Performance test device and test method for vehicle-mounted sensing module

Abstract

The invention relates to a performance test device and test method for a vehicle-mounted sensing module. The tested camera module is arranged at one end in the video camera obscura main body, the illumination simulation module and the display screen are arranged at the other end in the video camera obscura main body, the display screen is connected with a graphic workstation in a visual rendering module, and the display screen is used for displaying a test scene rendered by the graphic workstation. The graphic workstation renders and displays a test scene and transmits information with the real-time module; the illumination simulation module and the display screen are located on the same side in the video camera obscura body and face the tested camera module so as to simulate an illumination scene during testing. The illumination simulation module is additionally arranged on the video camera obscura main body, so that the illumination environment test capability of hardware-in-the-loop test equipment is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of system-in-the-loop test scenario simulation equipment, and in particular to a performance testing device and a testing method for an on-board perception module. Background Art

[0002] With the development of vehicle-mounted perception module (camera) technology, more and more vehicles equipped with vehicle-mounted cameras are appearing on highways, and advanced driver assistance algorithms with visual perception as the core are gradually becoming mainstream. In order to test whether the actual performance of vehicle-mounted cameras meets the product functional requirements and improve the integration and deployment efficiency of ADAS systems, R&D personnel have moved the testing of perception modules from the actual vehicle field testing stage to the hardware-in-the-loop testing stage (HIL), so that in the early development stage of the ADAS intelligent driving algorithm, the algorithm code can be repeatedly modified based on the actual performance of the hardware to achieve efficient iteration of the ADAS algorithm. In hardware-in-the-loop testing, the perception module is generally connected to the test system in two ways:

[0003] One is the video injection solution, where the graphics card generates a virtual traffic scene with a specific perspective and directly injects it into the camera through a customized board. This method is suitable for the sensor selection of advanced driver assistance systems with multiple cameras.

[0004] The other is to use a video dark box. This method is suitable for the sensor selection scheme of L2 / L2+ advanced driver assistance system based on 1V1R (i.e., 1 camera and 1 millimeter-wave radar). The camera that integrates the subsequent perception fusion and planning control algorithm communicates with the lower computer through the CAN bus. The lower computer runs the dynamic model and virtual ECU. The display in the video dark box plays the simulation scene rendered by the map station. When the HIL is running, the map station will send the trigger signal of the VTD software to the lower computer, and will also receive the trigger signal from the lower computer. The map station and the lower computer are connected through an Ethernet cable. The IO model in the real-time machine of the lower computer will map the vehicle's posture information to the corresponding actuator model, and send it to the rendering software through the UDP protocol through the network cable, so as to realize the mutual communication between different components of the system. Since the video injection method requires the customized development of the video stream format conversion board, which is costly, the L2 / L2+ ADAS hardware-in-the-loop test scheme with a small number of sensors generally uses a video dark box to test the functional indicators of the perception module.

[0005] However, traditional video darkrooms cannot simulate traffic scenes in complex weather conditions, especially when driving against the light or when oncoming vehicles turn on their high beams. This is because the display screen has a maximum display brightness limit. The maximum peak nits of ordinary LCD screens are between 200 and 250, which is not bright enough to simulate the lighting conditions when the vehicle is driving against the light or when oncoming vehicles are at night. With the increasing development of ADAS functions, the intelligent driving assistance functions that could only be turned on under special lighting conditions in the past have gradually expanded the ODD (allowable operating range). In the field of commercial vehicles, driving in backlit environments or two-way dual-lane scenarios at night is a common usage scenario.

[0006] Therefore, it is urgent to develop a performance testing device and testing method for an on-board sensing module. Summary of the invention

[0007] Based on this, it is necessary to provide a performance testing device and method for an on-board perception module that can effectively simulate extreme lighting conditions in the hardware-in-the-loop stage to address the above problems.

