Test system and method for unmanned device controller
By combining image acquisition equipment, storage equipment, and video injection core board, the image data attributes and content are parsed and replaced, solving the problem of inconsistent image data in the test of unmanned driving equipment controllers, and realizing efficient simulation testing and improved accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING JINGWEI HIRAIN TECH CO INC
- Filing Date
- 2023-05-10
- Publication Date
- 2026-06-26
AI Technical Summary
In the testing of existing autonomous driving equipment controllers, inconsistent image data attribute information leads to low test accuracy, and existing hardware-in-the-loop testing solutions are costly and have low development efficiency.
An image acquisition and storage device is used in conjunction with a video injection core board to parse and replace image attributes and content, generate target image data, ensure consistency with real image data, and conduct simulation tests.
It improved testing accuracy, reduced reliance on customer input parameters, and increased development efficiency.
Smart Images
Figure CN116643552B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of automotive simulation testing technology, and in particular relates to a testing system and method for an unmanned driving equipment controller. Background Technology
[0002] Typically, autonomous driving equipment needs to make driving decisions and determine driving commands based on information collected by sensors such as onboard cameras and lidar, as well as equipment status information, during operation.
[0003] To ensure the safety and stability of autonomous driving equipment, the performance of the electronic control unit (ECU) is often tested after it is manufactured.
[0004] In existing technologies, when testing autonomous driving equipment based on image data, the hardware-in-the-loop (HiL or HIL) testing method is usually adopted, which involves sending image data to the ECU via a hardware board for testing.
[0005] However, since the image data used to test the ECU is often simulated by software or downloaded from the Internet, the attribute information of this image data may not be consistent with the attribute information of the real image data obtained by the autonomous driving device during actual driving. This inconsistency in image attribute information may lead to low test accuracy. Summary of the Invention
[0006] This application provides a testing system and method for an unmanned driving device controller, which can ensure that the attribute information of the target image data used to test the unmanned driving device controller is consistent with the real image data collected during the unmanned driving device's operation, thereby improving the testing accuracy.
[0007] In a first aspect, embodiments of this application provide a testing system for an unmanned driving device controller, comprising:
[0008] An image acquisition device is used to acquire first image data and send the first image data to a video injection core board, wherein the first image data includes at least a first image attribute and a first image content.
[0009] An image storage device is used to send second image data to the video injection core board, wherein the second image data includes second image content.
[0010] The video injection core board is used to parse the first image attributes to obtain the parsed first image attributes, and to replace the first image content with the second image content to obtain target image data, and to send the target image data to the autonomous driving equipment controller, wherein the target image data includes at least the parsed first image attributes and the second image content.
[0011] The unmanned driving equipment controller is used to receive the target image data sent by the video injection core board, and output control commands based on the target image data.
[0012] On the other hand, embodiments of this application provide a testing method for an unmanned driving device controller, which is applied to the testing system for the unmanned driving device controller described in the first aspect, and the method includes:
[0013] The system acquires first image data acquired by an image acquisition device and second image data sent by an image storage device. The first image data includes at least first image content and first image attributes, and the second image data includes at least second image content.
[0014] The first image attributes are parsed to obtain the parsed first image attributes, and the first image content is replaced with the second image content to obtain the target image data.
[0015] The controller of the unmanned driving equipment is simulated and tested using the target image data.
[0016] Thirdly, embodiments of this application provide a testing apparatus for an unmanned driving device controller, the apparatus comprising:
[0017] The acquisition module is used to acquire first image data acquired by the image acquisition device and second image data sent by the image storage device. The first image data includes at least first image content and first image attributes, and the second image data includes at least second image content.
[0018] The processing module is used to parse the first image attributes to obtain the parsed first image attributes, and to replace the first image content with the second image content to obtain the target image data.
[0019] The testing module is used to perform simulation tests on the controller of the unmanned driving equipment using the target image data.
[0020] Fourthly, embodiments of this application provide an electronic device, which includes:
[0021] The processor and the memory storing computer program instructions.
[0022] When the processor executes the computer program instructions, it implements the test method for the unmanned vehicle controller as described in the second aspect above.
[0023] Fifthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the testing method for an unmanned driving equipment controller as described in any of the second aspects above.
