Shielding test method and device for vehicle parking camera

Abstract

The invention provides a shielding test method and test device for a vehicle parking camera, the shielding test method is applied to a fault injection device comprising a baffle mechanical arm and an adjusting shielding plate, and the method comprises the following steps: when the fault injection device is used to carry out a shielding test on a target parking camera, based on test demand information, determining the target parking camera according to the test demand information; determining a target fault injection mode; based on the shielding area and the shielding position corresponding to the target fault injection mode, a baffle mechanical arm is used for controlling and adjusting a shielding plate to move so as to shield the view of the target parking camera; obtaining a view image collected by the target parking camera under view shielding, and determining test data of the target parking camera in the target fault injection mode; and comparing the test data with the calibration data, and determining a test result of the target parking camera in the target fault injection mode. Through the above method, the comprehensiveness of the shielding test is ensured, and the accuracy and reliability of the shielding test result are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle testing technology, and in particular to an occlusion testing method and testing device for a vehicle parking camera. Background Art

[0002] In order to verify the robustness of the vehicle's automatic parking system and its performance in fault conditions, it is crucial to perform fault injection testing on the vehicle's parking camera. Fault injection testing can test the automatic parking system's response in these situations by artificially creating situations such as sensor occlusion, in order to address parking failures or safety hazards caused by camera occlusion (for example, mud, floating plastic bags, and other obstructions) during the automatic parking process.

[0003] At present, fault injection testing of vehicle parking cameras is mainly carried out under artificial settings or external environmental conditions (for example, artificial occlusion and natural light changes, etc.). It is difficult to accurately control the occlusion position and area, and only static occlusion, global occlusion or single-point occlusion can be performed during the occlusion process. It is impossible to fully evaluate the system's response ability to different occlusion positions. In addition, the manual testing method has low repeatability, but the fault conditions of each test are different. It is difficult to reproduce the same fault scenario under different test conditions, which reduces the accuracy and reliability of the occlusion test results. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a vehicle parking camera occlusion test method and test device, by using a fault injection device to perform an occlusion test on a target parking camera arranged in a vehicle, setting a fault injection mode of the fault injection device, and based on the occlusion area and the occlusion position, using a baffle robot arm to control and adjust the movement of the baffle, thereby realizing partial or global occlusion of the parking camera in different fields of view, and dynamic adjustment of the occlusion position of the vehicle during parking, so as to simulate the occlusion of the parking camera during the movement of the vehicle, and determining the test result of the parking camera under the target fault injection mode according to the test data determined by the collected field of view image, thereby ensuring the comprehensiveness of the occlusion test on the vehicle parking camera and improving the accuracy and reliability of the occlusion test result.

[0005] The embodiment of the present application provides a method for testing an occlusion of a vehicle parking camera. The method is applied to a fault injection device, the fault injection device includes a baffle mechanical arm and an adjustable baffle. The method includes:

[0006] When using the fault injection device to perform an occlusion test on a target parking camera disposed in a vehicle, a target fault injection mode of the fault injection device is determined in a preset fault injection mode based on the acquired test requirement information for the occlusion test; wherein the fault injection mode includes partial occlusion, full occlusion and dynamic occlusion;

[0007] Based on the shielding area and shielding position corresponding to the target fault injection mode, using the shielding plate mechanical arm to control the adjustment shielding plate to move according to the shielding area and the shielding position, so as to shield the field of view of the target parking camera;

[0008] Acquire a field of view image captured by the target parking camera under the field of view occlusion, and determine test data of the target parking camera in the target fault injection mode based on the field of view image;

[0009] The test data is compared with calibration data corresponding to the target fault injection mode, and based on the comparison result, a test result of the target parking camera in the target fault injection mode is determined.

[0010] Furthermore, the occlusion test method further includes:

[0011] In response to determining that the test result is a parking failure or a parking task interruption, a warning message indicating that there is a problem with the target parking camera is sent to the driver and passengers using a human-machine interface provided in the vehicle.

[0012] Further, when the target fault injection mode is partial shielding, based on the shielding area and shielding position corresponding to the target fault injection mode, the shielding plate is controlled by the shielding plate mechanical arm to move according to the shielding area and the shielding position to shield the field of view of the target parking camera, including:

[0013] Determine a first field of view occlusion ratio and a first occlusion position corresponding to the target fault injection mode being partial occlusion, and determine a first occlusion area based on the first field of view occlusion ratio and a preset field of view area of ​​the target parking camera;

[0014] Based on the first shielding area and the first shielding position, determining a first control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to slightly shield the field of view of the target parking camera;

[0015] Based on the first control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to slightly block the field of view of the target parking camera.