[0008] A performance testing device for a vehicle-mounted sensing module, comprising:

[0009] The camera module under test is arranged at one end of the video dark box body and connected to the real-time machine module;

[0010] The illumination simulation module is arranged at the other end of the video darkbox body;

[0011] A visual rendering module, used to render and display the test scene and transmit information to the real-time machine module;

[0012] The display screens in the illumination simulation module and the visual rendering module are located on the same side of the video darkbox body and face the camera module under test to simulate the illumination scene during the test.

[0013] In one of the embodiments, the structure of the camera module under test comprises at least: a slide rail disposed at the bottom of the video darkbox body, and a six-degree-of-freedom test fixture is assembled on the slide rail;

[0014] Installing the camera body under test on one of the six-degree-of-freedom test fixtures to adjust the direction of the camera body under test;

[0015] An optical lens system is installed on another six-degree-of-freedom test fixture, and the distance between the optical lens system and the camera body under test is adjusted to simulate different camera arrangements.

[0016] In one of the embodiments, the camera body under test is connected to the real-time machine module via a CAN bus for exchanging information.

[0017] In one embodiment, the structure of the illumination simulation module at least includes:

[0018] A first lighting component for simulating direct sunlight;

[0019] The second lighting component and the third lighting component are used to simulate the oncoming high beam when vehicles meet in different directions.

[0020] In one of the embodiments, the first lighting assembly, the second lighting assembly and the third lighting assembly have the same arrangement structure; the arrangement structure is to arrange the lighting fixture on the guide rail via a six-degree-of-freedom fixture.

[0021] In one embodiment, the first lighting assembly, the second lighting assembly and the third lighting assembly are all connected to a lighting control board, and the lighting control board controls the color temperature and light intensity of the lighting fixture via a serial port data line.

[0022] In one embodiment, the structure of the visual rendering module at least includes:

[0023] A display screen is arranged in the video darkbox body and faces the camera module under test, and the display screen is used to display the test scene rendered by the graphics workstation.

[0024] In one embodiment, the display screen is connected to the graphic workstation via HDMI, and the graphic workstation transmits information to the real-time machine module via an Ethernet cable.

[0025] In one of the embodiments, the structure of the real-time machine module at least includes: a host computer and a real-time machine;

[0026] The host computer is used to run the test management software and exchange information between the graphic workstation and the real-time machine;

[0027] The real-time machine is used to run the vehicle dynamics model and virtual ECU, send the scene information from the graphics workstation and the control instructions of the camera module under test to the virtual vehicle, and then transmit the virtual vehicle's response based on the information obtained back to each part in real time.

[0028] A performance test method for an on-board sensing module, wherein the on-board sensing module is subjected to a lighting simulation test by using the performance test device for the on-board sensing module as described above, comprises the following steps:

[0029] Start the real-time machine and run the virtual vehicle dynamics model;

[0030] Start the graphics workstation and run the scene rendering software. The graphics workstation displays the image in real time on the display screen inside the video darkbox through HDMI.

[0031] Confirm that the communication between the real-time machine module and the scene rendering module is normal to ensure that data can be transmitted in both directions;

[0032] Connect the camera to be tested and confirm that the CAN bus communication is normal;

[0033] Conduct closed-loop test verification to ensure that the camera under test has normal perception function and planning and decision-making function in the video dark box.

[0034] Turn on the lighting simulation module, conduct a backlight driving simulation test, and adjust the power and inclination of the lighting fixtures.

[0035] The performance testing device and method of the above-mentioned vehicle-mounted sensing module are implemented by adding a lighting simulation module in the main body of the video darkbox, wherein the lighting simulation module includes a first lighting component, a second lighting component and a third lighting component, and is matched with a lighting control panel for adjusting the power and tilt angle of the lighting fixture. In the hardware-in-the-loop test, the first lighting component can be used to simulate direct sunlight to realize the scene simulation of sunlight and the camera body under test when the vehicle is driving against the light. The second lighting component and the third lighting component can also be used to simulate the night-time meeting scene. The power and tilt angle changes of the lighting registration are realized through the cooperation of the six-degree-of-freedom fixture and the lighting control panel, simulating the lighting effects of the headlights of different vehicle models and the different positions of the target vehicle when the two vehicles meet on the camera under test. The present invention can greatly improve the strong light environment testing capability of the hardware-in-the-loop testing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 FIG. 1 is a schematic diagram of the overall system structure in one embodiment of the present invention.