[0024] Sixthly, embodiments of this application provide a computer program product, wherein instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to implement the test method for an unmanned driving device controller as described in any of the second aspects above.
[0025] The testing system for an autonomous driving device controller provided in this application includes an image acquisition device for acquiring first image data and sending the first image data to a video injection core board; an image storage device for sending second image data to the video injection core board; a video injection core board for parsing a first image attribute in the first image data to obtain the parsed first image attribute, and replacing the first image content in the first image data with the second image content in the second image data to obtain target image data, which at least includes the parsed first image attribute and the second image content, and sending the target image data to the autonomous driving device controller; and the autonomous driving device controller for receiving the video injection core board data. The core board of the test system for the unmanned driving device controller provided in this application can analyze the first image data sent by the image acquisition device and output control commands based on the target image data. Thus, the video injection core board can analyze the first image data sent by the image acquisition device and replace the first image content in the image acquisition device with the second image content in the image storage device to achieve the simulation purpose. At this time, it is equivalent to using part of the data of the image acquisition device, which has a low dependence on requesting customer input parameters, improves development efficiency, and the first image data acquired by the image acquisition device is real image data, which ensures that the attribute information of the target image data used for testing is consistent with the real image data acquired during the driving of the unmanned driving device, thereby improving the test accuracy. Attached Figure Description
[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0027] Figure 1This is a schematic diagram of the structure of a test system for an unmanned driving equipment controller provided in one embodiment of this application.
[0028] Figure 2 This is a schematic diagram of the structure of a test system for an unmanned driving equipment controller provided in one embodiment of this application.
[0029] Figure 3 This is a schematic diagram of the structure of a test system for an unmanned driving equipment controller provided in one embodiment of this application.
[0030] Figure 4 This is a circuit block diagram of the mainboard of the video injection core board provided in one embodiment of this application.
[0031] Figure 5 This is a circuit block diagram of a video injection submodule provided in one embodiment of this application.
[0032] Figure 6 This is a flowchart illustrating a testing method for an unmanned driving equipment controller according to one embodiment of this application.
[0033] Figure 7 This is a schematic diagram of the structure of a test device for an unmanned driving equipment controller provided in one embodiment of this application.
[0034] Figure 8 This is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of this application. Detailed Implementation
[0035] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.
[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.
[0037] Before introducing the technical solutions of the embodiments of this application, let's first introduce the background technology of this application:
[0038] Generally, the testing methods for unmanned driving device controllers mainly include the following three types: (1) Model-in-the-loop or software-in-the-loop, which directly provides the road traffic video data stored in the computer or cloud server to the controller's algorithm. (2) Hardware-in-the-loop, which uses a hardware board to replace the camera and transmits video data to the controller's input port through the hardware board interface. (3) Real vehicle testing, in which the vehicle is run on actual roads and the controller under test receives real environmental information collected by the camera.
[0039] Among the aforementioned solutions, software-in-the-loop (Software-in-the-Loop) or model-in-the-loop (Model-in-the-Loop) testing schemes can meet the rapid testing needs in the early stages of algorithm development. However, because they lack hardware, it is difficult to test the underlying hardware drivers and physical conditions are not considered. Consequently, the test coverage and confidence levels are not as high as those of hardware-in-the-loop (HIL) testing schemes. Hardware-in-the-loop (HIL) testing schemes, compared to software-in-the-loop (Software-in-the-Loop) testing, require building a complete hardware system, resulting in higher costs and longer development time. Developing an efficient testing system and device suitable for different camera simulation needs presents a significant challenge. Furthermore, while hardware-in-the-loop (HIL) testing schemes do not connect to real cameras, the image frame format sent during simulation must be identical to that of a real camera. Therefore, the image frame format sent by the camera must be obtained from the customer, who then contacts their supplier. Obtaining accurate information is often difficult or impossible, thus impacting development efficiency.