[0016] Further, when the target fault injection mode is full shielding, based on the shielding area and shielding position corresponding to the target fault injection mode, the shielding plate adjustment is controlled by the shielding plate mechanical arm to move according to the shielding area and the shielding position to shield the field of view of the target parking camera, including:

[0017] Determine a second field of view occlusion ratio and a second occlusion position corresponding to the target fault injection mode being complete occlusion, and determine a second occlusion area based on the second field of view occlusion ratio and a preset field of view area of ​​the target parking camera;

[0018] Based on the second shielding area and the second shielding position, determining a second control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to completely shield the field of view of the target parking camera;

[0019] Based on the second control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to completely block the field of view of the target parking camera.

[0020] Further, when the target fault injection mode is dynamic shielding, based on the shielding area and shielding position corresponding to the target fault injection mode, the shielding plate is controlled by the shielding plate mechanical arm to move according to the shielding area and the shielding position to shield the field of view of the target parking camera, including:

[0021] Determine a plurality of third field of view occlusion ratios and a plurality of third occlusion positions corresponding to the target fault injection mode being dynamic occlusion, and determine a plurality of third occlusion areas based on the plurality of third field of view occlusion ratios and a preset field of view area of ​​the target parking camera;

[0022] Based on the plurality of third shielding areas and the plurality of third shielding positions, determining a third control strategy of the shielding plate mechanical arm for controlling the adjustable shielding plate to dynamically shield the field of view of the target parking camera;

[0023] Based on the third control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically multiple times, so as to dynamically block the field of view of the target parking camera multiple times.

[0024] Further, determining the test result of the target parking camera in the target fault injection mode based on the comparison result includes:

[0025] When the comparison result is that the test data is consistent with the calibration data, determining that the test result of the target parking camera in the target fault injection mode is that the parking function is normal;

[0026] When the comparison result is that the test data is inconsistent with the calibration data, it is determined that the test result of the target parking camera in the target fault injection mode is a parking fault or a parking task interruption.

[0027] The embodiment of the present application further provides an occlusion test device for a vehicle parking camera, the occlusion test device comprising:

[0028] A mode determination module, configured to determine a target fault injection mode of the fault injection device in a preset fault injection mode based on the acquired test requirement information for the occlusion test when performing an occlusion test on a target parking camera disposed in a vehicle using a fault injection device; wherein the fault injection mode includes partial occlusion, full occlusion and dynamic occlusion;

[0029] A baffle control module, configured to control and adjust the baffle to move according to the baffle area and the baffle position corresponding to the target fault injection mode by using a baffle mechanical arm, so as to block the field of view of the target parking camera;

[0030] a data acquisition module, configured to acquire a field of view image acquired by the target parking camera under the field of view occlusion, and determine test data of the target parking camera under the target fault injection mode based on the field of view image;

[0031] The test result module is used to compare the test data with the calibration data corresponding to the target fault injection mode, and determine the test result of the target parking camera in the target fault injection mode based on the comparison result.

[0032] Furthermore, the occlusion test device further includes a test warning module, and the test warning module is used to:

[0033] In response to determining that the test result is a parking failure or a parking task interruption, a warning message indicating that there is a problem with the target parking camera is sent to the driver and passengers using a human-machine interface provided in the vehicle.

[0034] Further, when the target fault injection mode is partial shielding, the baffle control module is used to control the adjustment shielding plate to move according to the shielding area and the shielding position corresponding to the target fault injection mode by using the baffle mechanical arm to shield the field of view of the target parking camera. The baffle control module is used to:

[0035] Determine a first field of view occlusion ratio and a first occlusion position corresponding to the target fault injection mode being partial occlusion, and determine a first occlusion area based on the first field of view occlusion ratio and a preset field of view area of ​​the target parking camera;

[0036] Based on the first shielding area and the first shielding position, determining a first control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to slightly shield the field of view of the target parking camera;

[0037] Based on the first control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to slightly block the field of view of the target parking camera.

[0038] Further, when the target fault injection mode is full shielding, the baffle control module is used to control the adjustment baffle to move according to the shielding area and the shielding position corresponding to the target fault injection mode by using the baffle mechanical arm to shield the field of view of the target parking camera. The baffle control module is used to:

[0039] Determine a second field of view occlusion ratio and a second occlusion position corresponding to the target fault injection mode being complete occlusion, and determine a second occlusion area based on the second field of view occlusion ratio and a preset field of view area of ​​the target parking camera;

[0040] Based on the second shielding area and the second shielding position, determining a second control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to completely shield the field of view of the target parking camera;

[0041] Based on the second control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to completely block the field of view of the target parking camera.

[0042] Further, when the target fault injection mode is dynamic shielding, the baffle control module is used to control the adjustment shielding plate to move according to the shielding area and the shielding position corresponding to the target fault injection mode by using the baffle mechanical arm to shield the field of view of the target parking camera. The baffle control module is used to:

[0043] Determine a plurality of third field of view occlusion ratios and a plurality of third occlusion positions corresponding to the target fault injection mode being dynamic occlusion, and determine a plurality of third occlusion areas based on the plurality of third field of view occlusion ratios and a preset field of view area of ​​the target parking camera;

[0044] Based on the plurality of third shielding areas and the plurality of third shielding positions, determining a third control strategy of the shielding plate mechanical arm for controlling the adjustable shielding plate to dynamically shield the field of view of the target parking camera;

[0045] Based on the third control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically multiple times, so as to dynamically block the field of view of the target parking camera multiple times.

