A test system

Abstract

Embodiments of the present application provide a test system, comprising: a video injection system configured to obtain target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to a controller under test; the controller under test, which is in communication connection with the video injection system, and configured to send a parameter adjustment instruction to the video injection system; and the video injection system, which is configured to adjust the target injection video data in a closed loop according to the video adjustment parameter, obtain adjusted target injection video data, and send the adjusted target injection video data to the controller under test, so that the controller under test performs simulation test based on the adjusted target injection video data. Embodiments of the present application improve the test accuracy of intelligent driving controllers.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of simulation testing, and particularly relates to a test system. BACKGROUND

[0002] The control precision of an intelligent driving controller plays a crucial role in the safety of automatic driving of a vehicle. Therefore, in order to ensure the control precision of the intelligent driving controller, the intelligent driving controller needs to be repeatedly simulated and tested efficiently.

[0003] However, in the prior art, the simulation test of the intelligent driving controller is generally achieved by simply processing video data and injecting the processed video data into the intelligent driving controller. However, this method may result in low test accuracy of the intelligent driving controller. SUMMARY

[0004] The embodiments of the application provide a test system, which improves the test accuracy of the intelligent driving controller.

[0005] In a first aspect, the embodiments of the application provide a test system, which comprises:

[0006] a video injection system, configured to acquire target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to a tested controller;

[0007] the tested controller, which is in communication connection with the video injection system, and is configured to send a parameter adjustment instruction to the video injection system, the parameter adjustment instruction comprising video adjustment parameters determined by the tested controller according to the target injection video data and the camera parameter information;

[0008] the video injection system, configured to adjust the target injection video data in a closed loop according to the video adjustment parameters, to obtain adjusted target injection video data, and send the adjusted target injection video data to the tested controller, so that the tested controller performs simulation testing based on the adjusted target injection video data.

[0009] In an optional implementation of the first aspect, the video injection system comprises:

[0010] a video acquisition device, configured to acquire to-be-injected video data and camera parameter information, and send the to-be-injected video data and the camera parameter information to a video processing device;

[0011] The video processing device is in communication connection with the video acquisition device, is used for converting the video format of the to-be-injected video, obtaining converted to-be-injected video data, and encapsulating the converted to-be-injected video data and the camera parameter information according to a preset format to obtain target injected video data.

[0012] The video injection device is in communication connection with the video processing device, and is used for injecting the target injected video data to the measured controller.

[0013] In an optional implementation of the first aspect, the video processing device comprises:

[0014] The image processing device is used for converting the to-be-injected video data from an initial video format to a camera video format to obtain converted to-be-injected video data.

[0015] The encapsulation device is used for encapsulating the converted to-be-injected video data and the camera parameter information according to a MIPI CSI2 protocol format to obtain target injected video data in an initial signal format of a MIPI signal.

[0016] In an optional implementation of the first aspect, the image processing device is further used for receiving scene simulation instructions, the scene simulation instructions comprising scene simulation information and a preset algorithm, and processing the to-be-injected video data according to the scene simulation information and the preset algorithm to simulate and generate video data corresponding to the scene simulation information.

[0017] In an optional implementation of the first aspect, the video processing device further comprises a decoder.

[0018] The decoder is used for judging whether the to-be-injected video data is subjected to encoding processing, and decoding the to-be-injected video data to obtain decoded to-be-injected video data in a case that the to-be-injected video data is subjected to encoding processing.

[0019] In an optional implementation of the first aspect, the video injection device is connected to the measured controller in a serial communication mode.

[0020] In an optional implementation of the first aspect, the video injection device comprises a serializing chip.

[0021] The video injection device is further used for converting the target injected video data from an initial signal format to a serial differential signal format through the serializing chip.

[0022] In an optional implementation of the first aspect, the video injection system comprises:

[0023] The video injection device is configured to receive the parameter adjustment instruction and send the parameter adjustment instruction to the video processing device.

[0024] The video processing device is in communication connection with the video injection device, and is configured to perform closed-loop adjustment on the target injection video data based on the video adjustment parameter included in the parameter adjustment instruction, to obtain adjusted target injection video data, and send the adjusted target injection video data to the controller under test.