[0040] To address the aforementioned problems, this application provides a testing system and method for an autonomous driving device controller. The testing system includes an image acquisition device for acquiring first image data and sending it to a video injection core board; an image storage device for sending second image data to the video injection core board; and a video injection core board for parsing first image attributes in the first image data to obtain parsed first image attributes, and replacing first image content in the first image data with second image content in the second image data to obtain target image data. The target image data includes at least the parsed first image attributes and second image content. The target image data is then sent to the autonomous driving device controller. The autonomous driving device controller is used for… The system receives target image data sent by the video injection core board and outputs control commands based on the target image data. Thus, the test system of the unmanned driving equipment controller provided in this application embodiment is connected to a real image acquisition device, and the video injection core board can analyze the first image data sent by the image acquisition device. The simulation purpose can be achieved simply by replacing the first image content in the image acquisition device with the second image content in the image storage device. At this time, it is equivalent to utilizing part of the data of the image acquisition device, which has a low dependence on requesting customer input parameters, thus improving development efficiency. Moreover, the first image data acquired by the image acquisition device is real image data, which ensures that the attribute information of the target image data used for testing is consistent with the real image data acquired during the driving of the unmanned driving equipment, thereby improving the test accuracy.
[0041] The test system for the unmanned driving equipment controller provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.
[0042] Figure 1 This is a schematic diagram of the structure of a test system for an unmanned driving equipment controller provided in an embodiment of this application, as shown below. Figure 1 As shown, the test system for the unmanned driving equipment controller provided in this application embodiment may include an image acquisition device 110, an image storage device 120, a video injection core board 130, and an unmanned driving equipment controller 140.
[0043] The image acquisition device is used to acquire first image data and send the first image data to the video injection core board. The first image data includes at least first image attributes and first image content.
[0044] An image storage device is used to send second image data to the video injection core board, wherein the second image data includes second image content.
[0045] The video injection core board is used to parse the first image attributes to obtain the parsed first image attributes, and to replace the first image content with second image content to obtain target image data. The target image data is then sent to the autonomous driving device controller. The target image data includes at least the parsed first image attributes and the second image content.
[0046] The unmanned driving equipment controller is used to receive target image data sent by the video injection core board and output control commands based on the target image data.
[0047] In some embodiments of this application, the image acquisition device may be a device for acquiring image information, such as a camera.
[0048] The first image data can be image data acquired by an image acquisition device. The first image data can include at least a first image attribute and a first image content. Here, the first image attribute can be attribute parameters used to characterize the image information acquired by the image acquisition device, and can also include attribute parameters of the image acquisition device, etc. For example, the first image attribute can include the image resolution, frame rate, pixel format, frame data structure (the data type represented by each row in a frame image) of the first image content, etc.
[0049] The first image content can be the specific content of the image captured by the image acquisition device, such as the objects contained in the image.
[0050] Image storage devices can be devices that store second image data, such as a computer with storage capabilities.
[0051] The second image data may be image data corresponding to the first image data sent by the image storage device. This second image data may include second image content, which may be the same as the first image content but with different image attributes.
[0052] The target image data can be the image data obtained by the video injection core board after processing the first image data and the second image data. The target image data can include at least the parsed first image attributes and the second image content.
[0053] The video injection core board can be a circuit board on which a processor chip is integrated to process the first image data and the second image data to obtain the target image data.
[0054] In some embodiments of this application, in order to precisely improve the test accuracy, embodiments of this application also provide another structural schematic diagram of the test system for the unmanned driving equipment controller, such as... Figure 2As shown, the image acquisition device 110 may specifically include:
[0055] The data acquisition unit 111 is used to convert the optical signal into an image signal and send the image signal to the first encoder.
[0056] The first encoder 112 is used to receive the image signal sent by the acquisition unit, encode the image signal to obtain the first image data, and send the first image data to the video injection core board 120.
[0057] The acquisition device can be a device used to acquire the first image data. For example, the acquisition device can be a complementary metal-oxide-semiconductor (CMOS) chip. That is, the CMOS chip is a photosensitive element inside the image acquisition device, which can convert light signals into binary image signals.
[0058] The first encoder can be a device for encoding the acquired image signal, such as an interactive video data service (IVDS) stringing chip.
[0059] refer to Figure 2 ,Should Figure 2 The document details the hardware connections between the image acquisition device 110, the image storage device 120, the video injection core board 130, and the unmanned vehicle controller 140. The acquisition device converts light signals into image signals, then sends these image signals to the first encoder. The first encoder encodes the image signals to obtain first image data, which is then sent to the video injection core board.
