Camera expected functional safety testing method, device, equipment and storage medium

Abstract

The present application relates to a method, device, equipment and storage medium for testing the expected functional safety of a camera, including obtaining the local coordinates of the stain model in the camera coordinate system relative to the camera to be tested according to the basic attribute parameters of the stain model, the percentage of the camera occluded by the stain, the camera field of view position where the stain is occluded, and the field of view angle of the camera to be tested; setting the stain model at the position corresponding to the local coordinates in the simulation scene; running the simulation scene to obtain real-time dynamic information of a vehicle with the camera to be tested in the global coordinate system; obtaining dynamic configuration parameters of the stain model in the global coordinate system according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the local coordinates of the camera to be tested relative to the vehicle; configuring the parameters of the stain model based on the dynamic configuration parameters to form dynamic occlusion of the camera to be tested; and performing a scene-based expected functional safety test on the dynamically occluded camera to be tested to ensure the reliability of the camera.

Description

Technical Field

[0001] The present application relates to the technical field of camera simulation testing, and in particular to a method, device, equipment and storage medium for testing the expected functional safety of a camera. Background Art

[0002] With the development of intelligent driving technology, people have found that vehicle safety issues are not all caused by system errors and failures. For example, in complex systems and scenarios, problems often stem from unexpected safety issues caused by environmental impacts. It can be seen that before the actual commercial operation of intelligent connected vehicles, their safety performance needs to be fully verified. As an indispensable component of the current intelligent connected system, the operating reliability status of the on-board camera has a very important impact on the intelligent connected system, so it is necessary to test its expected functional safety.

[0003] In the prior art, the testing of vehicle-mounted cameras mainly focuses on basic functional testing, without considering the testing requirements for expected functional safety. For example, the prior art does not conduct operational reliability tests on cameras obscured by stains, but directly recognizes the operational reliability of the camera. However, in the scenario where the camera is obscured by stains, the camera may not be able to accurately identify obstacles, which may lead to misidentification problems. In other words, the operational reliability of the camera is relatively poor and untrustworthy at this time. In addition, the scenario where the camera is obscured by stains is very common and common in actual application environments. Therefore, it is urgent to implement scenario-based testing of the expected functional safety of cameras. Summary of the invention

[0004] The present application provides a camera expected functional safety testing method, device, equipment and storage medium to solve the problem of poor camera operation reliability caused by the lack of scene-based camera expected functional safety testing in related technologies.

[0005] In a first aspect, a method for testing the expected functional safety of a camera is provided, comprising the following steps:

[0006] The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, the preset camera field of view position where the stain blocks the camera, and the field of view angle of the camera to be tested;

[0007] Setting the stain model at the position corresponding to the local coordinates in the simulation scene;

[0008] Running a simulation scenario to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the vehicle is provided with a camera to be tested;

[0009] The dynamic configuration parameters of the stain model in the global coordinate system are calculated according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle;

[0010] Parameter configuration of the stain model is performed based on the dynamic configuration parameters to form dynamic occlusion of the camera to be tested;

[0011] Perform expected functional safety simulation tests on the dynamically blocked camera under test.

[0012] In some embodiments, the basic attribute parameters of the stain model include shape parameters, area parameters, transparency parameters and color parameters of the stain model.

[0013] In some embodiments, the local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are calculated according to preset basic attribute parameters of the stain model, preset camera occlusion percentage of the stain, preset camera field of view position where the stain occludes, and the field of view angle of the camera to be tested, including:

[0014] The X-direction distance between the stain model and the camera to be tested in the camera coordinate system is calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, and the field of view of the camera to be tested;

[0015] The Y-direction distance and the Z-direction distance between the stain model and the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested;

[0016] The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are determined according to the X-direction distance, the Y-direction distance and the Z-direction distance.

[0017] In some embodiments, the real-time dynamic information of the vehicle in the global coordinate system includes the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity, and angular acceleration in all directions of the vehicle in the global coordinate system; the dynamic configuration parameters of the stain model in the global coordinate system include the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity, and angular acceleration in all directions of the stain model in the global coordinate system.