[0037] Figure 2 FIG. 4 is an overall network topology diagram in one embodiment of the present invention.

[0038] Figure 3 Schematic diagram of the structure of a camera module under test in one embodiment of the present invention.

[0039] Figure 4 FIG. 4 is a schematic diagram of the structure of a lighting simulation module in an embodiment of the present invention.

[0040] Figure 5 for Figure 4 Schematic diagram of the coordination structure between the central illumination fixture and the clamp.

[0041] Figure 6 Schematic diagram of illumination analysis of a top lighting fixture simulating direct sunlight in one embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1. Camera module under test; 2. Video darkbox body; 3. Lighting simulation module; 4. Scene rendering module; 5. Real-time machine module;

[0044] 101. Camera body under test; 102. Six-degree-of-freedom test fixture; 103. Optical lens system; 104. Slide rail; 105. CAN bus;

[0045] 301, lighting control panel; 302, first lighting fixture; 303, first six-degree-of-freedom fixture; 304, first guide rail; 305, second lighting fixture; 306, second six-degree-of-freedom fixture; 307, second guide rail; 308, third lighting fixture; 309, third six-degree-of-freedom fixture; 310, third guide rail;

[0046] 401. display screen; 402. graphic workstation;

[0047] 501, host computer; 502, real-time machine. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0049] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0050] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0051] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0052] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0054] See also Figure 1 A performance test device for a vehicle-mounted perception module provided in an embodiment of the present application includes a camera module 1 under test, a video darkbox body 2, a lighting simulation module 3, a scene rendering module 4 and a real-time machine module 5; the camera module 1 under test and the lighting simulation module 3 are arranged in the video darkbox body 2, the camera module 1 under test is located at one end of the video darkbox body 2, and the lighting simulation module 3 is located at the other end, and the display screen 401 of the scene rendering module 4 is located on the same side of the lighting simulation module 3 and faces the camera module 1 under test. When performing a strong light environment test, the lighting simulation module 3 starts to work to simulate traffic scenes such as driving against the light or meeting vehicles at night.

[0055] Combination Figure 2 As shown, Figure 2The overall network topology diagram of the performance testing device of the vehicle-mounted perception module in an embodiment of the present application is shown. In some embodiments, specifically, the camera body 101 under test is connected to the real-time machine module 5 via the CAN bus 105 for exchanging information; a display screen 401 is set at the rear of the video darkroom body 2, and the display screen 401 is connected to the graphic workstation 402 via an HDMI data cable, and the display screen 401 is used to display the test scene rendered by the graphic workstation 402; the graphic workstation 402 transmits information to the real-time machine module 5 via an Ethernet cable, thereby forming a closed-loop link in the performance testing process.

[0056] Combination Figure 3 As shown, Figure 3 A structural schematic diagram of a camera module 1 under test in an embodiment of the present application is shown. In some embodiments, the camera module 1 under test includes a camera body 101 under test, a six-degree-of-freedom test fixture 102, an optical lens system 103, a slide rail 104 and a CAN bus 105; wherein the camera body 101 under test exchanges information with the real-time machine module 5 via the CAN bus 105; the camera body 101 under test is installed on the slide rail 104 via the six-degree-of-freedom test fixture 102, and the slide rail 104 is fixed to the bottom of the video darkroom body 2, and the direction position of the camera body 101 under test is achieved by the cooperation of the six-degree-of-freedom test fixture 102 and the slide rail 104; the optical lens system 103 is installed on the slide rail 104 via another six-degree-of-freedom test fixture 102, so that the distance between the camera body 101 under test and the optical lens system 103 is adjustable, thereby simulating different camera arrangements.