[0060] In some embodiments of this application, the first encoder 112 is specifically used for:
[0061] The image signal data format is changed from parallel to serial to obtain the first image data.
[0062] In some embodiments of this application, reference continues to be made to Figure 2 The video injection core board 130 may include:
[0063] The first decoder 121 is used to receive the first image data in serial form sent by the first encoder, decode the first image data in serial form, and send the decoded first image data to the video processor 122.
[0064] The video processor 122 is used to receive decoded first image data and second image data sent by the image storage device, parse the attributes of the first image to obtain the parsed first image attributes, replace the content of the first image with the content of the second image to obtain target image data, and send the target image data to the second encoder 123.
[0065] The second encoder 123 is used to encode the target image data and send the encoded target image data to the unmanned driving equipment controller.
[0066] The first decoder may be a device for decoding the first image data in serial form that has been first encoded and transmitted.
[0067] The video processor can be a device with processing capabilities, such as a Field Programmable Gate Array (FPGA) chip.
[0068] The second encoder can be a device for encoding target image data, such as an IVDS stringing chip.
[0069] In some embodiments of this application, LVDS is a communication protocol between a stringing chip and a deserializing chip, and the physical connection is a coaxial cable.
[0070] In some embodiments of this application, the first decoder 121 decodes the first image data in serial form. Specifically, it may be used to change the data format of the first image data in serial form from serial to parallel form. When sending the decoded first image data to the video processor, it may be to send the first image data in parallel form to the video processor.
[0071] In some embodiments of this application, when the second encoder 123 encodes the target image data, it may specifically change the data format of the target image data from parallel to serial. When sending the encoded target image data to the autonomous driving equipment controller, it may send the target image data in serial format to the autonomous driving equipment controller.
[0072] In some embodiments of this application, see Figure 2 The unmanned vehicle controller may also include a second decoder 131 and an electronic control unit 132 of the unmanned vehicle controller.
[0073] The second decoder 131 can specifically be used to receive target image data in serial form, and then parse and decode the target image data in serial form. Specifically, it can modify the serial form of the target image data into a parallel form, and then send the target image data in parallel form to the electronic control unit 132 of the unmanned driving equipment controller to test the electronic control unit 132 of the unmanned driving equipment controller.
[0074] In some embodiments of this application, the unmanned vehicle controller can also be used to send a verification request to the video injection core board to check the integrated circuit bus of the image acquisition device.
[0075] The video injection core board is also used to receive verification requests and send them to the image acquisition device.
[0076] The image acquisition device is also used to inspect the integrated circuit bus and send the inspection results to the video injection core board.
[0077] The video injection core board is used to send the verification results received from the image acquisition device to the controller of the autonomous driving equipment.
[0078] The verification request can be a request to verify the integrated circuit bus of the image acquisition device.
[0079] In existing technologies, in a real-vehicle environment, the autonomous driving device controller, acting as the master node in IIC communication, performs register configuration and data verification on the image acquisition device, which acts as a slave node in IIC communication. Failure to verify the data prevents normal operation. When the image acquisition device is removed and the video injection core board provided in this embodiment is connected, the video injection core board should also be able to act as a slave node in IIC communication to meet the IIC verification requirements of the autonomous driving device controller. (Reference) Figure 2 ,exist Figure 2 The IIC control signal issued by the unmanned driving equipment controller as the master node of IIC can be transmitted to the IIC signal node in the video injection core board, and further transmitted to the collector of the image acquisition device through the first decoder in the video injection core board. Therefore, it meets the IIC verification requirements of the unmanned driving equipment controller for the image acquisition device.
[0080] In some embodiments of this application, to further improve the testing efficiency of the autonomous driving device controller, the aforementioned testing system for the autonomous driving device controller may further include:
[0081] The video backplane is used to support the video injection core board and provide power to it.
[0082] In some embodiments of this application, a power supply device may be integrated in the video backplane to power the video injection core board.
[0083] In some embodiments of this application, the video backplane can also be used to send clock signals to the video injection core board.
[0084] The video injection core board is also used to receive clock signals and process the first and second image data based on the clock signals to obtain the target image data.
[0085] In some embodiments of this application, the video backplane may also provide a clock signal to the video injection core board, so that the video injection core board can start processing the first image data and the second image data based on the clock signal to obtain the target image data.