[0018] In a second aspect, a camera expected functional safety test device is provided, comprising:

[0019] A first calculation unit, which is used to calculate the local coordinates of the stain model relative to the camera to be tested in the camera coordinate system according to preset basic attribute parameters of the stain model, a preset percentage of the camera blocked by the stain, a preset camera field of view position where the stain blocks the camera, and a field of view angle of the camera to be tested;

[0020] A model setting unit, used to set the stain model at a position corresponding to the local coordinates in the simulation scene;

[0021] A scene running unit, which is used to run a simulation scene to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the vehicle is provided with a camera to be tested;

[0022] A second calculation unit is used to calculate the dynamic configuration parameters of the stain model in the global coordinate system according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle;

[0023] A parameter configuration unit, which is used to configure the parameters of the stain model based on the dynamic configuration parameters to form a dynamic occlusion for the camera to be tested;

[0024] The functional testing unit is used to perform an expected functional safety simulation test on a camera to be tested that is dynamically blocked.

[0025] In some embodiments, the basic attribute parameters of the stain model include shape parameters, area parameters, transparency parameters and color parameters of the stain model.

[0026] In some embodiments, the first computing unit is specifically configured to:

[0027] The X-direction distance between the stain model and the camera to be tested in the camera coordinate system is calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, and the field of view of the camera to be tested;

[0028] The Y-direction distance and the Z-direction distance between the stain model and the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested;

[0029] The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are determined according to the X-direction distance, the Y-direction distance and the Z-direction distance.

[0030] In some embodiments, the real-time dynamic information of the vehicle in the global coordinate system includes the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity, and angular acceleration in all directions of the vehicle in the global coordinate system; the dynamic configuration parameters of the stain model in the global coordinate system include the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity, and angular acceleration in all directions of the stain model in the global coordinate system.

[0031] In a third aspect, a camera intended function safety testing device is provided, comprising: a memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the aforementioned camera intended function safety testing method.

[0032] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the aforementioned camera expected functional safety testing method is implemented.

[0033] The present application provides a method, device, equipment and storage medium for testing the expected functional safety of a camera, including calculating the local coordinates of the stain model relative to the camera to be tested in the camera coordinate system according to preset basic attribute parameters of the stain model, a preset percentage of the camera blocked by the stain, a preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested; setting the stain model at a position corresponding to the local coordinates in a simulation scene; running the simulation scene to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the camera to be tested is provided on the vehicle; calculating dynamic configuration parameters of the stain model in the global coordinate system according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle; configuring the parameters of the stain model based on the dynamic configuration parameters to form dynamic occlusion of the camera to be tested; and performing an expected functional safety simulation test on the camera to be tested that is dynamically occluded. Through this application, the stain model is configured in the simulation model to form occlusion of the camera to be tested, thereby realizing the expected functional safety simulation test of the camera under different types of stains, different degrees of occlusion and different occlusion position scenarios to ensure the reliability of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A flowchart of a method for testing the expected functional safety of a camera provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of a stain model provided in an embodiment of the present application in a simulation scenario;

[0037] Figure 3 A schematic diagram of the structure of a camera expected function safety test device provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a camera expected functional safety testing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0040] The embodiments of the present application provide a method, apparatus, device and storage medium for safety testing of camera intended functions, which can solve the problem of poor camera operation reliability caused by the failure to conduct scene-based safety testing of camera intended functions in related technologies.

[0041] Figure 1 A camera expected function safety test method provided in an embodiment of the present application includes the following steps:

[0042] Step S10: Calculate the local coordinates of the stain model in the camera coordinate system relative to the camera to be tested according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, the preset camera field of view position where the stain blocks the camera, and the field of view angle of the camera to be tested; wherein the basic attribute parameters of the stain model include shape parameters, area parameters, transparency parameters and color parameters of the stain model.

[0043] For example, currently there are two main methods for simulation testing of vehicle-mounted cameras: camera hardware-in-the-loop testing and video injection. However, these two methods are mainly used for basic functional testing of vehicle-mounted cameras, without considering the expected functional safety testing requirements. This embodiment will create different degrees of occlusion, different occlusion positions and different types of stain models in the simulation scene to achieve the expected functional safety simulation test of the vehicle-mounted camera in different occlusion scenes. For details, see Figure 2As shown, according to the expected functional safety test requirements of the camera (i.e., the simulation requirements of the stain characteristics), the basic attribute parameter information of the stain model, the percentage of the camera blocked by the stain, and the camera field of view position information where the stain blocks the camera are determined; then, the basic attribute parameters of the stain model including shape parameters, area parameters, transparency parameters, and color parameters, as well as the percentage of the camera blocked by the stain, the camera field of view position where the stain blocks the camera, and the local coordinates of the camera to be tested relative to the vehicle are set in the simulation software; and according to the basic attribute parameters of the stain model, a stain model is built in the simulation software, and then the local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are calculated according to the field of view of the camera to be tested and the above parameters.