[0057] Combination Figure 4 As shown, Figure 4 A schematic diagram of the structure of the illumination simulation module 3 in an embodiment of the present application is shown. In some embodiments, the illumination simulation module 3 includes a light control board 301, and the light control board 301 is used to control the first lighting assembly, the second lighting assembly, and the third lighting assembly respectively;

[0058] Specifically, the first lighting assembly is arranged on the top of the video darkbox body 2, and the first lighting assembly includes a first guide rail 304 arranged on the top of the video darkbox body 2, and a first lighting fixture 302 is assembled on the first guide rail 304 through a first six-degree-of-freedom fixture 303, and the first six-degree-of-freedom fixture 303 moves on the first guide rail 304 to adjust the lateral distance of the top first lighting fixture 302 relative to the camera body 101 under test, and the pitch angle relationship of the first lighting fixture 302 relative to the camera body 101 under test is adjusted by adjusting the pitch angle of the first six-degree-of-freedom fixture 303, and the yaw angle relationship of the first lighting fixture 302 relative to the camera body 101 under test is adjusted by adjusting the yaw angle of the first six-degree-of-freedom fixture 303, so as to achieve the simulation of the relative position relationship between the sun and the camera under test at different times;

[0059] Specifically, the second lighting assembly is arranged on the left side of the video dark box body 2, and the second lighting assembly includes a second guide rail 307 arranged on the left side of the video dark box body 2, and a second lighting fixture 305 is assembled on the second guide rail 307 through a second six-degree-of-freedom fixture 306;

[0060] Specifically, the third lighting assembly is arranged on the right side of the video dark box body 2, and the third lighting assembly includes a third guide rail 310 arranged on the right side of the video dark box body 2, and a third lighting fixture 308 is assembled on the third guide rail 310 through a third six-degree-of-freedom fixture 309;

[0061] The longitudinal distance between the left and right lamps and the camera body 101 under test is adjusted by moving the positions of the second six-degree-of-freedom fixture 306 and the third six-degree-of-freedom fixture 309 on the second guide rail 307 and the third guide rail 310 respectively; the pitch angle relationship and the yaw angle relationship relative to the camera body 101 under test are adjusted by adjusting the pitch angle and yaw angle of the second six-degree-of-freedom fixture 306 and the third six-degree-of-freedom fixture 309 respectively, so as to simulate the relative position relationship between the high beams of different types of moving vehicles and the camera body 101 under test when meeting at night through the second lighting assembly and the third lighting assembly.

[0062] Combination Figure 5 As shown, Figure 5 A schematic diagram of the matching structure of a lighting fixture and a six-degree-of-freedom fixture in an embodiment of the present application is shown, where a first lighting fixture 302 is installed on a first guide rail 304 through a first six-degree-of-freedom fixture 303, and the first guide rail 304 is installed on the box body of the video darkbox main body 2.

[0063] Combination Figure 6 As shown, Figure 6The figure shows a schematic diagram of illumination analysis of the first lighting fixture 302 simulating direct sunlight in a specific embodiment of the present application. When the vehicle is driving against the light, the sun and the camera will form an angle θ. When the camera body 101 under test is located at point A, the illumination can be decomposed into horizontal a light and longitudinal b light. The b light has no effect on the photosensitive element of the device under test and is ignored this time. Therefore, referring to the a light, the illumination at point A is calculated as:

[0064]

[0065] After substituting the parameters, we get:

[0066]

[0067] Among them, D is the distance between the point light source and the illuminated target, MH is the vertical distance between the two points, I is the light intensity of the point light source, and E is the illumination of A. If we want to use lamps to simulate the effect of sunlight on the camera, we can get the following according to the light intensity formula in the figure above:

[0068]

[0069] Right now:

[0070]

[0071] If the sun is regarded as a point light source, its total luminous flux (luminous power) is about 3.8×10 26 Watt (W), this value represents the total amount of light energy radiated by the sun per second. The distance between the earth and the sun is 1.496×10 11 Meter (m).