[0086] In some embodiments of this application, to more clearly understand the test system for the unmanned driving device controller provided in the embodiments of this application, another structural schematic diagram of the test system for the unmanned driving device controller is also provided, such as... Figure 3 As shown, the test system for the unmanned driving equipment controller also includes a 4U enclosure 150, a panel (the panel is divided into an upper cover 161, a lower cover 162, a left side panel 163 and a right side panel 164) and a slot 170.
[0087] It should be noted that in the device, U refers to the height, and 1U is 4.445cm in height.
[0088] In some embodiments of this application, slots are arranged inside the housing 150, with a total of 10 slots. The spatial dimensions of each slot are: height 3U, spacing 40.64cm, and length 160cm.
[0089] The video injection core board 130 is inserted into the slot 170 of the housing 150, and the connector on the video injection core board ( Figure 3 (not shown in the image) and the connectors on the video injection backplane 180 (i.e., the video backplane). Figure 3 (Not shown in the image) are connected together, and the video injection core board is composed of a motherboard and a replaceable video injection sub-module installed on the motherboard.
[0090] The circuit block diagram of the mainboard of the video injection core board is as follows: Figure 4 As shown. The core computing chip on the motherboard 500 of the video injection core board is a Xilinx ZU5 FPGA. The FPGA is externally connected to a Double Data Rate (DDR) chip for caching image data, and a Flash chip for storing the bitstream file of the FPGA program.
[0091] Within the mainboard 500 of the video injection core board, power interface 501 is connected to power chip 502 to supply power to the video injection mainboard 500. HDMI interface 503, HDMI retimer 504, and FPGA 508 are connected, and the HDMI interface can be connected to an image memory to send second image data from the image memory to the FPGA 508. 485 interface 505, 485 transceiver 506, and FPGA 508 are connected, and the 485 interface 505 can be connected to a host computer to receive configuration commands from the host computer and configure the parameters of the FPGA 508. FPGA 508 is also connected to reset circuit 509, random access memory 507, common flash memory interface 511, and crystal oscillator 512. FPGA 508 is also connected to connector 514, thereby enabling data interaction with the first decoder (deserialization chip) and the second encoder (encoder / serialization chip) configured in the video injection submodule. Power chip 510 is connected to connector 514 to supply power to connector 514.
[0092] The HDMI Retimer 504 is a repeater chip specifically designed to minimize the transmission of Transition-Minimized Differential Signaling (TMDS) signals.
[0093] The circuit block diagram of the video injection submodule is as follows: Figure 5 As shown, connector 514 within the video injection submodule 520 connects to a connector in the motherboard 500 of the video injection core board, or connector 514 is the same connector in the motherboard of the video injection core board. Connector 514 connects to the encoder chip 518 and the deserializer chip 519 for data transmission. Additionally, the video injection submodule 520 includes a power supply chip 515 for supplying power to the video injection submodule 520. The video injection submodule 520 also includes a crystal oscillator 516 and jumper configuration 517.
[0094] The test system for the autonomous driving device controller provided in this application embodiment, compared with the previous video simulation board without image acquisition equipment, can parse the image parameters of the actual configuration of the vehicle-mounted image acquisition equipment and meet the IIC verification requirements of the autonomous driving device controller for the image acquisition equipment. Therefore, it greatly improves the development efficiency of the hardware-in-the-loop test equipment for the autonomous driving device controller and accelerates the testing progress of the autonomous driving device controller.
[0095] Based on the same inventive concept as the aforementioned test system for unmanned driving equipment controllers, this application also provides a test method for unmanned driving equipment controllers. The following is in conjunction with... Figure 6 The testing method for the unmanned driving equipment controller provided in the embodiments of this application will be described in detail.
[0096] Figure 6 This is a flowchart illustrating a testing method for an autonomous driving device controller provided in an embodiment of this application. This testing method is applied to the testing system for the autonomous driving device controller provided in the above embodiment. Figure 6 As shown, the testing method for the unmanned driving equipment controller provided in this application embodiment may include steps 610-630.
[0097] Step 610: Obtain first image data acquired by the image acquisition device and second image data sent by the image storage device, wherein the first image data includes at least first image content and first image attributes, and the second image data includes at least second image content.