[0025] In an optional implementation of the first aspect, the camera parameter information includes at least one of temperature information, exposure information, white balance information, channel gain information, and camera internal error.

[0026] In an optional implementation of the first aspect, the to-be-injected video data includes virtual video data, and / or real vehicle virtual video data.

[0027] In the embodiments of the present application, the test system includes a video injection system and a controller under test, and the video injection system is in communication connection with the controller under test. Based on the structure of the test system, the video injection system can obtain target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to the controller under test. The controller under test can send a parameter adjustment instruction to the video injection system, and the parameter adjustment instruction includes a video adjustment parameter determined by the controller under test based on the target injection video data and the camera parameter information. Based on this, the video injection system can perform closed-loop adjustment on the target injection video data based on the video adjustment parameter, to obtain adjusted target injection video data, and send the adjusted target injection video data to the controller under test, so that the controller under test can perform simulation testing based on the adjusted target injection video data. In this way, real-time closed-loop adjustment can be performed on the target injection video data obtained by the video injection system, so as to highlight the relevant information included in the target injection video data for simulation testing, thereby improving the testing accuracy of the controller under test. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced. For those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0029] Figure 1 is a structural schematic diagram of a test system provided by the embodiments of the present application;

[0030] Figure 2 is a structural schematic diagram of another test system provided by the embodiments of the present application;

[0031] Figure 3 is a schematic diagram of a processing procedure of a video processing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0032] The features and exemplary embodiments of various aspects of the present application will be described in detail below with reference to the drawings. The following detailed description is merely intended to explain the present application, and is not intended to limit the present application. The present application can be implemented without some of the specific details, which are well known to those skilled in the art. The following description of the embodiments is merely provided to give a better understanding of the present application by showing examples of the present application.

[0033] It should be noted that the terms such as first and second, etc., are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Also, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0034] The term "and / or" in the present document is merely a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A alone, A and B together, and B alone.

[0035] The control accuracy of the intelligent driving controller plays a crucial role in the safety of the automatic driving of the vehicle. Therefore, in order to ensure the control accuracy of the intelligent driving controller, efficient repeated simulation testing needs to be performed on the intelligent driving controller.

[0036] However, in the prior art, the video data is generally simply processed, and the processed video data is injected into the intelligent driving controller to realize simulation testing of the intelligent driving controller. However, since this method can only simply simulate the image content, frame rate, resolution and pixel format and other features output by the camera, it is impossible to adjust the related parameters of the injected video data in real time based on the actual situation, which may result in low accuracy of the simulation testing of the intelligent driving controller.

[0037] To solve the above problems, the embodiment of the present application provides a test system, which comprises a video injection system and a tested controller, the video injection system is in communication connection with the tested controller, based on the structure of the test system, the video injection system can obtain target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to the tested controller, the tested controller can send a parameter adjustment instruction to the video injection system, the parameter adjustment instruction comprises video adjustment parameters determined by the tested controller based on the target injection video data and the camera parameter information, based on this, the video injection system can adjust the target injection video data based on the video adjustment parameters to obtain adjusted target injection video data, and send the adjusted target injection video data to the tested controller, so that the tested controller can perform simulation test based on the adjusted target injection video data. In this way, real-time closed-loop adjustment of the target injection video data obtained by the video injection system can be realized, so as to highlight the relevant information included in the target injection video data for simulation test, thereby improving the test accuracy of the tested controller.

[0038] The test system provided by the embodiment of the present application will be described in detail below with specific embodiments in combination with the accompanying drawings.

[0039] Figure 1 is a structural schematic diagram of a test system provided by the embodiment of the present application.

[0040] As Figure 1 indicated, the test system can comprise a video injection system 10 and a tested controller 20. Wherein, the video injection system 10 is in communication connection with the tested controller 20. Based on this,

[0041] The video injection system 10 is configured to obtain target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to the tested controller;

[0042] The tested controller 20 is in communication connection with the video injection system, and is configured to send a parameter adjustment instruction to the video injection system, the parameter adjustment instruction comprises video adjustment parameters determined by the tested controller based on the target injection video data and the camera parameter information;

[0043] The video injection system 10 is configured to adjust the target injection video data based on the video adjustment parameters to obtain adjusted target injection video data, and send the adjusted target injection video data to the tested controller, so that the tested controller can perform simulation test based on the adjusted target injection video data.