[0046] Further, when the test result module is used to determine the test result of the target parking camera in the target fault injection mode based on the comparison result, the test result module is used to:

[0047] When the comparison result is that the test data is consistent with the calibration data, determining that the test result of the target parking camera in the target fault injection mode is that the parking function is normal;

[0048] When the comparison result is that the test data is inconsistent with the calibration data, it is determined that the test result of the target parking camera in the target fault injection mode is a parking fault or a parking task interruption.

[0049] An embodiment of the present application also provides an electronic device, including: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned vehicle parking camera occlusion test method are performed.

[0050] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned vehicle parking camera occlusion test method are executed.

[0051] The embodiment of the present application provides an occlusion test method and a test device for a vehicle parking camera. The occlusion test method is applied to a fault injection device, and the fault injection device includes a baffle mechanical arm and an adjustable baffle plate. The occlusion test method includes: when using the fault injection device to perform an occlusion test on a target parking camera set in a vehicle, based on the acquired test requirement information for the occlusion test, determining a target fault injection mode of the fault injection device in a preset fault injection mode; wherein the fault injection mode includes partial occlusion, full occlusion and dynamic occlusion; based on the occlusion area and occlusion position corresponding to the target fault injection mode, using the baffle mechanical arm to control the adjustable baffle plate to move according to the occlusion area and the occlusion position to block the field of view of the target parking camera; obtaining a field of view image collected by the target parking camera under the field of view occlusion, and determining test data of the target parking camera under the target fault injection mode based on the field of view image; comparing the test data with the calibration data corresponding to the target fault injection mode, and determining the test result of the target parking camera under the target fault injection mode based on the comparison result.

[0052] Compared with the methods of static occlusion, global occlusion or single-point occlusion under artificial settings or external environmental conditions in the prior art, a target parking camera set in a vehicle is tested for occlusion by a fault injection device, the fault injection mode of the fault injection device is set, and based on the occlusion area and the occlusion position, the baffle robot arm is used to control and adjust the movement of the baffle to achieve partial or global occlusion of the parking camera in different fields of view, and dynamic adjustment of the occlusion position of the vehicle during parking to simulate the occlusion of the parking camera during the movement of the vehicle. The test result of the parking camera under the target fault injection mode is determined according to the test data determined by the collected field of view image, thereby ensuring the comprehensiveness of the occlusion test of the vehicle parking camera and improving the accuracy and reliability of the occlusion test result.

[0053] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0055] Figure 1One of the flow charts of a method for testing an occlusion of a vehicle parking camera provided in an embodiment of the present application;

[0056] Figure 2 A schematic diagram of the structure of a fault injection device provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of a control structure of a baffle robot arm provided in an embodiment of the present application;

[0058] Figure 4 A second flowchart of an occlusion test method for a vehicle parking camera provided in an embodiment of the present application;

[0059] Figure 5 One of the structural schematic diagrams of an occlusion test device for a vehicle parking camera provided in an embodiment of the present application;

[0060] Figure 6 A second structural schematic diagram of an occlusion test device for a vehicle parking camera provided in an embodiment of the present application;

[0061] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0063] The automatic parking system can perceive the environment through surround-view cameras, ultrasonic, radar and other sensors, and combine path planning and control algorithms to assist the vehicle in automatically parking. Furthermore, in order to verify the robustness of the vehicle's automatic parking system and its performance in fault conditions, it is crucial to perform fault injection testing on the vehicle's parking camera. The fault injection test can artificially create situations such as sensor occlusion and test the automatic parking system's response in these situations to deal with parking failures or safety hazards caused by camera obstructions (for example, mud, floating plastic bags and other obstructions) during the automatic parking process.

[0064] Research has found that, at present, fault injection testing of vehicle parking cameras is mainly carried out under artificial settings or external environmental conditions (for example, artificial occlusion and natural light changes, etc.). It is difficult to accurately control the occlusion position and area, and only static occlusion, global occlusion or single-point occlusion can be performed during the occlusion process. It is impossible to fully evaluate the system's response ability to different occlusion positions. In addition, although the manual testing method has low repeatability, there are differences in the fault conditions of each test, and it is difficult to reproduce the same fault scenario under different test conditions, which reduces the accuracy and reliability of the occlusion test results.

[0065] Based on this, an embodiment of the present application provides an occlusion test method for a vehicle parking camera, in which an occlusion test is performed on a target parking camera arranged in a vehicle through a fault injection device, a fault injection mode of the fault injection device is set, and based on the occlusion area and the occlusion position, a baffle robot arm is used to control and adjust the movement of the baffle to achieve partial or global occlusion of the parking camera in different fields of view, and dynamic adjustment of the occlusion position of the vehicle during parking to simulate the occlusion of the parking camera during the movement of the vehicle. According to the test data determined by the collected field of view image, the test result of the parking camera under the target fault injection mode is determined, thereby ensuring the comprehensiveness of the occlusion test on the vehicle parking camera and improving the accuracy and reliability of the occlusion test result.