[0072] The vertical distance between the lamp and the device under test is also the installation height of the lamp on the back panel of the video dark box, which is about 1.45m. Compared with the distance between the ground and the sun, it can be ignored. The above formula can be directly equal to the following formula:

[0073]

[0074] Substitute the incident angle transformation relationship between the sun and the camera under test at different times of the day.

[0075] Exemplarily, the angles between the sun and the ground at different times of the day are shown in Appendix 1.

[0076] Appendix 1: The angle between the sun and the ground at different times (taking Changchun weather information in June as an example)

[0077] Time The sun's tilt relative to the ground (°) 13：00 47 14：00 37 15：00 27 16：00 18 17：00 10 18：00 3 19：00 -4

[0078] By substituting the incident angle transformation relationship between the sun and the camera under test at different times of the day in Appendix 1, the specific lighting power of the top lamp when simulating sunlight irradiating the test object at different times can be obtained.

[0079] Similarly, the power of the left and right side lamps when simulating nighttime meeting can be calculated. According to the national standard GB 23255-2009 "General Technical Requirements for Automotive Lighting and Optical Signal Equipment", the rated power of the headlights of tractors should be no less than 125W, and the rated power of the headlights of small passenger cars should be no less than 55W.

[0080] Substituting the power into the above formula, we can get the power of the left lamp I2 and the right lamp I3 respectively:

[0081]

[0082] The power required by the lamp can be determined according to different vehicle types, the distance between two vehicles, and the angle between the light source and the device under test, and the lighting lamp is finally controlled by the light control board 301 .

[0083] See again Figure 1 As shown, in one embodiment, the visual rendering module 4 includes a display screen 401 and a graphics workstation 402. The display screen 401 is responsible for displaying the test scene rendered by the graphics workstation 402. The display screen 401 and the graphics workstation 402 are connected via HDMI, and information is transmitted between the graphics workstation 402 and the real-time machine module 5 via an Ethernet cable.

[0084] See again Figure 1 As shown, in one embodiment, the real-time machine module 5 includes a host computer 501 and a real-time machine 502. The host computer 501 is used to run the test management software and exchange information between the graphic workstation 402 and the real-time machine 502; the real-time machine 502 is used to run the vehicle dynamics model and the virtual ECU. The scene information from the graphic workstation 402 and the control instructions of the camera module 1 under test are sent to the virtual vehicle here, and then the virtual vehicle responds to the obtained information and transmits it back to each part in real time.

[0085] In a specific implementation, the scene simulates the strong light environment when the vehicle under test is driving against the light at 2 p.m., including the following steps:

[0086] Step 1: Start the real-time machine 502 in the real-time machine module 5 to run the virtual vehicle dynamics model;

[0087] Step 2: Start the graphic workstation 402, which starts running the scene rendering software and displays the image in real time on the display screen 401 inside the video darkbox body 2 via HDMI;

[0088] Step 3: confirm whether the communication between the real-time machine module 5 and the visual rendering module 4 is normal and whether data can be transmitted bidirectionally;

[0089] Step 4: Connect the camera body 101 to the test system to ensure that the CAN line 105 communicates normally;

[0090] Step 5: Perform a closed-loop test to verify that the sensing function and planning and decision-making function of the camera body 101 under test in the video darkbox body 2 are normal;

[0091] Step 6: After ensuring that there are no abnormalities in steps 1 to 5, turn on the lighting simulation device, conduct a backlight driving simulation test, and adjust the power and inclination of the lighting fixtures.

[0092] Specifically, in step six, the power of the lighting fixture is adjusted to 17kw, and the inclination is adjusted to 37°.