[0044] In some embodiments, the camera parameter information can include at least one of temperature information, exposure information, white balance information, channel gain information, and camera internal error, which is not limited herein. The video adjustment parameter can include image brightness, frame rate, resolution, pixel format, and the like.

[0045] In the embodiments of the present application, the test system includes a video injection system and a controller under test, and the video injection system is in communication connection with the controller under test. Based on the structure of the test system, the video injection system can obtain target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to the controller under test. The controller under test can send a parameter adjustment instruction to the video injection system, and the parameter adjustment instruction includes a video adjustment parameter determined by the controller under test based on the target injection video data and the camera parameter information. Based on this, the video injection system can adjust the target injection video data based on the video adjustment parameter to obtain adjusted target injection video data, and send the adjusted target injection video data to the controller under test, so that the controller under test can perform simulation testing based on the adjusted target injection video data. In this way, real-time closed-loop adjustment of the target injection video data obtained by the video injection system can be realized to highlight the relevant information included in the target injection video data for simulation testing, thereby improving the testing accuracy of the controller under test.

[0046] Based on this, in order to more accurately and specifically describe the test system provided by the embodiments of the present application, in one embodiment, as shown in Figure 2 The video injection system 10 can include a video acquisition device 11, a video processing device 12, and a video injection device 13. The video acquisition device 11 is in communication connection with the video processing device 12, and the video processing device 12 is in communication connection with the video injection device 13. Based on this,

[0047] The video acquisition device 11 is configured to obtain target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to the video processing device;

[0048] The video processing device 12 is in communication connection with the video acquisition device 11, and is configured to convert the video format of the target injection video to obtain converted target injection video data, and encapsulate the converted target injection video data and the camera parameter information in a preset format to obtain target injection video data;

[0049] The video injection device 13 is in communication connection with the video processing device 12, and is configured to inject the target injection video data into the controller under test.

[0050] The preset format can be a format set in advance based on actual experience or circumstances, and no specific restrictions are imposed here.

[0051] In some embodiments, the video data to be injected mentioned above includes virtual video data and / or, real vehicle virtual video data. The virtual video data can be virtual video data generated by scene simulation software, and the real vehicle virtual video data mentioned above can be real video data captured by an image acquisition device on the vehicle, such as a camera.

[0052] In one example, when the video processing device mentioned above encapsulates the converted video data to be injected and camera parameter information according to a preset format, it can encapsulate the converted video data to be injected and camera parameter information into front-end embedded data to facilitate subsequent video data processing.

[0053] Specifically, the video injection system may include a video acquisition device, a video processing device, and a video injection device, with the video acquisition device and video processing device communicatively connected, and the video processing device and video injection device communicatively connected. Based on this structure, the video acquisition device can acquire the video data to be injected and camera parameter information, and send the aforementioned video data to be injected and camera parameter information to the video processing device. This allows the video processing device to perform video format conversion on the video data to be injected, and encapsulate the converted video data and camera parameter information to obtain the target injected video data, which is then conveniently injected into the video injection data item by the controller under test.

[0054] In this embodiment, the video injection system can be based on its included video acquisition device, video processing device, and video injection device, as well as the communication connection between the video acquisition device and the video processing device, and the communication connection between the video processing device and the video injection device. By converting the acquired video data to be injected into a video format, and encapsulating the converted video data to be injected and camera parameter information, it facilitates subsequent video data processing, thereby improving the accuracy of the simulation test of the controller under test.

[0055] To more accurately describe the testing system provided in the embodiments of this application, in one embodiment, it continues as follows: Figure 2 As shown, the video processing device 12 mentioned above may include an image processing device 122 and a packaging device 123. Based on this,

[0056] Image processing device 122 is used to obtain converted video data to be injected by converting the video data to be injected from an initial video format to a camera video format;

[0057] The encapsulation device 123 encapsulates the converted to-be-injected video data and the camera parameter information according to a MIPI CSI2 protocol format, to obtain target injected video data in an initial signal format of a MIPI signal.