[0044] It should be noted that the specific values ​​of the shape, area, transparency and color of the stain model can be determined according to the test scenario or test requirements, and are not limited here; the percentage of the stain blocking the camera refers to the ratio of the blocked area formed by the stain's location on the camera's field of view to the area of ​​the camera's field of view, where the blocked area formed by the stain's location on the camera's field of view is related to the shape and area of ​​the stain and the longitudinal distance of the stain relative to the camera. The specific value of the percentage of the stain blocking the camera can be determined according to the test scenario or test requirements, and is not limited here; the camera field of view position where the stain blocks the camera refers to the position where the camera lens is blocked by the stain, such as the left side, right side, top, bottom, lower left corner of the camera lens, and its specific value can be determined according to the test scenario or test requirements, and is not limited here; the field of view of the camera to be tested is determined based on basic parameters such as the model of the camera to be tested.

[0045] Furthermore, the local coordinates of the stain model in the camera coordinate system relative to the camera to be tested are calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, the preset camera field of view position where the stain blocks the camera, and the field of view angle of the camera to be tested, including:

[0046] The X-direction distance between the stain model and the camera to be tested in the camera coordinate system is calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, and the field of view of the camera to be tested;

[0047] The Y-direction distance and the Z-direction distance between the stain model and the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested;

[0048] The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are determined according to the X-direction distance, the Y-direction distance and the Z-direction distance.

[0049] Exemplarily, in this embodiment, the X-direction distance (i.e., the longitudinal distance) between the stain model and the camera to be tested in the camera coordinate system is determined by the basic attribute parameters of the stain model, the percentage of the camera blocked by the stain, and the field of view of the camera to be tested; and the position parameters of the stain model at the calculated longitudinal distance plane, i.e., the Y-direction distance and Z-direction distance between the stain model and the camera to be tested in the camera coordinate system, are determined by the basic attribute parameters of the stain model, the camera field of view position where the stain blocks the camera, and the field of view of the camera to be tested; finally, the local XYZ coordinates of the stain model relative to the camera to be tested in the camera coordinate system can be obtained by the X-direction distance, Y-direction distance, and Z-direction distance between the stain model and the camera to be tested in the camera coordinate system.

[0050] Step S20: setting the stain model at the position corresponding to the local coordinates in the simulation scene;

[0051] Exemplarily, in this embodiment, after determining the local coordinates of the stain model in the camera coordinate system relative to the camera to be tested, it is necessary to configure the stain model in the simulation scene, that is, according to the local coordinates of the stain model in the camera coordinate system relative to the camera to be tested, the stain model is configured at the position corresponding to the local coordinates to form a static occlusion of the camera to be tested. It should be noted that in the simulation scene, the roll angle, pitch angle, and heading angle of the stain model in the camera coordinate system are all 0 by default. If they are not 0, the roll angle, pitch angle, and heading angle of the stain model in the camera coordinate system need to be set to 0.

[0052] Step S30: running a simulation scene to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the vehicle is provided with a camera to be tested; wherein the real-time dynamic information of the vehicle in the global coordinate system includes the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity, and angular acceleration of the vehicle in the global coordinate system;

[0053] Exemplarily, in this embodiment, the stain model, the camera to be tested, and the vehicle involved are all simulation models and are configured in the corresponding simulation scene. Therefore, after running the simulation scene, the vehicle equipped with the camera to be tested will start running in the simulation scene. In this process, the real-time dynamic information of the vehicle in the global coordinate system will be generated, including the real-time global XYZ coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity and angular acceleration in the XYZ direction.

[0054] Step S40: Calculate the dynamic configuration parameters of the stain model in the global coordinate system according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle; wherein the dynamic configuration parameters of the stain model in the global coordinate system include the global coordinates of the stain model in the global coordinate system, the global heading angle, the global pitch angle, the global roll angle, and the linear velocity, linear acceleration, angular velocity and angular acceleration in each direction.

[0055] Exemplarily, in this embodiment, the coordinate system transformation of the stain model data is performed according to the real-time dynamic information of the vehicle in the global coordinate system obtained in the previous step and the local coordinates of the camera to be tested relative to the vehicle, that is, the coordinates of the stain model relative to the camera to be tested are transformed from the camera coordinate system to the global coordinate system to obtain the dynamic configuration parameters of the stain model in the global coordinate system, including the global XYZ coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity and angular acceleration in the XYZ direction.