[0066] See also Figure 1 , Figure 1 This is one of the flow charts of a method for testing the occlusion of a vehicle parking camera provided in an embodiment of the present application. Figure 1 As shown in the figure, the occlusion test method of the vehicle parking camera provided in the embodiment of the present application is generally applied to a fault injection device, wherein the fault injection device includes a baffle mechanical arm and an adjustable baffle, and the occlusion test method includes:

[0067] S101. When using the fault injection device to perform an occlusion test on a target parking camera installed in a vehicle, based on the acquired test requirement information for the occlusion test, determine a target fault injection mode of the fault injection device in a preset fault injection mode; wherein the fault injection mode includes partial occlusion, complete occlusion and dynamic occlusion.

[0068] In an embodiment of the present application, the fault injection device includes a baffle mechanical arm and an adjustable baffle, and also includes a baffle mechanical arm fixing bracket, a driving stepper motor and an occlusion test device for a vehicle parking camera.

[0069] For details, please refer to Figure 2 , Figure 2 This is a schematic diagram of the structure of a fault injection device provided in an embodiment of the present application. Figure 2As shown in , the fault injection device 10 includes a baffle mechanical arm 110, an adjustable baffle plate 120, a baffle mechanical arm fixing bracket 130, a driving stepper motor 140 and a vehicle parking camera obstruction test device 500.

[0070] Among them, the baffle robot arm 110 is equipped with horizontal (X direction) and vertical (Y direction) moving slide rails. The vehicle parking camera occlusion test device 500 can drive the baffle robot arm 110 equipped with the moving slide rails by driving the stepper motor 140 to adjust the baffle plate 120 on the moving slide rails on the baffle robot arm 110 to move horizontally and vertically respectively, thereby adjusting the baffle plate 120 to perform an occlusion test on the target parking camera at different occlusion positions and occlusion areas.

[0071] In this step, when using a fault injection device to perform an occlusion test on a target parking camera in a vehicle, the test requirement information issued by the user for the occlusion test is obtained, and it is determined whether the occlusion test is to be performed partially, completely, or dynamically. Then, based on the test requirement information, the target fault injection mode of the fault injection device is determined in a preset fault injection mode.

[0072] In an embodiment of the present application, the fault injection modes include partial occlusion, full occlusion and dynamic occlusion; wherein, the partial occlusion refers to using the driving stepper motor in the fault injection device to calibrate the control of the baffle robot arm according to the set partial field of view of the parking camera to block, so as to simulate the slight occlusion of the parking camera by adjusting the baffle.

[0073] The complete occlusion refers to using the driving stepper motor in the fault injection device to calibrate the control of the baffle robot arm according to the set occlusion of the entire field of view of the parking camera, so as to simulate the situation where the baffle is adjusted to completely block the parking camera, that is, to simulate the situation where the parking camera cannot capture images.

[0074] The dynamic shielding refers to using the driving stepper motor in the fault injection device to control the baffle robot arm to dynamically move the adjustable baffle, so as to realize the automatic movement of the adjustable baffle during the vehicle parking process, so as to simulate the situation where obstacles dynamically appear near the parking camera in a real environment.

[0075] Here, the fault injection mode may also include other modes, and each mode may be specifically set according to the user's configuration information; wherein, the field of view occlusion ratio and occlusion position corresponding to the partial occlusion, the complete occlusion and the dynamic occlusion respectively may also be specifically set according to the user's needs.

[0076] S102. Based on the shielding area and shielding position corresponding to the target fault injection mode, use the shielding plate mechanical arm to control the adjustment shielding plate to move according to the shielding area and the shielding position to shield the field of view of the target parking camera.

[0077] In an embodiment of the present application, the baffle robot arm includes an X-axis drive belt, a Y-axis drive belt, an X-axis motion slide rail, a Y-axis motion slide rail and an adjustable baffle bracket; the driving stepper motor includes an X-axis driving stepper motor and a Y-axis driving stepper motor.

[0078] For details, please refer to Figure 3 , Figure 3 This is a schematic diagram of the control structure of a baffle robot arm provided in an embodiment of the present application. Figure 3 As shown in the figure, the adjustable baffle plate bracket 111 is driven by an X-direction driving stepper motor 141, and moves horizontally (in the X direction) in the X-direction moving slide 113 through an X-direction driving belt 112; in addition, the adjustable baffle plate bracket 111 can be driven by a Y-direction driving stepper motor 142, and moves vertically (in the Y direction) in the Y-direction moving slide 115 through a Y-direction driving belt 114.