[0058] The initial video format is determined according to actual conditions, for example, can be YUV, RGB, HSV, HIS, and the like, which are not specifically limited herein. The camera video format can be a video format supported by the camera, for example, can be a RAW format, which is not specifically limited herein.

[0059] It should be noted that the camera referred to herein can be a real camera or a simulated camera. Specifically, if the to-be-injected video data is virtual video data, the camera refers to a simulated camera, and if the to-be-injected video data is real vehicle video data, the camera can be a real camera. It should be noted that when performing video format conversion, different video formats need to be converted according to different requirements.

[0060] Specifically, since the video processing device referred to above can include an image processing device and an encapsulation device, based on this, the image processing device can convert the to-be-injected video data from an initial video format to a camera video format to obtain converted to-be-injected video data, and the encapsulation device can encapsulate the converted to-be-injected video data and the camera parameter information according to a MIPI CSI2 protocol format, to obtain target injected video data in an initial signal format of a MIPI signal.

[0061] In this embodiment, by performing video format conversion on the obtained to-be-injected video data, and encapsulating the converted to-be-injected video data and the camera parameter information, subsequent video data processing is facilitated, and in turn the simulation test accuracy of the measured controller is improved.

[0062] It should be noted that in one embodiment, the image processing device 122 referred to above is further configured to receive a scene simulation instruction, the scene simulation instruction including scene simulation information and a preset algorithm, and process the to-be-injected video data according to the scene simulation information and the preset algorithm, to simulate and generate video data corresponding to the scene simulation information.

[0063] The scene simulation instruction can be a related instruction input or selected by a person, which is not specifically limited herein. The scene simulation information can be related information for simulating rain and snow weather, or scenes such as camera cracks, water ingress, and fogging, and the preset algorithm can be a related algorithm for image fusion in simulating scenes, which is not specifically limited herein.

[0064] Specifically, the image processing device can further receive a scene simulation instruction, and based on the fact that the scene simulation instruction can include scene simulation information and a preset algorithm, the image processing device can process the to-be-injected video data based on the scene simulation information and the preset algorithm to simulate and generate relevant video data corresponding to the scene simulation information.

[0065] In this embodiment, the test system provided by the embodiment of the present application is increased with a scene simulation function, which can use one piece of video data to simulate and test different scenes in the same scene, greatly improving the use efficiency of the video data and the test range.

[0066] Based on this, in another embodiment, as shown in Figure 2 The video processing device mentioned above further includes a decoder 121.

[0067] The decoder 121 is configured to decode the to-be-injected video data to obtain decoded to-be-injected video data in the case that the to-be-injected video data has been subjected to encoding processing.

[0068] In one example, after judging whether the to-be-injected video data has been subjected to encoding processing, if the to-be-injected video data has been subjected to encoding processing, the to-be-injected video data needs to be decoded, specifically, the to-be-injected video data needs to be transmitted to the video memory in the GPU and the decoder of the GPU, for example, decoder or NVDEC, is called to decode, and the decoded image is still stored in the video memory for subsequent use.

[0069] In addition, it should be noted that if the to-be-injected video data has not been subjected to encoding processing, it can be directly used subsequently.

[0070] Based on this, in order to completely describe the video processing device involved in the embodiment of the present application, in one example, as shown in Figure 3 After the video processing device obtains the to-be-injected video data, it can first judge whether the to-be-injected video data has been subjected to encoding processing, if the to-be-injected video data has been subjected to encoding processing, it is decoded, if not, it is directly used subsequently, and then the to-be-injected video data is processed by the image processing device in terms of video format conversion and scene simulation, and then it is packaged by the packaging device for subsequent transmission to the DUT. If the video processing device receives the parameter adjustment command sent by the DUT, it needs to be adjusted by the image processing device in a closed loop, and then it is packaged and transmitted to the DUT.

[0071] In this embodiment, it can be judged whether the to-be-injected video data is subjected to encoding processing, and different processing processes are performed on the to-be-injected video data according to the judgment result, so as to facilitate the use of subsequent video data.

[0072] In some embodiments, the video injection device 13 and the controller under test 20 can be connected through a serial communication mode.

[0073] The serial communication mode can include I2C / SPI and the like, which is not limited here.

[0074] Based on this, as shown in Figure 2 The video injection device 13 can further include a serializing chip 131.