[0056] Step S50: configuring parameters of the stain model based on the dynamic configuration parameters to form dynamic occlusion for the camera to be tested;

[0057] Exemplarily, in this embodiment, the parameters of the stain model in the next frame of the simulation scene are configured according to the conversion result of the previous step (i.e., the dynamic configuration parameters of the stain model in the global coordinate system), so that the stain model can be simulated to move with the vehicle in the simulation scene to form dynamic occlusion of the camera to be tested.

[0058] Step S60: performing an expected functional safety simulation test on the dynamically blocked camera to be tested.

[0059] Exemplarily, in this embodiment, based on the scene where the camera to be tested is dynamically blocked by the stain model, the lane departure alarm, lane keeping assist, front collision warning, automatic emergency braking, adaptive cruise control, etc. corresponding to the camera to be tested are simulated for expected functional safety tests to test the perception and decision-making capabilities of the camera to be tested, thereby ensuring the reliability of the camera. It should be noted that when it is necessary to perform expected functional safety simulation tests of cameras under scenes with different types of stains, different degrees of blockage, and different blocking positions, it is only necessary to adjust the specific values ​​of the basic attribute parameters of the stain model, the percentage of the camera blocked by the stain, and the camera field of view position where the stain is blocked, and then perform the parameter configuration of the above steps and the corresponding simulation scene operation. It can be seen that the present application configures the stain model in the simulation model to form a blockage of the camera to be tested, thereby realizing the expected functional safety simulation test of the camera under scenes with different types of stains or blockages, different degrees of blockage, and different blocking positions, so as to ensure the reliability of the camera, that is, to give full play to the role of simulation testing, verify the reliability of the product as soon as possible, and has strong practicality.

[0060] See also Figure 3 As shown, an embodiment of the present application provides a camera expected function safety test device, including:

[0061] A first calculation unit, which is used to calculate the local coordinates of the stain model relative to the camera to be tested in the camera coordinate system according to preset basic attribute parameters of the stain model, a preset percentage of the camera blocked by the stain, a preset camera field of view position where the stain blocks the camera, and a field of view angle of the camera to be tested;

[0062] A model setting unit, used to set the stain model at a position corresponding to the local coordinates in the simulation scene;

[0063] A scene running unit, which is used to run a simulation scene to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the vehicle is provided with a camera to be tested;

[0064] A second calculation unit is used to calculate the dynamic configuration parameters of the stain model in the global coordinate system according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle;

[0065] A parameter configuration unit, which is used to configure the parameters of the stain model based on the dynamic configuration parameters to form a dynamic occlusion for the camera to be tested;

[0066] The functional testing unit is used to perform an expected functional safety simulation test on a camera to be tested that is dynamically blocked.

[0067] Furthermore, the basic attribute parameters of the stain model include shape parameters, area parameters, transparency parameters and color parameters of the stain model.

[0068] Furthermore, the first computing unit is specifically configured to:

[0069] The X-direction distance between the stain model and the camera to be tested in the camera coordinate system is calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, and the field of view of the camera to be tested;

[0070] The Y-direction distance and the Z-direction distance between the stain model and the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested;

[0071] The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are determined according to the X-direction distance, the Y-direction distance and the Z-direction distance.

[0072] Furthermore, the real-time dynamic information of the vehicle in the global coordinate system includes the global coordinates, global heading angle, global pitch angle, global roll angle of the vehicle in the global coordinate system, and linear velocity, linear acceleration, angular velocity and angular acceleration in all directions; the dynamic configuration parameters of the stain model in the global coordinate system include the global coordinates, global heading angle, global pitch angle, global roll angle of the stain model in the global coordinate system, and linear velocity, linear acceleration, angular velocity and angular acceleration in all directions.

[0073] It should be noted that technicians in the relevant field can clearly understand that for the convenience and conciseness of description, the specific working process of the above-described device and each unit can refer to the corresponding process in the aforementioned embodiment of the camera expected functional safety test method, and will not be repeated here.

[0074] The camera expected function safety test device provided in the above embodiment can be implemented in the form of a computer program. The computer program can be used in Figure 4 The cameras shown are expected to function as run on safety test equipment.

[0075] An embodiment of the present application also provides a camera intended function safety testing device, comprising: a memory, a processor, and a network interface connected via a system bus, wherein at least one instruction is stored in the memory, and at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned camera intended function safety testing method.

[0076] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0077] The processor may be a CPU, or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0078] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a video playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as video data, image data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (Securedigital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device or other volatile solid-state storage device.