[0079] In this step, during the specific implementation, first, the blocked area is determined based on the percentage of field of view blocked corresponding to the target fault injection mode; then, based on the blocked area and the blocking position corresponding to the target fault injection mode, a control strategy of the baffle robot arm for controlling the adjustment of the baffle plate to block the field of view of the target parking camera is determined; finally, based on the control strategy, the baffle robot arm is used to control the adjustment of the baffle plate to move horizontally and vertically respectively to block the field of view of the target parking camera.

[0080] Here, since the fault injection modes include partial occlusion, complete occlusion and dynamic occlusion, there is a control strategy in each target fault injection mode to use the baffle robot arm to control and adjust the baffle to block the field of view of the target parking camera.

[0081] In an implementation manner of the present application, when the target fault injection mode is partial shielding, step S102 may include:

[0082] S1021. Determine a first field of view occlusion ratio and a first occlusion position corresponding to partial occlusion of the target fault injection mode, and determine a first occlusion area based on the first field of view occlusion ratio and a preset field of view area of ​​the target parking camera.

[0083] In an embodiment of the present application, the first field of view occlusion ratio can be set to a ratio value less than 1 / 2 such as 1 / 3 or 1 / 2. The first field of view occlusion ratio can also be specifically set according to specific test requirements, and the present application will no longer limit it here.

[0084] In this step, after the first field of view obstruction ratio is determined, the first field of view obstruction ratio is multiplied by a preset field of view area of ​​the target parking camera, and the obtained product is determined as the first obstruction area.

[0085] S1022: Based on the first blocking area and the first blocking position, determine a first control strategy of the baffle robot arm for controlling the adjustable baffle to slightly block the field of view of the target parking camera.

[0086] Here, the first control strategy refers to the control method and control signal parameters of the baffle robot arm controlling and adjusting the movement of the baffle when the target fault injection mode is partial obstruction.

[0087] S1023. Based on the first control strategy, use the baffle robot arm to control the adjustable baffle to move horizontally and vertically respectively, so as to slightly block the field of view of the target parking camera.

[0088] In an implementation manner of the present application, when the target fault injection mode is complete shielding, step S102 may include:

[0089] S1024: Determine a second field of view occlusion ratio and a second occlusion position corresponding to the target fault injection mode being complete occlusion, and determine a second occlusion area based on the second field of view occlusion ratio and a preset field of view area of ​​the target parking camera.

[0090] In an embodiment of the present application, the second field of view occlusion ratio can be set to 100% or a ratio value close to 100%. The second field of view occlusion ratio can also be specifically set according to specific test requirements, and the present application will no longer limit it here.

[0091] In this step, after determining the second field of view occlusion ratio, the second field of view occlusion ratio is multiplied by the preset field of view area of ​​the target parking camera, and the product result is determined as the second occlusion area; wherein the second occlusion area is approximately equal to the preset field of view area of ​​the target parking camera.

[0092] S1025. Based on the second blocking area and the second blocking position, determine a second control strategy of the baffle robot arm for controlling the adjustable baffle to completely block the field of view of the target parking camera.

[0093] Here, the second control strategy refers to the control method and control signal parameters of the baffle robot arm controlling and adjusting the movement of the baffle when the target fault injection mode is full shielding.

[0094] S1026. Based on the second control strategy, use the baffle robot arm to control the adjustable baffle to move horizontally and vertically respectively, so as to completely block the field of view of the target parking camera.

[0095] In an implementation manner of the present application, when the target fault injection mode is dynamic shielding, step S102 may include:

[0096] S1027. Determine multiple third field of view occlusion ratios and multiple third occlusion positions corresponding to the target fault injection mode being dynamic occlusion, and determine multiple third occlusion areas based on the multiple third field of view occlusion ratios and a preset field of view area of ​​the target parking camera.

[0097] In an embodiment of the present application, in order to achieve automatic movement of the adjustment shield during vehicle parking to simulate the situation where obstacles dynamically appear near the target parking camera in a real environment, multiple third field of view shielding ratios and multiple third shielding positions corresponding to dynamic shielding are dynamically shielded.

[0098] In this step, after determining the third field of view blocking ratios, the third field of view blocking ratios are multiplied by the preset field of view area of ​​the target parking camera, and the obtained product results are determined as the third blocking areas.

[0099] S1028. Based on the multiple third blocking areas and the multiple third blocking positions, determine a third control strategy of the baffle robotic arm for controlling the adjustable baffle to dynamically block the field of view of the target parking camera.

[0100] Here, the third control strategy refers to a plurality of control modes and a plurality of control signal parameters for the baffle robot arm to control and adjust the movement of the baffle when the target fault injection mode is dynamic baffle.

[0101] S1029. Based on the third control strategy, the baffle robot arm is used to control the adjustable baffle to perform multiple lateral and vertical movements, respectively, so as to dynamically block the field of view of the target parking camera multiple times.

[0102] In this step, based on the multiple control modes and multiple control signal parameters in the third control strategy, the baffle robot arm is used to control and adjust the movement of the baffle to achieve a dynamic occlusion test of the target parking camera.