[0075] The video injection device 13 is further configured to convert the target injection video data from an initial signal format to a serial differential signal format through the serializing chip 131.

[0076] The initial signal format is MIPI signal, and the serial differential signal format can be I2C / SPI signal.

[0077] In one example, the video injection module converts the received MIPI parallel signal into a serial differential signal through the serializing chip, and connects with the controller under test through LVDS coaxial line.

[0078] It should be noted that, since the video injection device includes a serializing chip, the controller under test includes a deserializing chip. In addition, it should be noted that the controller under test can include a data processing apparatus to analyze the target injection video data.

[0079] In this embodiment, based on the communication connection between the video injection device and the controller under test, the video injection device can convert the target injection video data from an initial signal format to a serial differential signal format based on the serializing chip included in the video injection device, so as to facilitate the data transmission between the video injection device and the controller under test.

[0080] In order to more accurately and in detail describe the test system provided by the embodiments of the present application, in one embodiment, as shown in Figure 2 The video injection system 10 can include a video injection device 13 and a video processing device 12, and the video injection device 13 and the video processing device 12 are in communication connection. Based on this,

[0081] The video injection device 13 is configured to receive a parameter adjustment instruction and send the parameter adjustment instruction to the video processing device.

[0082] The video processing device 12 is in communication connection with the video injection device, and is configured to perform closed-loop adjustment on the target injection video data based on the video adjustment parameter included in the parameter adjustment instruction, to obtain adjusted target injection video data, and send the adjusted target injection video data to the tested controller.

[0083] Specifically, since the video injection system can include a video injection device and a video processing device, and the video injection device is in communication connection with the video processing device, based on this, when performing closed-loop adjustment on the target injection data, the video injection device can receive the parameter adjustment instruction sent by the tested controller, and send the parameter adjustment instruction to the video processing device, so that the video processing device, in communication connection with the video injection device, is configured to perform closed-loop adjustment on the target injection video data based on the video adjustment parameter included in the parameter adjustment instruction, to obtain adjusted target injection video data, and send the adjusted target injection video data to the tested controller.

[0084] It should be noted that after the video data device performs closed-loop adjustment on the target injection video data, the video data device can also perform video format conversion, encapsulation, etc. on the adjusted target injection video data based on the image processing device, encapsulation device, etc. included in the video data device, which is not limited here.

[0085] In one example, when the image content included in the target injection video data is dark, the tested controller is difficult to identify the members in the image, and according to the exposure time, environmental temperature, etc. in the camera information, it is determined that the exposure time of the camera needs to be increased, and the instruction is transmitted to the video processing device through I2C / SPI serial communication mode. The video processing device converts the color model of the image to HIS, and then increases the I component by a corresponding degree, so as to increase the brightness of the image, and achieve the effect of increasing the exposure time of the image.

[0086] In another example, the tested controller controls the resolution of the target injection video in a closed loop according to the input scene. For example, when the test scene is vehicle cruise, there are fewer moving objects around, and the video resolution collected by the camera can be reduced, so as to reduce the calculation amount of the controller, reduce power consumption, and be more energy-efficient. At this time, the tested controller sends the instruction of "reducing resolution" to the video processing device module, and the video processing device reduces the resolution of the injection video through subsampling, which is consistent with the way of reducing the video resolution inside the camera.

[0087] In yet another example, the controller under test controls the frame rate of the injected video in a closed loop according to the input scenario. For example, when the vehicle is driving in a complex road condition, at a road intersection with heavy pedestrian and vehicle traffic, the controller under test can increase the frame rate of the video captured by the camera so that the controller under test can better calculate the environment around the vehicle and make a timely decision to improve the safety of the vehicle and reduce the risk. At this time, the controller under test sends a "increase frame rate" instruction to the video processing device, and the video processing device increases the frame rate of the injected video from 30fps to 45fps / 60fps.

[0088] In this embodiment, real-time closed-loop adjustment of the target injected video data obtained by the video injection system can be implemented to highlight the relevant information included in the target injected video data for simulation testing, thereby improving the testing accuracy of the controller under test.