[0098] Step 620: Parse the first image attributes to obtain the parsed first image attributes, and replace the first image content with the second image content to obtain the target image data.
[0099] Step 630: Conduct simulation tests on the controller of the unmanned driving equipment using the target image data.
[0100] In the embodiments of this application, by parsing the first image attributes in the first image data acquired by the image acquisition device, the first image content in the first image data is replaced with the second image content obtained from the image storage device. Then, the parsed first image attributes and the second image content are combined to form target image data, and simulation tests are performed on the controller of the autonomous driving device. In this way, the first image data acquired by the embodiment of this application is connected to the real image acquisition device. The simulation purpose can be achieved simply by replacing the first image content in the image acquisition device with the second image content in the image storage device. At this time, it is equivalent to utilizing part of the data of the image acquisition device, which has a low dependence on requesting customer input parameters, thus improving development efficiency. Moreover, the first image data acquired by the image acquisition device is real image data, which ensures that the attribute information of the target image data used for testing is consistent with the real image data acquired during the autonomous driving device's operation, thereby improving the test accuracy.
[0101] Based on the testing method for the unmanned vehicle controller provided in the above embodiments, this application also provides a specific implementation of a testing device for the unmanned vehicle controller. Please refer to the following embodiments.
[0102] First see Figure 7 The testing apparatus for the controller of the unmanned driving equipment provided in this application embodiment includes:
[0103] The acquisition module 710 is used to acquire first image data acquired by the image acquisition device and second image data sent by the image storage device, wherein the first image data includes at least first image content and first image attributes, and the second image data includes at least second image content.
[0104] The processing module 720 is used to parse the first image attributes to obtain the parsed first image attributes, and to replace the first image content with the second image content to obtain the target image data.
[0105] Test module 730 is used to perform simulation tests on the controller of unmanned driving equipment using target image data.
[0106] In the embodiments of this application, by parsing the first image attributes in the first image data acquired by the image acquisition device, the first image content in the first image data is replaced with the second image content obtained from the image storage device. Then, the parsed first image attributes and the second image content are combined to form target image data, and simulation tests are performed on the controller of the autonomous driving device. In this way, the first image data acquired by the embodiment of this application is connected to the real image acquisition device. The simulation purpose can be achieved simply by replacing the first image content in the image acquisition device with the second image content in the image storage device. At this time, it is equivalent to utilizing part of the data of the image acquisition device, which has a low dependence on requesting customer input parameters, thus improving development efficiency. Moreover, the first image data acquired by the image acquisition device is real image data, which ensures that the attribute information of the target image data used for testing is consistent with the real image data acquired during the autonomous driving device's operation, thereby improving the test accuracy.
[0107] The testing apparatus for the unmanned driving equipment controller provided in this application embodiment can be used to execute the testing methods for the unmanned driving equipment controller provided in the above method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here for the sake of brevity.
[0108] Based on the same inventive concept, embodiments of this application also provide an electronic device.
[0109] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 8 As shown, the electronic device may include a processor 801 and a memory 802 storing computer programs or instructions.
[0110] The test equipment for the unmanned driving device controller may include a processor 801 and a memory 802 storing computer program instructions.
[0111] Specifically, the processor 801 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0112] Memory 802 may include mass storage for data or instructions. For example, and not limitingly, memory 802 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 802 may include removable or non-removable (or fixed) media. Where appropriate, memory 802 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 802 is non-volatile solid-state memory.
[0113] In a particular embodiment, memory 802 may include read-only memory (ROM), random access memory (RAM), disk storage media device, optical storage media device, flash memory device, electrical, optical, or other physical / tangible memory storage device. Thus, generally, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this disclosure.
[0114] The processor 801 reads and executes computer program instructions stored in the memory 802 to implement any of the test methods for the unmanned driving equipment controller in the above embodiments.
[0115] In one example, the test equipment for the autonomous driving device controller may also include a communication interface 803 and a bus 810. For example, Figure 8 As shown, the processor 801, memory 802, and communication interface 803 are connected through bus 810 and complete communication with each other.
[0116] The communication interface 803 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.
[0117] Bus 810 includes hardware, software, or both, that couples the test devices of an autonomous vehicle controller together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 810 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.