[0103] S103: Acquire a field of view image captured by the target parking camera under the field of view occlusion, and determine test data of the target parking camera in the target fault injection mode based on the field of view image.

[0104] In this step, after the baffle is controlled and adjusted to move by the baffle robot arm to block the field of view of the target parking camera in the target fault injection mode, a field of view image captured by the target parking camera under the field of view blocking is obtained; then, based on the field of view image, the test data of the target parking camera in the target fault injection mode is determined.

[0105] The test data includes response data and feedback data collected when the vehicle uses the target parking camera to perform auxiliary behaviors such as automatic parking.

[0106] Exemplarily, when the target parking camera has its field of view blocked under partial occlusion, the target parking camera collects a field of view image under 1 / 3 of the field of view blocked; then, based on the field of view image, test data such as parking assist lines, parking signs, and surround view images that can be displayed by the vehicle are determined.

[0107] S104: Compare the test data with calibration data corresponding to the target fault injection mode, and determine a test result of the target parking camera in the target fault injection mode based on the comparison result.

[0108] In this step, the test data is compared with the calibration data corresponding to the target fault injection mode to determine a comparison result showing whether the test data is consistent with the calibration data; then, the test result of the target parking camera under the target fault injection mode is determined for the two comparison results of consistency and inconsistency between the test data and the calibration data.

[0109] The test results include normal parking function and parking failure or parking task interruption.

[0110] In one implementation of the present application, during specific implementation, step S104 may include:

[0111] S1041. When the comparison result is that the test data is consistent with the calibration data, determine that the test result of the target parking camera in the target fault injection mode is that the parking function is normal.

[0112] S1042: When the comparison result is that the test data is inconsistent with the calibration data, determine that the test result of the target parking camera in the target fault injection mode is a parking fault or a parking task interruption.

[0113] Optional, see Figure 4 , Figure 4 This is a second flow chart of a method for testing the occlusion of a vehicle parking camera provided in an embodiment of the present application. Figure 4 As shown in, in addition to the occlusion test method of the vehicle parking camera described in steps S101 to S104, the embodiment of the present application also includes step S105. Specifically, step S105 is used to illustrate the warning method when the test result is a parking failure or a parking task interruption, so as to improve the reliability of the test and the safety of the vehicle.

[0114] S105: In response to determining that the test result is a parking failure or a parking task interruption, using a human-machine interface disposed in the vehicle to send a warning message indicating that there is a problem with the target parking camera to the driver and passengers.

[0115] In this step, when a parking failure or parking task interruption signal is detected as a test result, a warning message indicating a problem with the target parking camera is sent to the driver and passengers using a human-machine interface provided in the vehicle in response to the signal.

[0116] Here, the human-machine interface (HMI) refers to the interface for interaction between the user and the vehicle computer, which is designed to enable the driver and passengers to effectively control the vehicle computer screen or vehicle computer system.

[0117] The occlusion test method for a vehicle parking camera provided in an embodiment of the present application performs an occlusion test on a target parking camera installed in a vehicle through a fault injection device, sets a fault injection mode of the fault injection device, and based on the occlusion area and the occlusion position, uses a baffle robot arm to control and adjust the movement of the baffle to achieve partial or global occlusion of the parking camera in different fields of view, as well as dynamic adjustment of the occlusion position of the vehicle during parking, so as to simulate the occlusion of the parking camera during the movement of the vehicle, and determines the test result of the parking camera under the target fault injection mode based on the test data determined by the collected field of view image, thereby ensuring the comprehensiveness of the occlusion test on the vehicle parking camera and improving the accuracy and reliability of the occlusion test result.

[0118] See also Figure 5 , Figure 6 , Figure 5 This is one of the structural schematic diagrams of an occlusion test device for a vehicle parking camera provided in an embodiment of the present application. Figure 6 This is a second structural diagram of a vehicle parking camera occlusion test device provided in an embodiment of the present application. Figure 5 As shown in , the occlusion testing device 500 comprises:

[0119] A mode determination module 510 is used to determine a target fault injection mode of the fault injection device in a preset fault injection mode based on the acquired test requirement information for the occlusion test when performing an occlusion test on a target parking camera disposed in a vehicle using a fault injection device; wherein the fault injection mode includes partial occlusion, full occlusion and dynamic occlusion;

[0120] The baffle control module 520 is used to control and adjust the baffle to move according to the baffle area and the baffle position corresponding to the target fault injection mode by using the baffle mechanical arm to block the field of view of the target parking camera;

[0121] A data acquisition module 530, configured to acquire a field of view image acquired by the target parking camera under the field of view occlusion, and determine test data of the target parking camera under the target fault injection mode based on the field of view image;

[0122] The test result module 540 is configured to compare the test data with calibration data corresponding to the target fault injection mode, and determine a test result of the target parking camera in the target fault injection mode based on the comparison result.

