating shaft structure on the support.

[0013] Furthermore, the test video black box of an autonomous driving binocular camera further includes: a camera adjustment support for adjusting the vertical height, horizontal position, longitudinal position, elevation angle, horizontal orientation angle, and roll angle of the camera mounted on the camera support.

[0014] Furthermore, the test video black box of an autonomous driving binocular camera further includes:

[0015] A camera adjustment support rail, and the camera adjustment support can slide in the vertical, horizontal, and longitudinal directions through the camera adjustment support rail;

[0016] A camera adjustment support rotating shaft structure, and the camera adjustment support can be adjusted in pitch, horizontal orientation, and roll angles through the camera adjustment support rotating shaft structure.

[0017] Furthermore, the lens is used to deflect the shooting angle of the camera to shoot the corresponding monitor.

[0018] Furthermore, the lens is installed between the binocular camera and the monitor, and is used to assist the binocular camera in focusing, and can generate vignetting, distortion, and reflection phenomena according to test requirements.

[0019] Furthermore, the partition is used to block the light of the two monitors so that the light of the two monitors does not cross each other.

[0020] Furthermore, the box structure can block external light from entering the interior of the box; the top of the box is a detachable cover plate.

[0021] Furthermore, the inner side wall surface of the box is coated with a material with extremely low light reflectivity and has a diffuse reflection characteristic, which can ensure that except for the light of the monitor in the dark box, other positions are in a completely dark state.

[0022] Furthermore, the brightness, resolution, color accuracy, color temperature, color depth, color gamut, and stroboscopic characteristic parameters of the monitor need to meet the special requirements of camera testing.

[0023] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows:

[0024] 1. The present invention proposes a light steering structure to control the two cameras on both sides of a binocular camera to respectively capture two displays located in different orientations, thereby capturing images with completely different camera installation positions, viewing angles, and visual distortions. Compared with the traditional solution of using a binocular camera to capture the same display, this solution can ensure the independence of the binocular camera images and restore the characteristics of calculating the relative distance of the target by the binocular camera through the difference in installation positions and the viewing angle difference of the object in the two cameras; by splitting the screen with different cameras, the accuracy of the image is ensured.

[0025] 2. The present invention provides a new video black box for the hardware-in-the-loop test of an autonomous driving binocular camera, which can truly reflect and restore the binocular viewing angle deviation, visual distortion and other characteristics of the binocular camera in real environment perception, and make up for the technical defect that the autonomous driving binocular camera cannot be simulated in the loop test at present. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 is a three-dimensional structural schematic diagram of a test video black box of an autonomous driving binocular camera of the present invention;

[0028] Figure 2 is a three-dimensional structural schematic diagram of the test video black box of an autonomous driving binocular camera of the present invention after the cover is opened;

[0029] Figure 3 is an internal structural schematic diagram of the test video black box of an autonomous driving binocular camera of the present invention after the cover is opened and the upper box body structure is hidden;

[0030] Figure 4 is a top view of the test video black box of an autonomous driving binocular camera of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] 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. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0032] It should be understood that the step numbers used in the text are only for convenience of description and do not limit the order of execution of the steps.

[0033] It should be understood that the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0034] The terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0035] The term " / or" refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0036] As Figures 1 to 4 shown, a test video black box for an autonomous driving binocular camera, the box structure includes a video black box main body 1, a video black box upper cover plate 9, and a dark box internal partition 2. The external shape of the video black box is "L-shaped", and the dark box structure has good performance in blocking external light, which can ensure that the test environment inside the box is not interfered by external test light. A partition 2 for separating the light of the two monitors is installed in the middle of the box, which can ensure that the light of the two monitors does not interfere with each other. A light-passing small hole is left on the partition 2, and one side camera of the binocular camera can pass through the small hole to capture the picture of one of the monitors. The inner surface of the dark box is coated with a material with extremely low light reflectivity and has a diffuse reflection characteristic, which can ensure that except for the light of the monitors in the dark box, other positions are in a completely dark state. The top of the dark box structure has a cover plate 9 that can be opened, and after the cover plate is opened, the equipment inside the box can be installed, adjusted and maintained.