[0093] The present application adds a light simulation module 3 in the video darkbox body 2, thereby greatly improving the strong light environment testing capability of the hardware-in-the-loop test (HIL) equipment while maintaining the original test process and not complicating the test process.

[0094] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A performance test device for a vehicle-mounted sensing module, characterized in that: include: The camera module under test is arranged at one end of the video dark box body and connected to the real-time machine module; The illumination simulation module is arranged at the other end of the video darkbox body; A visual rendering module, used to render and display the test scene and transmit information to the real-time machine module; The display screens in the illumination simulation module and the visual rendering module are located on the same side of the video darkbox body and face the camera module under test to simulate the illumination scene during the test.

2. The performance testing device for the vehicle-mounted sensing module according to claim 1, characterized in that: The structure of the camera module under test at least comprises: a slide rail arranged at the bottom of the video dark box body, and a six-degree-of-freedom test fixture is assembled on the slide rail; Installing the camera body under test on one of the six-degree-of-freedom test fixtures to adjust the direction of the camera body under test; An optical lens system is installed on another six-degree-of-freedom test fixture, and the distance between the optical lens system and the camera body under test is adjusted to simulate different camera arrangements.

3. The performance testing device for the vehicle-mounted sensing module according to claim 2, characterized in that: The camera body under test is connected to the real-time machine module via the CAN bus for exchanging information.

4. The performance testing device for the vehicle-mounted sensing module according to claim 1, characterized in that: The structure of the illumination simulation module at least includes: A first lighting component for simulating direct sunlight; The second lighting component and the third lighting component are used to simulate the oncoming high beam when vehicles meet in different directions.

5. The performance testing device for the vehicle-mounted sensing module according to claim 4, characterized in that: The first lighting assembly, the second lighting assembly and the third lighting assembly have the same arrangement structure; the arrangement structure is to arrange the lighting fixture on the guide rail via a six-degree-of-freedom fixture.

6. The performance testing device for the vehicle-mounted sensing module according to claim 4 or 5, characterized in that: The first lighting assembly, the second lighting assembly and the third lighting assembly are all connected to a lighting control board, and the lighting control board controls the color temperature and light intensity of the lighting fixture via a serial port data line.

7. The performance testing device for the vehicle-mounted sensing module according to claim 1, characterized in that: The structure of the visual rendering module at least includes: A display screen is arranged in the video darkbox body and faces the camera module under test, and the display screen is used to display the test scene rendered by the graphics workstation.

8. The performance testing device for the vehicle-mounted sensing module according to claim 7, characterized in that: The display screen is connected to the graphic workstation via HDMI, and the graphic workstation transmits information to the real-time machine module via an Ethernet cable.

9. The performance testing device for the vehicle-mounted sensing module according to claim 1, characterized in that: The structure of the real-time machine module at least includes: a host computer and a real-time machine; The host computer is used to run the test management software and exchange information between the graphic workstation and the real-time machine; The real-time machine is used to run the vehicle dynamics model and virtual ECU, send the scene information from the graphics workstation and the control instructions of the camera module under test to the virtual vehicle, and then transmit the virtual vehicle's response based on the information obtained back to each part in real time.

10. A performance testing method for a vehicle-mounted sensing module, characterized in that: The vehicle-mounted sensing module is subjected to a lighting simulation test by using the vehicle-mounted sensing module performance testing device according to any one of claims 1 to 9, comprising the following steps: Start the real-time machine and run the virtual vehicle dynamics model; Start the graphics workstation and run the scene rendering software. The graphics workstation displays the image in real time on the display screen inside the video darkbox through HDMI. Confirm that the communication between the real-time machine module and the scene rendering module is normal to ensure that data can be transmitted in both directions; Connect the camera to be tested and confirm that the CAN bus communication is normal; Conduct closed-loop test verification to ensure that the camera under test has normal perception function and planning and decision-making function in the video dark box. Turn on the lighting simulation module, conduct a backlight driving simulation test, and adjust the power and inclination of the lighting fixtures.

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