[0079] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the steps of the aforementioned camera expected functional safety testing method are implemented.

[0080] The embodiment of the present application implements all or part of the aforementioned process, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of each of the above methods when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0081] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, servers or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0082] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0084] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A camera expected functional safety test method, characterized in that: The following steps are involved: The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, the preset camera field of view position where the stain blocks the camera, and the field of view angle of the camera to be tested; Setting the stain model at the position corresponding to the local coordinates in the simulation scene; Running a simulation scenario to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the vehicle is provided with a camera to be tested; The dynamic configuration parameters of the stain model in the global coordinate system are calculated according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle; Parameter configuration of the stain model is performed based on the dynamic configuration parameters to form dynamic occlusion of the camera to be tested; Perform expected functional safety simulation tests on the dynamically blocked camera under test.

2. The camera expected function safety test method according to claim 1, characterized in that: The basic attribute parameters of the stain model include shape parameters, area parameters, transparency parameters and color parameters of the stain model.

3. The camera expected function safety test method as claimed in claim 2, characterized in that: The method of calculating the local coordinates of the stain model in the camera coordinate system relative to the camera to be tested according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, the preset camera field of view position where the stain blocks the camera, and the field of view angle of the camera to be tested includes: The X-direction distance between the stain model and the camera to be tested in the camera coordinate system is calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, and the field of view of the camera to be tested; The Y-direction distance and the Z-direction distance between the stain model and the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested; The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are determined according to the X-direction distance, the Y-direction distance and the Z-direction distance.

4. The camera expected function safety test method according to claim 1, characterized in that: The real-time dynamic information of the vehicle in the global coordinate system includes the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity and angular acceleration in each direction of the vehicle in the global coordinate system; the dynamic configuration parameters of the stain model in the global coordinate system include the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity and angular acceleration in each direction of the stain model in the global coordinate system.

5. A camera expected functional safety test device, characterized in that: include: A first calculation unit, which is used to calculate the local coordinates of the stain model relative to the camera to be tested in the camera coordinate system according to preset basic attribute parameters of the stain model, a preset percentage of the camera blocked by the stain, a preset camera field of view position where the stain blocks the camera, and a field of view angle of the camera to be tested; A model setting unit, used to set the stain model at a position corresponding to the local coordinates in the simulation scene; A scene running unit, which is used to run a simulation scene to obtain real-time dynamic information of a vehicle in a global coordinate system, wherein the vehicle is provided with a camera to be tested; A second calculation unit is used to calculate the dynamic configuration parameters of the stain model in the global coordinate system according to the real-time dynamic information of the vehicle, the local coordinates of the stain model relative to the camera to be tested, and the preset local coordinates of the camera to be tested relative to the vehicle; A parameter configuration unit, which is used to configure the parameters of the stain model based on the dynamic configuration parameters to form a dynamic occlusion for the camera to be tested; The functional testing unit is used to perform an expected functional safety simulation test on a camera to be tested that is dynamically blocked.

6. The camera intended function safety test device according to claim 5, characterized in that: The basic attribute parameters of the stain model include shape parameters, area parameters, transparency parameters and color parameters of the stain model.

7. The camera intended function safety test device according to claim 6, characterized in that: The first computing unit is specifically configured to: The X-direction distance between the stain model and the camera to be tested in the camera coordinate system is calculated according to the preset basic attribute parameters of the stain model, the preset percentage of the camera blocked by the stain, and the field of view of the camera to be tested; The Y-direction distance and the Z-direction distance between the stain model and the camera to be tested in the camera coordinate system are calculated according to the preset basic attribute parameters of the stain model, the preset camera field of view position where the stain is blocked, and the field of view angle of the camera to be tested; The local coordinates of the stain model relative to the camera to be tested in the camera coordinate system are determined according to the X-direction distance, the Y-direction distance and the Z-direction distance.

8. The camera intended function safety test device according to claim 5, characterized in that: The real-time dynamic information of the vehicle in the global coordinate system includes the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity and angular acceleration in each direction of the vehicle in the global coordinate system; the dynamic configuration parameters of the stain model in the global coordinate system include the global coordinates, global heading angle, global pitch angle, global roll angle, and linear velocity, linear acceleration, angular velocity and angular acceleration in each direction of the stain model in the global coordinate system.

9. A camera expected functional safety test device, characterized in that: include: A memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the camera expected function safety testing method according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by a processor, the method for testing the expected functional safety of a camera according to any one of claims 1 to 4 is implemented.

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