[0089] It should be noted that the present application is not limited to the specific configurations and processes described above and shown in the drawings. For the sake of brevity, detailed descriptions of well-known methods are omitted herein. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present application are not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order of the steps, after understanding the spirit of the present application.

[0090] The functional blocks shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, etc. When implemented in software, the elements of the present application are program or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted over a transmission medium or communication link carried by a carrier wave in a data request. The "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, optical fiber media, radio frequency (RF) links, etc. The code segments can be downloaded via a computer network such as the Internet, an intranet, etc.

[0091] It should also be noted that the exemplary embodiments mentioned in the present application describe some methods or systems based on a series of steps or devices. However, the present 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 from the embodiments, or several steps can be performed simultaneously.

[0092] The computer program instructions can also be loaded onto a computer, other programmable electronic control unit, or other processing logic to cause a series of operations to be performed on the computer, other programmable electronic control unit, or other processing logic to produce a computer implemented process such that the instructions which execute on the computer or other programmable electronic control unit implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0093] The above is merely specific implementation of the present application, and those skilled in the art can clearly understand the specific working process of the system, module and unit described above for the convenience and brevity of description, which can refer to the corresponding process in the foregoing method embodiments, and will not be described herein. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A test system, characterized by, The test system comprises: A video injection system configured to acquire target injection video data and camera parameter information, and send the target injection video data and the camera parameter information to a controller under test; The controller under test is in communication connection with the video injection system, and is configured to send a parameter adjustment instruction to the video injection system, the parameter adjustment instruction comprising video adjustment parameters determined by the controller under test based on the target injection video data and the camera parameter information; The video injection system is configured to adjust the target injection video data in a closed loop based on the video adjustment parameters, to obtain adjusted target injection video data, and send the adjusted target injection video data to the controller under test, so that the controller under test performs simulation testing based on the adjusted target injection video data.

2. The test system of claim 1, wherein, The video injection system comprises: A video acquisition device configured to acquire to-be-injected video data and camera parameter information, and send the to-be-injected video data and the camera parameter information to a video processing device; The video processing device is in communication connection with the video acquisition device, and is configured to convert a video format of the to-be-injected video to obtain converted to-be-injected video data, and encapsulate the converted to-be-injected video data and the camera parameter information in a preset format to obtain target injection video data; A video injection device in communication connection with the video processing device, and configured to inject the target injection video data to the controller under test.

3. The test system of claim 2, wherein, The video processing device comprises: An image processing device configured to convert the to-be-injected video data from an initial video format to a camera video format to obtain converted to-be-injected video data; An encapsulation device configured to encapsulate the converted to-be-injected video data and the camera parameter information in a MIPI CSI2 protocol format to obtain target injection video data in an initial signal format of a MIPI signal.

4. The test system of claim 3, wherein, The image processing device is further configured to receive a scene simulation instruction, the scene simulation instruction comprising scene simulation information and a preset algorithm, and process the to-be-injected video data based on the scene simulation information and the preset algorithm to generate video data corresponding to the scene simulation information.

5. The test system of claim 4, wherein, The video processing device further comprises a decoder; The decoder is configured to determine whether the to-be-injected video data is subjected to encoding processing, and decode the to-be-injected video data to obtain decoded to-be-injected video data in a case where the to-be-injected video data is subjected to encoding processing.

6. The test system of claim 2, wherein, The video injection device is connected to the controller under test in a serial communication mode.

7. The test system of claim 6, wherein, The video injection device comprises a serialization chip; The video injection device is further configured to convert the target injection video data from an initial signal format to a serial differential signal format by using the serialization chip.

8. The test system of claim 1, wherein, The video injection system comprises: A video injection device configured to receive a parameter adjustment instruction, and send the parameter adjustment instruction to a video processing device; The video processing device is in communication connection with the video injection device, and is configured to perform closed-loop adjustment on the target injection video data based on the video adjustment parameter included in the parameter adjustment instruction, to obtain adjusted target injection video data, and to send the adjusted target injection video data to the measured controller.

9. The test system of any of claims 1-3, wherein the camera parameter information comprises at least one of temperature information, exposure information, white balance information, channel gain information, and an internal camera error.

10. The test system of claim 2, wherein the to-be-injected video data comprises virtual video data, and / or real vehicle virtual video data.

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