[0118] The testing equipment for the autonomous driving device controller can execute the testing method for the autonomous driving device controller in the embodiments of this application, thereby achieving a combination of Figure 6 and Figure 7 The test method and apparatus for the controller of the unmanned driving equipment are described.
[0119] Furthermore, in conjunction with the testing methods for the unmanned vehicle controllers in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions, which, when executed by a processor, implement any of the testing methods for the unmanned vehicle controllers in the above embodiments.
[0120] In addition, in conjunction with the testing methods for unmanned driving device controllers in the above embodiments, this application embodiment can provide a computer program product, wherein when the instructions in the computer program product are executed by the processor of an electronic device, the electronic device implements any of the testing methods for unmanned driving device controllers in the above embodiments.
[0121] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.
[0122] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.
[0123] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.
[0124] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.
[0125] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.
Claims
1. A testing system for an unmanned driving equipment controller, characterized in that, include: An image acquisition device is used to acquire first image data and send the first image data to a video injection core board. The first image data includes at least a first image attribute and a first image content. The first image attribute is an attribute parameter used to characterize the image information acquired by the image acquisition device. The first image attribute includes at least one of the following: attribute parameters of the image acquisition device, image resolution of the first image content, frame rate, pixel format, and frame data structure. An image storage device is used to send second image data to the video injection core board, wherein the second image data includes second image content. The video injection core board is used to parse the first image attributes to obtain the parsed first image attributes, and to replace the first image content with the second image content to obtain target image data, and to send the target image data to the autonomous driving equipment controller, wherein the target image data includes at least the parsed first image attributes and the second image content. The unmanned driving equipment controller is used to receive the target image data sent by the video injection core board, and output control commands based on the target image data; The unmanned driving equipment controller is further configured to send a verification request to the video injection core board to check the integrated circuit bus of the image acquisition device. The verification request is an IIC control signal issued by the unmanned driving equipment controller. The video injection core board is also used to receive the verification request and send the verification request to the image acquisition device. The image acquisition device is also used to inspect the integrated circuit bus and send the inspection result to the video injection core board. The video injection core board is used to send the verification result received from the image acquisition device to the unmanned driving equipment controller; The image acquisition device includes: The collector is used to convert the optical signal into a binary image signal, and then send the image signal to the first encoder. The first encoder is used to receive the image signal sent by the acquisition device, encode the image signal to obtain first image data, and send the first image data to the video injection core board.
2. The testing system according to claim 1, characterized in that, The first encoder is specifically used for: The image signal data format is changed from parallel to serial to obtain the first image data.
3. The testing system according to claim 2, characterized in that, The video injection core board includes: A first decoder is configured to receive serial first image data sent by the first encoder, decode the serial first image data, and send the decoded first image data to the video processor. The video processor is configured to receive decoded first image data and second image data sent by an image storage device, parse the first image attributes to obtain parsed first image attributes, replace the first image content with the second image content to obtain target image data, and send the target image data to a second encoder. The second encoder is used to encode the target image data and send the encoded target image data to the unmanned driving equipment controller.
4. The testing system according to claim 3, characterized in that, The first decoder is specifically used to change the data format of the first image data from serial to parallel, and send the first image data in parallel format to the video processor.
5. The testing system according to claim 3, characterized in that, The second encoder is specifically used to change the data format of the target image data from parallel to serial, and send the serial target image data to the unmanned driving equipment controller.
6. The testing system according to claim 1, characterized in that, The system also includes: The video backplane is used to support the video injection core board and provide power to the video injection core board.
7. The testing system according to claim 6, characterized in that, The video backplane is also used to send clock signals to the video injection core board. The video injection core board is also used to receive the clock signal and process the first image data and the second image data based on the clock signal to obtain the target image data.
8. A test method for a controller of an unmanned driving device, characterized in that, A test system applied to the controller of an unmanned driving device according to any one of claims 1-7, the method comprising: The system acquires first image data acquired by an image acquisition device and second image data sent by an image storage device. The first image data includes at least first image content and first image attributes, and the second image data includes at least second image content. The first image attributes are parsed to obtain the parsed first image attributes, and the first image content is replaced with the second image content to obtain the target image data. The controller of the unmanned driving equipment is simulated and tested using the target image data.