[0123] Further, such as Figure 6 As shown in FIG. 5 , the shielding test device 500 further includes a test warning module 550, and the test warning module 550 is used to:

[0124] In response to determining that the test result is a parking failure or a parking task interruption, a warning message indicating that there is a problem with the target parking camera is sent to the driver and passengers using a human-machine interface provided in the vehicle.

[0125] Further, when the target fault injection mode is partial shielding, the baffle control module 520 is used to control the adjustment shielding plate to move according to the shielding area and the shielding position corresponding to the target fault injection mode by using the baffle mechanical arm to shield the field of view of the target parking camera. The baffle control module 520 is used to:

[0126] Determine a first field of view occlusion ratio and a first occlusion position corresponding to the target fault injection mode being partial occlusion, and determine a first occlusion area based on the first field of view occlusion ratio and a preset field of view area of ​​the target parking camera;

[0127] Based on the first shielding area and the first shielding position, determining a first control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to slightly shield the field of view of the target parking camera;

[0128] Based on the first control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to slightly block the field of view of the target parking camera.

[0129] Further, when the target fault injection mode is full shielding, the baffle control module 520 is used to control the adjustment shielding plate to move according to the shielding area and the shielding position based on the shielding area and the shielding position corresponding to the target fault injection mode by using the baffle mechanical arm to shield the field of view of the target parking camera. The baffle control module 520 is used to:

[0130] Determine a second field of view occlusion ratio and a second occlusion position corresponding to the target fault injection mode being complete occlusion, and determine a second occlusion area based on the second field of view occlusion ratio and a preset field of view area of ​​the target parking camera;

[0131] Based on the second shielding area and the second shielding position, determining a second control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to completely shield the field of view of the target parking camera;

[0132] Based on the second control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to completely block the field of view of the target parking camera.

[0133] Further, when the target fault injection mode is dynamic shielding, the baffle control module 520 is used to control the adjustment shielding plate to move according to the shielding area and the shielding position corresponding to the target fault injection mode by using the baffle mechanical arm to shield the field of view of the target parking camera. The baffle control module 520 is used to:

[0134] Determine a plurality of third field of view occlusion ratios and a plurality of third occlusion positions corresponding to the target fault injection mode being dynamic occlusion, and determine a plurality of third occlusion areas based on the plurality of third field of view occlusion ratios and a preset field of view area of ​​the target parking camera;

[0135] Based on the plurality of third shielding areas and the plurality of third shielding positions, determining a third control strategy of the shielding plate mechanical arm for controlling the adjustable shielding plate to dynamically shield the field of view of the target parking camera;

[0136] Based on the third control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically multiple times, so as to dynamically block the field of view of the target parking camera multiple times.

[0137] Further, when the test result module 540 is used to determine the test result of the target parking camera in the target fault injection mode based on the comparison result, the test result module 540 is used to:

[0138] When the comparison result is that the test data is consistent with the calibration data, determining that the test result of the target parking camera in the target fault injection mode is that the parking function is normal;

[0139] When the comparison result is that the test data is inconsistent with the calibration data, it is determined that the test result of the target parking camera in the target fault injection mode is a parking fault or a parking task interruption.

[0140] The occlusion test device for a vehicle parking camera provided in an embodiment of the present application performs an occlusion test on a target parking camera arranged in a vehicle through a fault injection device, sets a fault injection mode of the fault injection device, and based on the occlusion area and the occlusion position, uses a baffle robot arm to control and adjust the movement of the baffle to achieve partial or global occlusion of the parking camera in different fields of view, and dynamic adjustment of the occlusion position of the vehicle during parking, so as to simulate the occlusion of the parking camera during the movement of the vehicle, and determine the test result of the parking camera under the target fault injection mode according to the test data determined by the collected field of view image, thereby ensuring the comprehensiveness of the occlusion test on the vehicle parking camera and improving the accuracy and reliability of the occlusion test result.

[0141] See also Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7 As shown in , the electronic device 700 includes a processor 710 , a memory 720 and a bus 730 .

[0142] The memory 720 stores machine-readable instructions executable by the processor 710. When the electronic device 700 is running, the processor 710 communicates with the memory 720 via the bus 730. When the machine-readable instructions are executed by the processor 710, the above-mentioned Figure 1 as well as Figure 4 The specific implementation of the steps of the vehicle parking camera occlusion test method in the method embodiment shown can be found in the method embodiment, which will not be repeated here.

[0143] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 as well as Figure 4The specific implementation of the steps of the vehicle parking camera occlusion test method in the method embodiment shown can be found in the method embodiment, which will not be repeated here.