[0037] Inside the box, there are two professional color graphic monitors 3 at both ends. The key characteristic parameters of the monitors, such as brightness, resolution, color accuracy, color temperature, color depth, color gamut, and stroboscopic, etc., must meet the special requirements of camera testing to ensure the accuracy and consistency of the testing. The display screens of the two monitors are independently controlled, and the screen contents of the two monitors can be calculated to restore the binocular cameras due to factors such as the installation position, the physical characteristics of the cameras, and the occlusion of obstacles around the installation position. At the same time, the viewing angle difference of the same target in the binocular cameras can also be effectively restored. The two monitors are respectively installed on the multi-degree-of-freedom adjustable brackets 4. The brackets are installed with slide rails and rotating shafts in each degree-of-freedom direction to ensure that the cameras and monitors can adjust their respective positions and orientation angles according to the needs of the test, and the vertical height, horizontal position, longitudinal installation position, and pitch angle of the monitors can be adjusted in four degrees of freedom.

[0038] The binocular camera 5 to be tested inside the box is installed on the multi-degree-of-freedom adjustable bracket 6, and the vertical height, horizontal position, longitudinal installation position, pitch angle, horizontal orientation angle, and roll angle of the binocular camera can be controlled by adjusting the bracket. One of the cameras of the binocular camera 5 directly shoots the screen of the front monitor through the small hole on the dark box partition, and there is a light deflecting device 7 in front of the other camera. This device can be a precision-machined plane mirror or a lens group composed of a plane mirror and a lens. This can deflect the propagation direction of the light passing through the device by 90 degrees and deflect the shooting direction by 90 degrees to shoot the screen of the other monitor. There is a set of lenses 8 between the two cameras and the monitors on both sides, and they are installed on the brackets with adjustable longitudinal position and height. The functions of the lenses are: (1) assisting the binocular camera to focus, so that the camera with a relatively far original focus point can capture a clear image of the screen at a relatively close distance; (2) assisting in generating effects such as vignetting, distortion, and reflection.

Claims

1. A test video black box for an autonomous driving binocular camera, characterized in that, The interior of the box includes: Two vertically placed monitors; A monitor bracket for adjusting the vertical height, horizontal position, longitudinal position, and elevation angle of the monitor mounted on the monitor bracket; A partition separating the two monitors. The partition contains light-passing small holes. One camera on one side of the binocular camera can capture the screen of one monitor through the light-passing small holes. A light deflecting device is provided in front of the camera on the other side of the binocular camera to deflect the shooting direction of this camera to correspond to the screen of the other monitor; Two groups of lenses and lens brackets for adjusting the lens positions; wherein, adjusting the lens positions includes: adjusting the positions of the lenses in the vertical direction and the longitudinal direction.

2. The test video black box of a binocular camera for autonomous driving according to claim 1, wherein It further includes: A monitor bracket slide rail, through which the monitor bracket can slide in the longitudinal direction; A monitor bracket structure, through which the monitor bracket can move in the vertical direction and the horizontal direction, and can be adjusted for pitch through the rotating shaft structure on the bracket.

3. The test video black box of a binocular camera for autonomous driving according to claim 1, characterized in that, It further includes: A camera adjusting bracket for adjusting the vertical height, horizontal position, longitudinal position, elevation angle, horizontal orientation angle, and roll angle of the camera mounted on the camera bracket.

4. The test video black box of a binocular camera for autonomous driving according to claim 3, wherein, It further includes: A camera adjusting bracket slide rail, through which the camera adjusting bracket can slide in the vertical direction, horizontal direction, and longitudinal direction; A camera adjusting bracket rotating shaft structure, through which the camera adjusting bracket can be adjusted for pitch, horizontal orientation, and roll angles.

5. The test video black box of a binocular camera for autonomous driving according to claim 1, characterized in that, The lens is used to deflect the shooting angle of the camera to shoot the corresponding monitor.

6. The test video black box of a binocular camera for autonomous driving according to claim 5, characterized in that, The lens is installed between the binocular camera and the monitor, and is used to assist the binocular camera in focusing, and can generate vignetting, distortion, and reflection phenomena according to the test requirements.

7. The test video black box of a binocular camera for autonomous driving according to claim 1, characterized in that, The partition is used to block the light of the two monitors so that the light of the two monitors does not cross each other.

8. The test video black box of a binocular camera for autonomous driving according to claim 1, characterized in that, The box structure can block external light from entering the interior of the box; the top of the box is a detachable cover plate.

9. The test video black box of a binocular camera for autonomous driving according to claim 1, characterized in that, The surface of the inner side wall of the box is coated with a material with extremely low light reflectivity and has a diffuse reflection characteristic, which can ensure that except for the light of the monitor in the dark box, other positions are in a completely dark state.

10. The test video black box of a binocular camera for autonomous driving according to claim 1, characterized in that, The brightness, resolution, color accuracy, color temperature, color depth, color gamut, and flicker characteristic parameters of the monitor need to meet the special requirements of camera testing.

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