[0144] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0145] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0146] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0147] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0148] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0149] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for testing the occlusion of a vehicle parking camera, characterized in that: The occlusion test method is applied to a fault injection device, the fault injection device includes a baffle mechanical arm and an adjustable baffle, and the occlusion test method includes: When using the fault injection device to perform an occlusion test on a target parking camera disposed in a vehicle, a target fault injection mode of the fault injection device is determined in a preset fault injection mode based on the acquired test requirement information for the occlusion test; wherein the fault injection mode includes partial occlusion, full occlusion and dynamic occlusion; Based on the shielding area and shielding position corresponding to the target fault injection mode, using the shielding plate mechanical arm to control the adjustment shielding plate to move according to the shielding area and the shielding position, so as to shield the field of view of the target parking camera; Acquire a field of view image captured by the target parking camera under the field of view occlusion, and determine test data of the target parking camera in the target fault injection mode based on the field of view image; The test data is compared with calibration data corresponding to the target fault injection mode, and based on the comparison result, a test result of the target parking camera in the target fault injection mode is determined.

2. The method according to claim 1, characterized in that The occlusion test method further includes: In response to determining that the test result is a parking failure or a parking task interruption, a warning message indicating that there is a problem with the target parking camera is sent to the driver and passengers using a human-machine interface provided in the vehicle.

3. The method according to claim 1, characterized in that When the target fault injection mode is partial shielding, based on the shielding area and shielding position corresponding to the target fault injection mode, using the shielding plate mechanical arm to control the adjustment shielding plate to move according to the shielding area and the shielding position to shield the field of view of the target parking camera, including: Determine a first field of view occlusion ratio and a first occlusion position corresponding to the target fault injection mode being partial occlusion, and determine a first occlusion area based on the first field of view occlusion ratio and a preset field of view area of ​​the target parking camera; Based on the first shielding area and the first shielding position, determining a first control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to slightly shield the field of view of the target parking camera; Based on the first control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to slightly block the field of view of the target parking camera.

4. The method according to claim 1, characterized in that When the target fault injection mode is full shielding, based on the shielding area and shielding position corresponding to the target fault injection mode, using the shielding plate mechanical arm to control the adjustment shielding plate to move according to the shielding area and the shielding position to shield the field of view of the target parking camera, including: Determine a second field of view occlusion ratio and a second occlusion position corresponding to the target fault injection mode being complete occlusion, and determine a second occlusion area based on the second field of view occlusion ratio and a preset field of view area of ​​the target parking camera; Based on the second shielding area and the second shielding position, determining a second control strategy of the shielding mechanical arm for controlling the adjustable shielding plate to completely shield the field of view of the target parking camera; Based on the second control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically respectively, so as to completely block the field of view of the target parking camera.

5. The method according to claim 1, characterized in that: When the target fault injection mode is dynamic shielding, based on the shielding area and shielding position corresponding to the target fault injection mode, using the shielding plate mechanical arm to control the adjustment shielding plate to move according to the shielding area and the shielding position to shield the field of view of the target parking camera, including: Determine a plurality of third field of view occlusion ratios and a plurality of third occlusion positions corresponding to the target fault injection mode being dynamic occlusion, and determine a plurality of third occlusion areas based on the plurality of third field of view occlusion ratios and a preset field of view area of ​​the target parking camera; Based on the plurality of third shielding areas and the plurality of third shielding positions, determining a third control strategy of the shielding plate mechanical arm for controlling the adjustable shielding plate to dynamically shield the field of view of the target parking camera; Based on the third control strategy, the baffle robot arm is used to control the adjustable baffle to move horizontally and vertically multiple times, so as to dynamically block the field of view of the target parking camera multiple times.

6. The method according to claim 1, characterized in that The step of determining a test result of the target parking camera in the target fault injection mode based on the comparison result includes: When the comparison result is that the test data is consistent with the calibration data, determining that the test result of the target parking camera in the target fault injection mode is that the parking function is normal; When the comparison result is that the test data is inconsistent with the calibration data, it is determined that the test result of the target parking camera in the target fault injection mode is a parking fault or a parking task interruption.

7. A vehicle parking camera occlusion test device, characterized in that: The occlusion testing device comprises: A mode determination module, configured to determine a target fault injection mode of the fault injection device in a preset fault injection mode based on the acquired test requirement information for the occlusion test when performing an occlusion test on a target parking camera disposed in a vehicle using a fault injection device; wherein the fault injection mode includes partial occlusion, full occlusion and dynamic occlusion; A baffle control module, configured to control and adjust the baffle to move according to the baffle area and the baffle position corresponding to the target fault injection mode by using a baffle mechanical arm, so as to block the field of view of the target parking camera; a data acquisition module, configured to acquire a field of view image acquired by the target parking camera under the field of view occlusion, and determine test data of the target parking camera under the target fault injection mode based on the field of view image; The test result module is used to compare the test data with the calibration data corresponding to the target fault injection mode, and determine the test result of the target parking camera in the target fault injection mode based on the comparison result.

8. The device according to claim 7, characterized in that The occlusion testing device further includes a test warning module, which is used to: In response to determining that the test result is a parking failure or a parking task interruption, a warning message indicating that there is a problem with the target parking camera is sent to the driver and passengers using a human-machine interface provided in the vehicle.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the vehicle parking camera occlusion test method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the occlusion test method for a vehicle parking camera according to any one of claims 1 to 6 are executed.

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